WO2019221655A1 - Module fonctionnel et véhicule assemblé à partir d'un ensemble de modules - Google Patents

Module fonctionnel et véhicule assemblé à partir d'un ensemble de modules Download PDF

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Publication number
WO2019221655A1
WO2019221655A1 PCT/SE2019/050422 SE2019050422W WO2019221655A1 WO 2019221655 A1 WO2019221655 A1 WO 2019221655A1 SE 2019050422 W SE2019050422 W SE 2019050422W WO 2019221655 A1 WO2019221655 A1 WO 2019221655A1
Authority
WO
WIPO (PCT)
Prior art keywords
functional module
leg
module
vehicle
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/SE2019/050422
Other languages
English (en)
Inventor
André Claesson
Robert SJÖDIN
Linus ÄHRLIG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Scania CV AB
Original Assignee
Scania CV AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania CV AB filed Critical Scania CV AB
Publication of WO2019221655A1 publication Critical patent/WO2019221655A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/025—Modular vehicles
    • 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
    • B60K2001/001—Arrangement or mounting of electrical propulsion units one motor mounted on a propulsion axle for rotating right and left wheels of this axle
    • 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
    • B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/42—Vehicles adapted to transport, to carry or to comprise special loads or objects convertible from one use to a different one
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
    • B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
    • B60S9/04—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting mechanically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
    • B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
    • B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
    • B60S9/12—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure of telescopic type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the invention relates to a functional module and a vehicle assembled from a set of modules according to the appended claims.
  • Vehicles of today are typically manufactured for a specific purpose, e.g. a bus is man ufactured for transporting people and a truck is manufactured for transporting goods. Such vehicles are typically manufactured and completely assembled in a factory or they may be partly assembled in a factory and completed at a body manufacturer Once the vehicle is assembled, the vehicle may be used for the specific purpose.
  • a bus may be used as a bus and a garbage truck may be used as a garbage truck.
  • Different vehicles are thus needed for different purposes, which may require a large fleet of vehicles and which may be very costly. It may therefore be desired to be able to customize a vehicle depending on different missions.
  • the vehicle may be provided with electric engines for the propulsion of the vehicle and also be provided with energy storage units, which provides the electric engines with electric power. The energy stor age units must be charged with electric power.
  • An object of the invention is therefore to achieve a functional module, which enables simple and fast connection to and disconnection from other modules.
  • a functional module adapted to be connected to a drive module for forming an assembled vehicle, the drive module comprising at least a pair of wheels and being configured to be autonomously oper ated and drive the assembled vehicle, the functional module comprising at least one leg for supporting the functional module on a ground surface and a control device configured to control the at least one leg between an extended position in which it supports the functional module, and a retracted position.
  • a vehicle assembled from a set of modules comprising at least one drive module; the vehicle further com prising a functional module according to any one of the preceding claims.
  • a functional module a simple and fast connection to and disconnection from other modules are enabled.
  • a control device is configured to control the at least one leg between an extended position in which it supports the functional module, and a retracted position.
  • the at least one leg is controlled to the extended position.
  • the at least one leg is controlled by the control device to the retracted position.
  • the functional module enables a secure transportation of goods.
  • the at least one leg may be controlled to the extended position, so that the leg reaches the ground surface. As a result, the leg will drag into the ground surface and thus brake the assembled vehicle.
  • the functional module enables a simple and safe charging of energy storage units.
  • a first contact element may be adapted to be arranged at the at least one leg and configured for transmitting electric power from an external power source to at least one energy storage unit in the functional module and/or in the drive module.
  • the at least one leg When the functional module is parked on a ground surface, the at least one leg is controlled to the extended position, so that the leg reaches the ground surface. At the ground surface the first contact element will rest on and be connected to the external power source for charging the at least one energy storage unit in the func tional module and/or in the drive module.
  • the at least one leg is controlled by the control device to the retracted position.
  • the at least one leg of the functional module is controlled to the extended position. The assem- bled vehicle enables a secure transportation of goods.
  • the at least one leg may be controlled to the extended position, so that the leg reaches the ground surface.
  • the leg will drag into the ground surface and thus brake the as-flectd vehicle.
  • a simple and safe charging of energy storage units in the assem bled vehicle is enabled.
  • a first contact element may be adapted to be arranged at the at least one leg and configured for transmitting electric power from an external power source to at least one energy storage unit in the assembled vehicle.
  • At least one drive module may be used together with different functional modules.
  • the functional modules may be designed for specific purposes. Therefore, by combining a drive module with a suitable functional module, it is possible to customize a vehicle depending on different missions.
  • a functional module may be prepared to perform a specific function and the drive module, which may be autonomously operated, may connect with the functional module to achieve an assembled vehicle customized for a certain mission.
  • the at least one functional module may be configured with a passen ger compartment for accommodating passengers and may thus function as a bus when being assembled with the at least one drive module.
