Driving device for endless track type

Abstract

The present invention relates to a track-type drive device, and may include a track, a drive unit provided on at least one of the tracks to implement the drive of the track, a drive control unit connected to the drive unit to control the independent drive of the drive unit, a sensor unit to check the attitude and drive state of a moving device equipped with the drive unit, and a main control unit that generates an automatic control command for the drive unit according to the detection value of the sensor unit and transmits and controls it to the drive control unit. In addition, the method of operating the track-type drive device as described above can be implemented in various ways depending on the embodiment.

Description

Technology Field

[0001] The present invention relates to a track-type drive device, which can adjust the descent speed by rotating a motor in the reverse direction according to the inclination of the ramp, and can perform attitude control when overturning is expected due to unstable inclination in ramp conditions. Background Technology

[0002] In general, various means of transportation are being widely developed, such as passenger cars or commercial vehicles for drivers or passengers, wheelchairs for the disabled or patients to use for mobility, transport vehicles for carrying cargo or luggage, and special vehicles such as armored vehicles or specialized vehicles. These are utilized effectively for specific purposes as well as promoting convenience.

[0003] As the above means of transportation is intended for transfer and transport, wheels are essentially provided to perform the purpose.

[0004] However, there is a problem in that wheels are not suitable for mobility devices intended for special purposes or for transport, shipping, and exploration in extreme environments due to their characteristics.

[0005] Accordingly, a type of means of transportation completely different from the form and structure of existing wheels was developed, and this is the caterpillar track.

[0006] These endless tracks are formed such that a single continuous rail encloses a number of wheels, and through a special structure, they possess excellent mobility in extreme conditions such as poor ground conditions, and have been used in a wide range of fields, including military equipment and industrial equipment.

[0007] Moreover, with the recent surge in the development of exploration equipment for special purposes, such as exploring inaccessible places, the development of drive systems equipped with caterpillar tracks is bound to increase.

[0008] However, conventional mobile devices utilizing a tracked type drive system have a problem in that when descending a steep downhill slope, the tracks barely move and slide down. Furthermore, since the degree of slipping varies depending on the road surface conditions of the sloped downhill, there is a need for a driving algorithm that utilizes the back electromotive force of the drive system to ensure stable driving on inclines for mobile devices equipped with tracked drive systems. Prior art literature

[0009] Korean Registered Patent No. 10-1937666 (2019.01.11) The problem to be solved

[0010] The technical problem to be solved by the present invention is to provide a track-type drive device that allows the descent speed to be adjusted according to the situation by rotating the drive device in the reverse direction according to the incline of the slope when a mobile device equipped with an endless track type drive device travels on a slope.

[0011] In addition, the technical problem to be solved by the present invention is to provide a track-type drive device capable of performing attitude control when a mobile device equipped with an endless track type drive device travels on an incline and it is determined that overturning is expected due to unstable inclination in the incline situation.

[0012] The problems that the present invention aims to solve are not limited to those mentioned above, and other unmentioned problems will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0013] A track-type drive device according to an embodiment of the present invention is,

[0014] orbit;

[0015] A driving unit provided on at least one of the above tracks to implement driving of the above tracks;

[0016] A drive control unit connected to the above drive unit and controlling the independent operation of the above drive unit;

[0017] A sensor unit for checking the posture and driving state of a moving device equipped with the above-mentioned driving unit; and

[0018] It may include a main control unit that generates an automatic control command for the driving unit based on the detection value of the sensor unit and transmits it to the driving control unit.

[0019] The sensor unit above comprises a first sensor that detects the posture of the moving device, and

[0020] It may include a second sensor that detects the speed of the above-mentioned moving device.

[0021] When the above-mentioned moving device travels on an incline, the sensor unit detects the vertical value, rotational value, and deflection value of the moving device, and through the detected values, the drive control unit can adjust the downward speed of the moving device by rotating the drive unit in the reverse direction or differentially control the torque of the drive unit.