  • the at least one leg for supporting the functional module on a ground surface may be configured and adapted for different types of functional modules in order to provide a simple and fast connection to and disconnection from other modules, for enabling a secure transportation of goods in different types of functional modules, and for enabling a simple and safe charging of energy storage units in different types of functional modules.
  • Figure 1 a schematically illustrates a side view of an assembled vehicle according to an embodiment
  • Figure 1 b schematically illustrates a side view of a drive module and a functional mod ule according to an embodiment
  • Figure 2 schematically illustrates a section view of a drive module according to an embodiment
  • Figure 3a schematically illustrates a side view of an assembled vehicle according to an embodiment
  • Figure 3b schematically illustrates a side view of two drive modules and a functional module according to an embodiment
  • Figures 4a and 4b schematically illustrates a section view of a leg to an embodiment
  • Figures 5a and 5b schematically illustrates a section view of a leg to an embodiment
  • Figures 6a and 6b schematically illustrates a section view of a leg to an embodiment
  • Figures 7a and 7b schematically illustrates a section view of a leg to an embodiment
  • Figures 8a and 8b schematically illustrate side views of a functional module according to an embodiment
  • Figures 9a and 9b schematically illustrates a section view of a leg to an embodiment.
  • Modularised vehicles are typically assembled at the customer’s premises and the cus- tomer may thus buy a set of modules from a manufacturer.
  • the assembled vehicle may comprise at least two modules including at least one drive module and at least one functional module.
  • Such a modularised vehicle is applicable on all sorts of road vehicles and may thus relate to heavy vehicles, such as buses, trucks etc., which may be used on public roads.
  • the at least one drive module may have at least one electric engine as a propulsion source.
  • a functional module adapted to be connected to a drive module for forming an assembled vehicle, the drive module comprising at least a pair of wheels and being configured to be autono mously operated and drive the assembled vehicle, the functional module comprising at least one leg for supporting the functional module on a ground surface and a con trol device configured to control the at least one leg between an extended position in which it supports the functional module, and a retracted position.
  • the at least one leg arranged on the functional module supports the functional mod- ule on a ground surface.
  • the control device is configured to control the at least one leg between an extended position in which it supports the functional module, and a retracted position.
  • the at least one leg is controlled to the extended po sition for supporting the functional module.
  • the at least one leg is controlled by the control device to the retracted position. In the retracted position the at least one leg no longer supports the functional module on the ground surface.
  • the at least one leg may also be con trolled to the extended position when the functional module is connected to the at least one drive module and is transported by the at least one drive module as an as-muld vehicle.
  • the extended leg will drag into the ground surface and thus brake the assembled vehicle. This may be useful in an emergency situation.
  • the assilid vehicle may be provided with a burglar alarm. When there is an attempt to make unauthorized entry into the assembled vehicle, the burglar alarm may trigger a loud noise and also trigger at least one of the legs to be controlled to the extended position, so that the extended leg rests on the ground surface.
  • the extended leg may prevent any movement of the assembled vehicle and thus prevent an unauthorized person or a thief to steal the assembled vehicle.
  • the at least one leg may also be controlled to the extended position when the assembled vehicle is parked on a slop- ing or an uneven ground surface. On such a sloping or uneven ground surface the parked vehicle may have a leaning position, which may prevent or hinder unloading from the vehicle. Therefore, the leg may be controlled to an extended length that hor izontally aligns the vehicle.
  • the at least one leg is configured as a rod, which is movably arranged in its longitudinal direction.
  • the rod may in the re tracted position be accommodated in the functional module. In the functional module the rod is protected from debris. Alternatively, the rod may in the retracted position be arranged on an outside wall of the functional module.
  • the rod In the extended position the rod will protrude out of the functional module and downward to the ground surface.
  • the rod in the retracted position is arranged on the outside wall of the functional module, the rod may slide downwards at the outside wall of the functional module to the extended position. In the extended position the rod may support the functional module on the ground surface.
  • the at least one leg is configured as a telescopic device. Due to the telescopic configuration the at least one leg may in the retracted position have small dimensions. Due to the small dimensions it will be simple to arrange the at least one leg at the functional module, since the at least one leg only need a small space in or at the functional module in the retracted position. In the extended position the at least one leg, configured as a telescopic device, may support the functional module on the ground surface.
  • the at least one leg is foldably con- figured.
  • the at least one leg In the retracted position the at least one leg may be folded to a position at the underside of the functional module.
  • the at least one leg may in the retracted po sition extend in parallel to the underside of the functional module. This will make it simple to arrange the at least one leg at the functional module, since the at least one leg only need a small space at the functional module in the retracted position.
  • the at least one leg, foldably configured may support the func tional module on the ground surface.
  • the functional module may further comprise an actuator for moving the at least one leg between the extended position and the retracted position.
  • the actuator may be arranged between a body of the functional module and the at least one leg.
  • the actuator is activated when the at least one leg should be moved to the extended position and to the retracted position.
  • the actuator is also activated when the at least one leg should be moved to a posi- tion between the extended position and the retracted position.
  • the at least one leg may be moved to a position between the extended position and the retracted position when maintenance should be performed on the at least one leg.
  • the actuator may be activated or controlled by means of the control device.
  • the actuator may be manually activated or controlled by an operator.
  • One actuator may be configured to move sev- eral legs between their extended and retracted positions.
  • the actuator is hydraulically, pneu matically and/or electrically controlled.
  • the actuator may be an electric motor, which is connected to the at least one leg and to the body of the functional module.
  • the electric motor is electrically controlled and is connected to an energy storage unit in the functional module and/or in the drive module.
  • the actuator may be a hydraulically or pneumatically controlled piston and cylinder connected to the at least one leg and to the body of the functional module.
  • the hydraulically or pneumatically controlled piston and cylinder is connected to the energy storage unit in the functional module and/or in the drive module.
  • the energy storage unit may thus provide the actuator with electric and/or pneumatic and/or hydraulic power.
  • the at least one leg is adapted to carry or at least partly carry the load of the functional module.
  • the at least one leg is controlled to the extended position for supporting the functional mod ule.
  • the at least one leg is adapted to carry or at least partly carry the load of the functional module. If several legs are arranged on the functional module they may together carry the load of the functional module.
  • the load to be carried by the at least one leg may be the weight of the functional module together with the weight of any load in the functional module.
  • the functional module may compris- ing a charging device, which comprises a first contact element adapted to be ar ranged at the at least one leg and configured for transmitting electric power from an external power source to at least one energy storage unit in the functional module and/or in the drive module.
  • the functional module enables a simple and safe charg ing of energy storage units.
  • a first contact element may be adapted to be arranged at the at least one leg and configured for transmitting electric power from an external power source to at least one energy storage unit in the functional module and/or in the drive module.
  • the functional module may further comprise a protective element, which at least partly surrounds the first contact ele- ment, wherein the protective element is arranged to be movable between a first and a second position in relation to the first contact element.
  • the protective element which at least partly surrounds the first contact element, protects humans and ani mals in the surroundings from coming in contact with electrically conductive parts of first contact element.
  • the protective element also protects the first contact element from being exposed to debris from the surroundings, which may have an aggressive impact on the first contact element and thus reduce the transfer capabilities of elec tric power of the first contact element.
  • the protective element is movable arranged on the first contact element.
  • the first contact element is adapted to be connected to a second contact element connected to the external power source and which second contact element is arranged at the ground surface.
  • the second contact element may have a shape of a flat plate or disc, which is arranged at a ground surface.
  • the first contact element may rest on the second contact element when the first contact element is adapted to be connected to a second contact ele ment.
  • the second contact element may be adapted to bear or at least partly bear the weight of the functional module.
  • the second contact element may act as a com bined platform and charging station for the first contact element when the first contact element acts as a stand for the functional module.
  • the second contact element may be integrated in the external power source. Therefore, the first contact element may be connected directly to the external power source.
  • the functional module comprise four legs, adapted to be arranged one in each corner of the functional module.
  • the functional module When the functional module is disconnected from a drive module and parked on a ground sur- face, the functional module is supported by four legs. Each leg is controlled to the ex tended position for supporting the functional module.
  • the four legs may together carry the load of the functional module.
  • the load to be carried by the four legs may be the weight of the functional module together with the weight of any load in the functional module.
  • Each leg is arranged in one corner of the functional module, which will make the functional module stable on the ground surface.
  • the leg is adapted to be arranged centrally of the functional module.
  • the functional module When the functional module is disconnected from a drive module and parked on a ground surface, the functional module is supported by one leg, which is centrally arranged of the functional module.
  • the centrally ar ranged leg is controlled to the extended position for supporting the functional module.
  • the centrally arranged leg may carry the load of the functional module.
  • the load to be carried by the centrally arranged leg may be the weight of the functional module together with the weight of any load in the functional module.
  • the centrally arranged leg may have a large diameter or with, which will make the functional module stable on the ground surface when supported by the centrally arranged leg.
  • a vehicle assembled from a set of modules comprising at least one drive module.
  • the vehicle further comprising a functional module according to any one of the preceding claims.
  • the at least one leg is controlled by the control device to the retracted position.
  • the at least one leg of the functional module is con- trolled to the extended position.
  • the drive module comprises at least a pair of wheels and is configured to be autonomously operated and drive the assem bled vehicle.
  • the drive module may be autonomously operated and be connected with the func tional module to achieve an assembled vehicle customized for a certain mission.
  • the at least one functional module may be configured with a passenger compartment for accommodating passengers and may thus function as a bus when being assembled with the at least one drive module.
  • the at least one leg may be configured and adapted for different types of functional modules in order to enable a simple and fast connection to and disconnection from other modules.
  • a drive module with at least a pair of wheels may have good manoeuvring abilities.
  • the drive module may turn about a vertical axis that extends between the two wheels.
  • the design of the drive module may also be very compact when two wheels are ar ranged at the drive module. With the drive module having two wheels, typically two drive modules are needed to assemble a vehicle, depending on whether the functional module comprises wheels or not.