[0022] If the pitch value detected by the sensor unit increases in the negative direction, the reverse rotational speed of the drive unit transmitting power to the track is increased, and

[0023] If the upper / lower (Pitch) detection value detected by the sensor unit decreases in the (-) direction, the reverse rotation speed of the drive unit transmitting power to the track can be reduced.

[0024] In the main control unit above, threshold values ​​for the up / down (Pitch) direction detection value, rotation (Roll) direction detection value, and deflection (Yaw) direction detection value detected by the sensor unit can be set.

[0025] If the rotation (Roll) value detected by the sensor unit increases above a set threshold value, the movement of the moving device is determined to be in an unstable state, and

[0026] Stabilization of rotation and deflection directions is performed by differentially controlling the torque of the drive unit that transmits power to the right and left tracks of the above-mentioned moving device, and

[0027] When the posture state of the above-mentioned moving device enters the stability threshold, left / right differential control can be stopped.

[0028] Specific details of other embodiments are included in the detailed description and drawings. Effects of the invention

[0029] The track-type drive device according to the embodiment of the present invention as described above has the effect of enabling a moving device equipped with a track-type drive device to drive stably without slipping when descending on an incline by implementing reverse torque control of the drive unit through the drive control unit.

[0030] In addition, the track-type drive device according to an embodiment of the present invention has the effect of enabling stable driving when there is a risk of vehicle attitude during driving by implementing differential torque control to the left and right tracks through a driving control unit.

[0031] In addition, the track-type drive device according to an embodiment of the present invention is equipped with a vehicle motion acceleration sensor to detect the movement of the track-type mobile device, and thereby has the advantage that the driving control unit and the motor control unit can control the stable driving of the mobile device.

[0032] In addition, the track-type drive device according to an embodiment of the present invention can achieve stable driving in accordance with the condition of the slope on which the mobile device travels, and by using an environmental perception component such as Lidar together with a motion sensor, it can secure dual stability during the operation of the track-type drive device and has the advantage of increasing the reliability of the operation of the track-type drive device.

[0033] The effects of the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description in the claims. Brief explanation of the drawing

[0034] FIG. 1 is a schematic diagram of a track in a track-type drive device according to one embodiment of the present invention. FIG. 2 is a schematic diagram of a track-type drive device according to one embodiment of the present invention. FIGS. 3 to 5 are drawings showing the change in the rotational direction of the driving unit according to the slope of the ramp when the inclined ramp of the moving device descends in a track-type driving device according to one embodiment of the present invention. FIGS. 6 and 7 are schematic diagrams illustrating the performance of attitude control according to the change in inclination of a moving device in a track-type drive device according to an embodiment of the present invention. Specific details for implementing the invention

[0035] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same components.

[0036] Accordingly, in some embodiments, well-known process steps, well-known structures, and well-known techniques are not specifically described to avoid the invention being interpreted ambiguously.

[0037] The terms used herein are for describing the embodiments and are not intended to limit the invention. In this specification, the singular form includes the plural form unless specifically stated otherwise in the text. As used herein, "comprises" and / or "comprising" are used in the sense that they do not exclude the presence or addition of one or more other components, steps, actions, and / or elements other than those mentioned. And, "and / or" includes each of the mentioned items and all combinations of one or more.

[0038] Furthermore, the embodiments described herein will be explained with reference to cross-sectional views and / or schematic drawings, which are exemplary illustrations of the invention. Accordingly, the form of the exemplary drawings may be modified due to manufacturing techniques and / or tolerances, etc. Therefore, the embodiments of the invention are not limited to the specific forms depicted but include variations in form resulting from the manufacturing process. Additionally, in each drawing of the invention, each component may be depicted slightly enlarged or reduced for convenience of explanation. Throughout the specification, the same reference numerals refer to the same components.

[0039] Hereinafter, the present invention will be described with reference to drawings for explaining the method of operating a track-type drive device (100) according to embodiments of the present invention.