  • the pair of wheels may be arranged at the drive module, such that a centre axis of each wheel coincides with each other.
  • Each wheel has a centre axis and may be ar ranged at the drive module so that each wheel may rotate about its centre axis.
  • the centre axis of each wheel may thus be referred to as the rotational axis of each wheel.
  • the centre axis of the wheels coinciding means that the centre axis of the wheels are aligned.
  • the drive module may be able to make a pivoting movement about the coinciding centre axis of the two wheels.
  • the drive module may be configured to pivot about the common centre axis of the two wheels. This pivoting movement of the drive module may be useful when connecting and disconnecting the drive module with other modules.
  • the control device configured to operate the drive module as an independently driven unit may be configured to con trol the pivoting movement of the drive module.
  • the propulsion unit of the drive module may be an electric machine, connected to the wheels.
  • the pair of wheels of the drive module may thus be referred to as drive wheels.
  • the drive module comprises two electrical machines, one connected to each wheel.
  • the electric machines may be arranged in the rim of the wheels.
  • the wheels of the drive module may thus be driven independently of each other.
  • the elec tric machines may also work as generators and generate electric energy when braking the wheels.
  • the drive module may also comprise a steering system connected to the wheels. This way, the drive module is steerable.
  • the drive module may also comprise a brake system for braking the wheels.
  • the brake system may comprise a wheel brake for each wheel of the drive module. Redundancy is achieved in that the drive module can be steered by means of the electrical machines and/or the wheel brakes in the event that the steering system malfunctions.
  • the drive module being autonomously operated means that a control device of the drive module is configured to receive commands and instructions from an off-board system and to execute these commands/instructions.
  • the autonomously operated drive module may thus be said to be self-operated based on received commands and instructions from the off-board system.
  • the autonomously operated drive module may thus be self-operated without an on-board or off-board driver.
  • the control device may be adapted to convert the commands to control signals for controlling the sys tems and components of the drive module and thereby control for example the steer ing and the propulsion of the drive module. This way, the drive module is self -driven based on the received commands and instructions.
  • the control device may operate the drive module autonomously also based on data from the at least one sensor, tak- ing situations that may happen during transportation into account.
  • the vehicle comprises two drive modules. Each drive module may then comprise one pair of wheels.
  • Each drive module may then comprise one pair of wheels.
  • a customized vehicle may be assembled, which is customized for the function to be performed.
  • an assembled vehicle may be achieved, which is adapted to the surroundings and the operating conditions of the vehicle.
  • An assembled vehicle pro vided with two drive modules may have more power and may support larger and heavier vehicles than a vehicle provided with only one drive module. If one of the drive modules will lose power, the other drive module may take over and drive the vehicle.
  • one of the drive modules is config ured to operate as a master and the other drive module and the functional module is configured to operate as a slave.
  • a control device of one of the drive modules may be configured to operate the associ ated drive module as the master.
  • a control device of the other drive module may be configured to operate the associated drive module as the slave.
  • the master will decide how to operate the drive modules and thus how to operate the assembled vehicle.
  • any further module such as the functional module being connected to the drive module(s) and which comprises a control device, may become slave in the as Sild vehicle.
  • Each drive module is associated with a registration number but only one registration number should be shown on an assembled vehicle.
  • the first control device may ap point one drive module to be master and the other to be slave.
  • the master will be commanded to show its registration number and the slave will not show its registration number.
  • the first control device may thus transmit instructions regarding registration number to the second control device of the at least one drive module.
  • Figure 1 a schematically illustrates a side view of an assembled vehicle 2 comprising a drive module 1 and a functional module 6 provided with at least one leg 47 accord ing to an embodiment, for supporting the functional module 6 on a ground surface 54.
  • the drive module 1 comprises a pair of wheels 8 and is configured to be autono mously operated, which means that the assembled vehicle 2 is configured to be au tonomously operated.
  • the functional module 6 may be provided with wheels 8, but generally a functional module 6 cannot move on its own. Instead, the functional mod- ule 6 needs to be connected to at least one drive module 1 to be able to move.
  • the functional module 6 may accommodate or supporting a load.
  • the at least one func tional module 6 may be configured for transporting goods and may thus function as a truck when being assembled with at least one drive module 1.
  • the drive module 1 and the functional module 6 are physically connected to each other, so that interfaces 14 arranged on the drive module 1 and the functional module 6 are physi cally connected to each other.
  • a control device 16, 70 is comprised in any of the two modules 1 , 6.
  • the drive module 1 may comprise a control device which hereinafter will be referred to as a first control device 16.
  • the functional module 6 may comprise a control device, which hereinafter will be referred to as a second control device 70.
  • the second control device 70 may be configured to control the at least one leg 47 between an extended position in which it supports the functional module 6, and a re tracted position.
  • the first control device 16 in the drive module 1 may be configured to control the at least one leg 47 between an extended position in which it supports the functional module 6, and a retracted position.
  • the at least one leg 47 is in a retracted position.
  • At least one energy storage unit 12 may be arranged in the functional module 6 and/or in the drive module 1.
  • the functional module 6 may be provided with a number of legs 47.
  • Figure 1 b schematically illustrates a side view where the drive module 1 has been physically disconnected from the assembled vehicle 2 and thus from the functional module 6, so that the drive module 1 and the functional module 6 are separated.
  • the drive module 1 has been moved in direction away from the functional module 6, which is the remaining module of the assembled vehicle 2.
  • the at least one leg 47 is adapted to bear or at least partly bear the load of the functional module 6.
  • a load resulting from the weight of the functional module 6, acts on the at least one leg 47.
  • the at least one leg 47 is adapted to act as a stand for the functional module 6.
  • Fig. 2 schematically illustrates a drive module 1 in a section view.
  • the drive module 1 may comprise a pair of wheels 8.
  • the wheels 8 may be arranged at the first and second sides 28, 30 of the drive module 1.
  • One wheel 8 may be arranged at the first side 28 and the other wheel 8 may be arranged at the second side 30.
  • a steering unit 40 may be connected to the wheels 8.
  • the steering unit 40 may make the drive module 1 steerable.
  • the pair of wheels 8 may be so arranged at the drive module 1 that a centre axis 43 of each wheel 8 coincides with each other.
  • Each wheel 8 has a centre axis 43 and may be arranged at the drive module 1 so that each wheel 8 may rotate about its centre axis 43. When the centre axis 43 of each wheel 8 coincides with each other the drive module 1 has good manoeuvring abilities.
  • the drive module 1 may be con figured to enable a pivoting movement about the coinciding centre axis 43 of the two wheels 1. This pivoting movement of the drive module 1 may be useful when connect ing and disconnecting the drive module 1 with other modules 6.
  • the first control device 16 configured to operate the drive module 1 as an independently driven unit may con- trol the pivoting movement of the drive module 1 .
  • the drive module 1 may comprise at least two interfaces 14 for transferring electric energy and/or transmitting electric signals, and for physically connection.
  • the drive module 1 may comprise at least one propulsion unit 10 connected to the pair of wheels 8.
  • the propulsion unit 10 may be an electric machine connected to the wheels 8.
  • Two electric machines may be arranged as propulsion units 10 in the drive module 1.
  • One electric machine 10 may be connected to one wheel 8 and the other electric machine 10 may be connected to the other wheel 8.
  • the electric machines 10 may be arranged in the rim 42 of the wheels 8.
  • the wheels 8 may thereby be driven independently of each other.
  • the electric machines 10 may also work as generators and generate electric energy when braking the wheels 8.
  • the at least one propulsion unit 10 may be an internal com bustion engine, such as an otto engine or a diesel engine connected to the wheels 8.
  • the drive module 1 may comprise at least one energy storage unit 12 for providing the propulsion unit 10 with energy.
  • the energy storage unit 12 may be an electric battery.
  • the electric battery may be recharged with electric energy. Alternatively, when the electric battery is dis charged, the electric battery may be replaced by another charged electric battery.
  • the energy storage unit 12 may be a fuel tank with fuel suitable for the internal combustion engine.
  • the drive module 1 may comprise a separate closed cooling system 22, for cooling the at least one propulsion unit 10 and the at least one energy storage unit 12.
  • a separate closed cooling system 22 the drive module 1 may be operated as an independently driven unit, without any need of an external cooling arrangement. Also, the drive module 1 does not have to be connected to a cooling system of a functional module 6.
  • the separate closed cooling system 22 may be based on a liquid coolant or based on a forced flow of cooling air.
  • the drive module 1 may comprise a first control device 16.
  • the first control device 16 may be configured to operate the drive module 1 as an inde pendently driven unit.
  • the drive module 1 may transport itself without any external driven unit such as a towing vehicle 2.
  • the drive module 1 may transport itself by means of the at least one propulsion unit 10.
  • the drive module 1 may be configured to be autonomously operated.
  • the first control device 16 may be configured to con- trol the operation of the drive module 1.
  • the first control device 16 may be configured to transmit control signals to the various systems and components of the drive module 1 for controlling for example the steering and the propulsion of the drive module 1.
  • the first control device 16 may be adapted to operate the drive module 1 autonomously based on received commands.
  • the first control device 16 may thus be adapted to receive commands from a remotely located off-board system or a control centre 20 and to convert the command into control signals for controlling the various systems and components of the drive module 1.
  • the first control device 16 may also be config ured to receive data about the surroundings from at least one second sensor element 45, and based on this data control the drive module 1.
  • the first control device 16 may be implemented as a separate entity or distributed in two or more physical entities.
  • the first control device 16 may comprise one or more computers.
  • the first control device 16 may thus be implemented or realised by the first control device 16 comprising a processor and a memory.
  • the drive module 1 may be configured to constitute a part of an assembled vehicle 2. Such a vehicle 2 assembled from a set of modules 1 , 6.