[0040] FIG. 1 is a schematic diagram of a track (120) in a track-type drive device (100) according to one embodiment of the present invention.

[0041] FIG. 2 is a schematic diagram of a track-type drive device (100) according to one embodiment of the present invention.

[0042] Referring to FIGS. 1 and 2, a track-type drive device (100) according to one embodiment of the present invention may include a moving device (110), a track (120), a drive unit (121), a drive control unit (130), a sensor unit (140), and a main control unit (150).

[0043] The above-mentioned moving device (110) is a device equipped to be movable via an endless track (120) and can have various forms or structures such as a combat vehicle or a mobile robot.

[0044] As shown in FIG. 1, the above track (120) is provided on both sides of the above-mentioned moving device (110), such as a combat vehicle or a mobile robot, and is configured such that a chain-shaped endless track (120) is engaged with the front and rear wheels (1211) and moves by engaging with the front and rear wheels (1211) according to the driving force of the driving wheel (1211) and the rotational force of the wheel (1211), thereby enabling the moving device (110) to move.

[0045] The above drive unit (121) may be provided in at least one of the tracks (120), specifically in one of the front wheel (1211) or the rear wheel (1211), to enable driving of the tracks (120). In one embodiment of the present invention, the drive unit (121) may be provided in the front and rear wheels (1211), respectively, so that each drive unit (121) enables driving of each wheel (1211).

[0046] A control unit according to one embodiment of the present invention may include a driving control unit (130) and a main control unit (150).

[0047] The above drive control unit (130) may be connected to the drive unit (121) that drives the track (120) and configured to control the independent driving of the drive unit (121).

[0048] For example, when the drive unit (121) is provided on each front and rear wheel (1211), the drive unit (121) may be provided to be connected to four drive units (121) to control them independently. In the present invention, the drive control unit (130) may be described as having two drive control units (130), each comprising a left drive control unit (130) connected to a drive unit (121) that drives the left track (120), and a right drive control unit (130) connected to a drive unit (121) that drives the right track (120).

[0049] The main control unit (150) described above is configured to be connected to the sensor unit (140) described later to receive the detection value of the sensor unit (140), and is configured to be connected to the drive control unit (130) to receive the status of the drive unit (121), generate an automatic control command for the drive unit (121) according to the detection value of the sensor unit (140), and transmit it to the drive control unit (130). The control unit may generate control commands differentially for each of the drive units (121) and transmit them to the drive control unit (130).

[0050] The sensor unit (140) may be configured to check the posture and driving state of the moving device (110) equipped with the driving unit (121). In one embodiment of the present invention, the sensor unit (140) may be configured to detect the pitch, roll, and yaw states of the moving device (110).

[0051] The change in inclination or angular velocity of the moving device (110) can be detected through the detection values ​​of the up and down direction, rotation direction, and deflection direction of the moving device (110) detected by the sensor unit (140).

[0052] In the present invention, the sensor unit (140) may include a first sensor that detects the attitude of the moving device (110) and a second sensor that detects the speed of the moving device (110). Specifically, the sensor unit (140) is a vehicle motion acceleration sensor, wherein the first sensor may include an attitude sensor and the second sensor may include an acceleration sensor. As described above, the movement of the moving device (110) can be determined through the attitude sensor and the acceleration sensor.

[0053] FIGS. 3 to 5 are drawings showing the change in the rotational direction of the driving unit (121) according to the slope of the slope when the moving device (110) descends the slope of the track type driving device (100) according to one embodiment of the present invention.

[0054] Referring to FIGS. 3 to 5, a track-type drive device (100) according to one embodiment of the present invention can change the rotation direction of the drive unit (121), decrease the number of reverse rotations, and increase the number of reverse rotations through the sensor unit (140), the main control unit (150), and the drive control unit (130) according to the inclination of the slope of the incline on which the moving device (110) moves.