  • the assembled vehicle 2 may comprise at least one functional module 6.
  • the assembled vehicle 2 may further comprise at least one drive module 1 as disclosed in figures 1 a and 1 b.
  • the assembled vehicle 2 may comprise two drive modules 1.
  • the drive module 1 may be adapted to be configured based on a function to be performed by the drive module 1 itself or as an assembled vehicle 2. However, the drive module 1 may itself thus constitute a vehicle.
  • the drive module 1 may be adapted to be releasably connected to either a second drive module 1 and/or a functional module 6 for forming an assembled vehicle 2. At least one of the sides of the drive module 1 may thus have a shape that allows the drive module 1 to be releasably connected to the second drive module 1 and/or the functional module 6.
  • the at least two interfaces 14 may be physical interfaces 14, arranged to physically connect the drive module 1 with the second drive module 1 and/or the functional mod ule 6.
  • the drive module 1 may comprise at least two interfaces 14, each arranged on different sides of the drive module 1 .
  • the interfaces 14 of the drive module 1 may be releasably connectable to a corresponding interface 14 of the second drive module 1 and/or the functional module 6.
  • each module in the set of modules 1 , 6 may comprise at least one interface 14, which may be releasably connectable to a corresponding inter- face 14 on another module.
  • the at least two interfaces 14 may be electric interfaces 14, arranged for transferring electric power and/or transmitting electric signals between the drive module 1 and the second drive module 1.
  • the electrical interface 14 may be a wireless interface 14 or a conductive interface 14. By connecting the drive module 1 and the functional module 6 electrically the modules 1 , 6 may transfer power between each other and also share information.
  • the drive module 1 may, for example, control parts of the functional mod ule 6, such as opening and closing of doors, heating and cooling.
  • the drive module 1 may comprise at least one second sensor element 45 for detecting and registering objects in the surrounding of the drive module 1.
  • the at least one sec ond sensor element 45 may be a proximity sensor for detecting and registering the distance to objects, such as vehicles, pedestrians, traffic lights and/or buildings.
  • the drive module 1 may be operated such that a safe distance to the surrounding objects is maintained and accidents avoided.
  • the at least one second sensor element 45 may be a radar, a lidar or a camera.
  • Figure 3a schematically illustrates a side view of an assembled vehicle 2 comprising two drive modules 1 and a functional module 6 provided with at least one leg 47 ac cording to an embodiment, for supporting the functional module 6 on a ground surface 54.
  • the at least one functional module 6 may be configured with a passenger compart ment 49 for accommodating passengers and may thus function as a bus 41 when be- ing assembled with the drive modules 1.
  • the shape of the two drive modules 1 may be identical and are configured as the drive module 1 de scribed above. In fig.
  • the drive modules 1 are connected to the functional module 6 and the interfaces 14 of the drive modules 1 and the functional module 6 are thus connected with each other.
  • Two legs 47 are disclosed in fig. 3a. However, there may be a leg 47 arranged in each corner of the functional module 6. Thus, four legs 47 may be arranged on the functional module 6. In fig. 3a the legs 47 are in a retracted position.
  • a customized vehicle 2 can be assembled, which may be suitable for a function to be performed. Also, an assembled vehicle 2 may be achieved, which is adapted to the surroundings and the operating conditions of the vehicle 2. Different configurations of the drive module 1 may be required when the drive modules
  • the drive modules 1 may also be adapted to be dynamically configured based on the surroundings in which the assembled vehicle
  • Figures 4a and 4b show a leg 47 according to an embodiment.
  • the leg 47 is config ured as a rod, which is movably arranged in its longitudinal direction.
  • the leg 47, configured as a rod is in the extended position. In the extended position the leg 47 will protrude out of the functional module 6 and downward to the ground surface 54. In the extended position the rod may support the functional module 6 on the ground surface 54.
  • the leg 47, configured as a rod is in the retracted posi tion. The rod may in the retracted position be accommodated in the functional mod ule 6.
  • An actuator 48 is configured for moving the at least one leg 47 between the extended position and the retracted position.
  • the actuator 48 may be arranged between a body 51 of the functional module 6 and the leg 47.
  • the actuator 48 is activated when the leg 47 should be moved to the extended position and to the retracted position.
  • the actuator 48 is hydraulically, pneumatically and/or electrically controlled.
  • the actuator 48 may be an electric motor, which is connected to the leg 47 and to the body 51 of the functional module 6.
  • Figures 5a and 5b show a leg 47 according to an embodiment.
  • the leg 47 is config ured as a rod, which is movably arranged in its longitudinal direction.
  • the leg 47 In fig. 5a the leg 47 is in the extended position. In the extended position the rod may support the func tional module 6 on the ground surface 54.
  • the leg 47 In fig. 5b the leg 47 is in the retracted posi tion.
  • the rod may in the retracted position be accommodated in the functional mod ule.
  • the rod may be provided with an external screw thread 53.
  • the body 51 of the functional module may be provided with a threaded opening 55 in which the rod is ar- ranged. By rotating the rod, a longitudinal displacement of the rod is achieved.
  • the actuator 48 is configured for moving the leg 47 between the extended position and the retracted position by rotating the rod.
  • a transmission 57 such as gear wheels, may be arranged between the rod and the actuator 48.
  • Figures 6a and 6b show a leg 47 according to an embodiment.
  • the leg 47 is config ured as a telescopic device. In fig. 6a the leg 47 is in the extended position. In the ex tended position the leg 47, configured as a telescopic device may support the func tional module on the ground surface. In the extended position the leg 47, configured as a telescopic device, may support the functional module on the ground surface. In fig. 6b the leg 47 is in the retracted position. Due to the telescopic configuration the leg 47 may in the retracted position have small dimensions.
  • Figures 7a and 7b show a leg 47 according to an embodiment.
  • the leg 47 is foldably configured.
  • the leg 47 In fig. 6a the leg 47 is in the extended position. In the extended position the rod may support the functional module on the ground surface.
  • the leg 47, foldably config ured, may support the functional module on the ground surface.
  • the leg 47 In fig. 6b the leg 47 is in the retracted position. The leg 47 may in the retracted position extend in parallel to the underside of the functional module.
  • FIG 8a and 8b schematically illustrate side views of a functional module 6 accord ing to an embodiment.
  • the functional module 6 is provided with a charging device 50.
  • Two charging devices 50 are shown in the embodiment.
  • Each charging device 50 may comprise a first contact element 52 adapted to be arranged at the functional module 6 and configured for transmitting electric power from an external power source 56 to at least one energy storage unit 12 in the functional module 6 and/or in the drive module 1 (fig. 2).
  • the first contact element 52 may be connected to the en ergy storage unit 12 by means of cables 59.
  • a protective element 58 which at least partly surrounds the first contact element 52, protects humans and animals in the surroundings from coming in contact with electrically conductive parts of first contact element 52.
  • the protective element 58 also protects the first contact element 52 from being exposed to debris from the surroundings, which may have an aggressive im pact on the first contact element 52 and thus reduce the transfer capabilities of elec- trie power of the first contact element 52.
  • the first contact element adapted to be arranged at the at least one leg 47 and con figured for transmitting electric power from the external power source to the at least one energy storage unit in the functional module 6 and/or in the drive module 1.
  • two legs 47 are disclosed and the legs 47 are in the retracted position.
  • the drive modules 1 has been excluded in fig. 8a, but after the functional module has been connected to drive modules 1 the legs 47 have been controlled to the retracted position.
  • the legs 47 of the functional module 6, provided with the first contact element 52 are adapted to bear or at least partly bear the weight of the functional module 6. Load re sulting from the weight of the functional module 6 may act on the first contact ele ment 52.
  • the first contact element 52 is adapted to be connected to a second contact element 60 connected to the external power source 56 and which second contact element 60 is arranged at the ground surface 54.
  • the second contact element 60 may have a shape of a flat plate or disc, which is arranged at a ground surface 54.
  • the first con tact element 52 may rest on the second contact element 60 when the first contact el ement 52 is connected to the second contact element 60.
  • the first contact element 52 is adapted to rest on the second contact element 60. Therefore, the second contact element 60 is adapted to bear or at least partly bear the weight of the functional module 6. Thus the second contact element 60 may act as a combined platform and charging station for the first contact element 52.
  • the second contact element 60 is connected to the external power source 56 by means of cables 59 and electric power is transmitted from the external power source 56 to the at least one energy storage unit 12 in the functional module 6 and/or in the drive module 1 via the first and second contact elements 52, 60 when the first and second contact elements 52, 60 are connected to each other.
  • the second contact element 60 comprises an electrical conductive material.
  • the sec ond contact element 60 which is connected to the external power source 56 com prises an electrical conductive material.
  • the electrical conductive material of the sec ond contact element 60 may be adapted to transmit electric power.
  • the first contact element comprises 52 an electrical conductive material.
  • the first contact element 52 may be configured for transmitting electric power through electri cal conductive material in the first contact element 52.
  • Both the first contact element 52 and the second contact element 60 may comprise electrical conductive material.
  • first contact element 52 When the first contact element 52 is connected to the second contact element 60, electric power may be conductively transmitted from the external power source 56 to the at least one energy storage unit 12 in the functional module 6 and/or in the drive module 1.
  • the first and second contact elements 52, 60 may be configured with inductive conductors (not shown), which are configured for transmitting electric power from the external power source 56 to the at least one energy storage unit 12.
  • Figures 9a and 9b schematically illustrate section views of a leg 47 provided with a charging device 50 according to an embodiment.
  • the protective element 58 which at least partly surrounds the first contact element 52, is arranged to be movable be tween a first position 68 and a second position 69 in relation to the first contact ele ment 52.
  • the protective element 58 is movable arranged on the first contact element 52 and thus also of the leg 47.
  • fig. 9a the leg 47 is in the retracted position.
  • fig. 9b the leg 47 is in the extended position, so that the leg 47 reaches the ground surface.