[0055] Specifically, the moving device (110) of the present invention can adjust the descent speed according to the situation by rotating the driving unit (121) in the reverse direction according to the incline of the moving ramp.

[0056] For example, based on the slope of the ramp in Fig. 3, Fig. 4 is smaller than the slope of the ramp in Fig. 3, and Fig. 5 is larger than the slope of the ramp in Fig. 3.

[0057] First, as shown in FIGS. 3 to 5, when the moving device (110) enters a sloped ramp, the sensor unit (140), for example, an attitude sensor or an acceleration sensor, detects changes in tilt and angular velocity in the pitch, roll, and yaw directions of the moving device (110).

[0058] The drive control unit (130) may be configured to control the reverse rotation of the drive unit (121) through the detection value detected by the sensor unit (140), thereby adjusting the lowering speed of the moving device (110) or differentially controlling the torque of the drive unit (121).

[0059] For example, if the detection value in the vertical direction detected by the sensor unit (140) varies to (-) and gradually increases to (-), the detection value can be applied to the main control unit (150). Depending on the value applied to the main application unit, the drive control unit (130) controls the drive unit (121) that transmits power to the track (120) to rotate in the reverse direction of the forward direction so that the drive unit (121) is driven in the reverse direction of the forward direction.

[0060] While the moving device (110) that has entered the ramp as shown in FIG. 3 is moving, the slope of the ramp may decrease as shown in FIG. 4. As a result, the detection value in the up-and-down direction among the detection values ​​detected by the sensor unit (140) decreases in the (-) direction. The detection value decreasing in the (-) direction detected by the sensor unit (140) can be applied to the main control unit (150). According to the (-) direction decrease detection value applied to the main application unit, the drive control unit (130) controls the drive unit (121) that transmits power to the track (120) to decrease the rotational speed in the reverse direction.

[0061] Additionally, while the moving device (110) is moving on a ramp like Fig. 3, the slope of the ramp may increase as it enters a ramp like Fig. 5. As a result, the detection value in the up-and-down direction among the detection values ​​detected by the sensor unit (140) increases in the (-) direction. The detection value increasing in the (-) direction detected by the sensor unit (140) can be applied to the main control unit (150). According to the detection value increasing in the (-) direction applied to the main application unit, the drive control unit (130) controls the drive unit (121) that transmits power to the track (120) to increase the reverse rotation speed.

[0062] Additionally, if necessary, a table of reverse torque values ​​or RPM values ​​according to the angle of inclination of the moving device (110) may be created and utilized.

[0063] FIGS. 6 and 7 are schematic diagrams illustrating the performance of attitude control according to the tilt change of a moving device (110) in a track-type driving device (100) according to one embodiment of the present invention.

[0064] Referring to FIGS. 6 and 7, in a track-type drive device (100) according to an embodiment of the present invention, threshold values ​​for the up-down direction detection value, rotation direction detection value, and deflection direction detection value detected by the sensor unit (140) may be set in the main control unit (150). That is, threshold values ​​for the up-down direction, rotation direction, and deflection direction according to the stable posture of the moving device (110) may be set in the main control unit (150). In this state, when the moving device (110) moves and enters a road or surface with an incline or slope, the posture of the moving device (110) changes according to the slope or condition of the road, and the sensor unit (140) detects the change value.

[0065] At this time, the detection value of the sensor unit (140) is applied to the main control unit (150), and the detection value is compared with a threshold value set in the main control unit (150). When the detection value exceeds the threshold value set, the main control unit (150) controls the torque of the drive unit (121), which is transmitted to the left or right track (120) of the moving device (110) through the drive control unit, differentially to stabilize the rotation direction and the deflection direction.

[0066] That is, the sensor unit (140) detects changes in tilt or angular velocity in the up-down direction, rotational direction, and deflection direction of the moving device (110).

[0067] At this time, if the rotation direction detection value detected by the sensor unit (140) increases above a stable threshold value set in the main control unit (150), the vehicle's behavior is detected as being in an unstable state.

[0068] The main control unit (150) applies a signal to the drive control unit (130) to differentially control the torque of the drive unit (121) that transmits power to the right and left tracks (120) of the moving device (110) according to the detection value, and the drive control unit (130) differentially controls the torque of the drive unit (121) on the left or the drive unit (121) on the right to perform stabilization of the rotation and deflection direction.

[0069] In addition, when the posture state of the moving device (110) is stabilized and the up / down direction detection value, the rotation direction detection value, and the deflection direction detection value detected by the sensor unit (140) fall within the threshold value set by the main control unit (150), the left / right differential control is controlled to stop.

[0070] Specifically, as shown in FIG. 6, the amount of increase in the rotation value can be detected as either left or right by the detection value of the sensor unit (140). For example, if the moving device (110) is likely to overturn to the right depending on the road surface condition on which it is moving, the detection value of the right direction among the rotation direction detection values ​​detected by the sensor unit (140) increases. The detection value is applied to the main control unit (150), and the main control unit (150) applies a signal to the drive control unit (130) to provide relatively more torque to the left. Accordingly, the drive control unit (130) of the left direction among the drive control units (130) can control the left direction drive unit (121) to provide relatively more torque than the right direction drive unit (121), thereby preventing the moving device (110) from overturning.

[0071] In addition, contrary to the above, as shown in FIG. 7, the amount of increase in the rotation value can be detected as either left or right by the detection value of the sensor unit (140). For example, if the moving device (110) is likely to overturn to the left depending on the road surface condition, the detection value of the left direction among the rotation direction detection values ​​detected by the sensor unit (140) increases. The detection value is applied to the main control unit (150), and the main control unit (150) applies a signal to the drive control unit (130) to provide relatively more torque to the right.

[0072] Accordingly, the driving control unit (130) in the right direction among the driving control units (130) can control the right driving unit (121) to provide a relatively greater torque than the left driving unit (121), thereby preventing the moving device (110) from overturning.

[0073] Although embodiments of the present invention have been described above with reference to the attached drawings, those skilled in the art will understand that the present invention may be implemented in other specific forms without changing its technical concept or essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. Explanation of the symbols

[0074] 10: 100: Tracked drive system 110: Moving device 120: Orbit 121: Drive unit 1211: Wheel 130: Drive control unit 140: Sensor section 150: Main control unit

Claims

Claim 1 A track-type drive device comprising: a track; a drive unit provided on at least one of the tracks to implement the drive of the track; a drive control unit connected to the drive unit to control the independent drive of the drive unit; a sensor unit for checking the attitude and drive state of a moving device equipped with the drive unit; and a main control unit for generating an automatic control command of the drive unit according to a detection value of the sensor unit and transmitting and controlling it to the drive control unit, wherein the main control unit has threshold values ​​set for the pitch direction, the roll direction, and the yaw direction, and the sensor unit includes a first sensor for detecting the attitude of the moving device and a second sensor for detecting the speed of the moving device, wherein when the moving device travels on an incline, the sensor unit detects the pitch direction value, the roll direction value, and the yaw direction value of the moving device, and when the roll direction detection value detected by the sensor unit increases above the set threshold value, the torque of the drive unit is independently differentially controlled to perform attitude stabilization in the roll direction and the yaw direction. Claim 2 delete Claim 3 A track-type drive device according to claim 1, wherein the drive control unit controls the lowering speed of the moving device through reverse rotation of the drive unit or differentially controls the torque of the drive unit through the detection value. Claim 4 A track-type drive device according to claim 3, wherein if the vertical direction detection value detected by the sensor unit increases in the (-) direction, the reverse rotational speed of the drive unit transmitting power to the track increases, and if the vertical direction detection value detected by the sensor unit decreases in the (-) direction, the reverse rotational speed of the drive unit transmitting power to the track decreases. Claim 5 delete Claim 6 delete

Images