  • the first contact element 52 is at least partly surrounded by the protective element 58 and the protective element 58 is arranged to isolate the terminal end 72 of the first contact element 52 from the exter nal power source 56.
  • the protective element 58 is resilient and is at least partly movably arranged in rela tion to the first contact element 52 by compression of the protective element 58.
  • the resilient material in the protective element 58 allows the protective element 58 to move to the second position 69 when the protective element 58 is compressed, such as when the load of the functional module 6 is exerted on the protective element 58.
  • the load will compress the protective element 58, so that the terminal end 72 of the first contact element 52 may connect to the second contact element 60 and thus is enable to transmit electric power from the external power source 56 to the at least one energy storage unit 12.
  • the protective element 58 may have a cylindrical shape provided with a longitudinal bore 74 in which the first contact element 52 is arranged. In a situation when no load is exerted to the resilient protective element 58, the pro tective element 58 is in the first position 68 and is arranged to isolate the terminal end 72 of the first contact element 52 from the external power source 56.
  • the charging device 50 comprising at least one spring 78 connected to the first con- tact element 52.
  • the spring 78 may have a protective function on the first contact ele ment 52 and on the functional module 6. When a load acts on the protective element 58 and the protective element 58 reaches the second position 69, the load may also act on the first contact element 52. The spring 78 will act against this load and will have a dampening effect on the first contact element 52.
  • the protective element 58 is in the second position 69 and the terminal end is enabled to transmit electric power from the external power source 56 to the at least one energy storage unit 12.
  • the first contact element 52 is at least partly surrounded by the protective element 58 and the terminal end 72 of the first contact element 52 is exposed for and connected to the second contact element 60, so that electric power from the external power source 56 can be transmitted to the at least one energy storage unit 12.
  • the length of the resilient pro- tective element 58 will be reduced due to compression of the resilient protective ele ment 58. Since the protective element 58 is resilient and is at least partly movably ar ranged in relation to the first contact element 52, the relative movement will enable the terminal end 72 of the first contact element 52 to contact and connect to the sec ond contact element 60 for transmitting electric power from the external power source 56 to the at least one energy storage unit 12. The relative movement of the protective element 58 in relation to the first contact element 52 will bring the terminal end 72 of the first contact element 52 to an end of the longitudinal bore 74 of the cy lindrical shaped protective element 58.
  • the protective element 58 is connected to the functional module 6 and may be compressed between the functional module 6 and the second contact element 60.
  • the protective element 58 may constitute the leg 47, which is provided with the first contact element 52.
  • the protective ele ment 58 is resilient.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un module fonctionnel (6), conçu pour être relié à un module d'entraînement (1) pour former un véhicule assemblé (2), le module d'entraînement (1) comprenant au moins une paire de roues (8) et étant conçu pour être actionné de manière autonome et entraîner le véhicule assemblé (2). Le module fonctionnel (6) comprend au moins une jambe (47) pour supporter le module fonctionnel (6) sur une surface de sol (54) ; et un dispositif de commande (16, 70) conçu pour commander la ou les jambes (47) entre une position étendue dans laquelle elles supportent le module fonctionnel (6), et une position rétractée. L'invention concerne également un véhicule (2) assemblé à partir d'un ensemble de modules (1, 6).
PCT/SE2019/050422 2018-05-15 2019-05-13 Module fonctionnel et véhicule assemblé à partir d'un ensemble de modules Ceased WO2019221655A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1850559-4 2018-05-15
SE1850559 2018-05-15

Publications (1)

Publication Number Publication Date
WO2019221655A1 true WO2019221655A1 (fr) 2019-11-21

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PCT/SE2019/050422 Ceased WO2019221655A1 (fr) 2018-05-15 2019-05-13 Module fonctionnel et véhicule assemblé à partir d'un ensemble de modules

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JP2021113000A (ja) * 2020-01-20 2021-08-05 トヨタ自動車株式会社 車両のユニット搭載支援システム、及び車両
WO2022235731A1 (fr) 2021-05-07 2022-11-10 Yang Li Système de transport
FR3134060A1 (fr) * 2022-03-29 2023-10-06 Psa Automobiles Sa Procédé et dispositif de contrôle de déplacement d’une partie motrice autonome sous une cellule de transport pour assemblage de la partie motrice autonome avec la cellule

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021113000A (ja) * 2020-01-20 2021-08-05 トヨタ自動車株式会社 車両のユニット搭載支援システム、及び車両
JP7276170B2 (ja) 2020-01-20 2023-05-18 トヨタ自動車株式会社 車両のユニット搭載支援システム
WO2022235731A1 (fr) 2021-05-07 2022-11-10 Yang Li Système de transport
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FR3134060A1 (fr) * 2022-03-29 2023-10-06 Psa Automobiles Sa Procédé et dispositif de contrôle de déplacement d’une partie motrice autonome sous une cellule de transport pour assemblage de la partie motrice autonome avec la cellule

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