KR102002556B1 - Unmanned Electronic Vehicle for gathering salt and system for managing the same - Google Patents

Abstract

An embodiment of the present invention relates to an automobile body which is moved by battery driving power; A GPS position information generating unit for generating GPS position information; A surrounding terrain information sensing unit for sensing the surrounding terrain information; An air bucket provided with a plurality of air nozzle blocks for blowing air pressure towards the bottom for washing the floor material simultaneously with the remaining amount of the salt crystals to serve as an advancing agent for collecting the salt crystals formed in the trough during the movement of the automobile body; And an electronic control system unit for controlling the automobile body to collect or clean the salt crystals by performing air pressure ejection toward the floor through the air bucket while moving horizontally and avoiding obstacles using the GPS position information and the surrounding terrain information, ; ≪ / RTI >

Description

[0001] The present invention relates to an unmanned electric vehicle for collecting salt crystals and an unmanned electric vehicle for collecting salt crystals,

The present invention relates to an electric automobile for collecting salt crystals from a salt crystal crystal paper, which is an unmanned electric vehicle for collecting salt crystals.

It is mixed with salt crystals and a large amount of high salinity water in the traditional method of collecting in a certain place for the settlement in the settlement place which is the final stage of the domestic and foreign salt production process, , The method of transferring to the sputum is physically very hard work.

The development of the agricultural machinery industry today has drastically reduced manpower shortages and work time as well as increased production. However, in the case of picking up the sun-salt, the salt crystals are collected by hand by hand, and they are shoveled into rail cars or carts.

In addition, as agriculture production has been developed mechanically, there is no equipment for collecting unmanned salinity salt using electric cars that incorporate technologies such as IT, ICT, and IoT in railway trucks suitable for high salinity. As a result, quality deterioration, There were many problems such as the physical dressing method.

Especially, the rubber leathers which are used in both domestic and overseas salt crystals to make sun-salt are mostly rubber materials or petrochemical products which are adhered to the bottom, so that a large amount of harmful environmental hormones leak out, There are various kinds of products such as workers clothes, rubber shoes (boots), collecting work tools, and other consumable materials in the decision grounds, and a large amount of foreign substances are mixed.

Therefore, it is very difficult for workers to move the sandbag, which is used in the domestic and foreign salt settlement areas, to the other location by pushing the sandbag, , Two-way information technology using wireless communication technology that combines high-intensity, reliable IT, ICT, and IOT technology, electronic control system unit including driving motor, blower, step motor, bucket with obstacle detection and air discharge pressure control Data detected from an electronic control unit such as an electronic control system unit, a surround camera or a general camera, an ultrasonic laser, a Gyro-LiDAR sensor, a laser scanner, a short distance measuring radar, A communication system for transmitting and receiving the result, There is no unmanned collection equipment and its management system suitable for high salinity using electric and electronic parts which are excellent in corrosiveness and reliability, electric and electronic parts which are excellent in reliability, inner and outer durability using environmentally friendly materials, and corrosion resistant triple safety devices .

In particular, Lada can use a complex sensor that can sense the distance, direction, speed, etc. to objects by illuminating an infrared laser to the target.

On the other hand, due to the nature of the tidal wave in Korea, all works are being carried out in the island area, and the poor environment and work intensity are also heavily overloaded and the young man's interest is not received, and the manpower shortage is intensifying. In particular, Which is a serious problem due to the decrease in the quality of the product and the decrease in quality.

Therefore, there is a need for a means for mass production of clean, high-quality mannitol by improving unsanitary and unreasonable working methods.

Korean Patent Publication No. 10-2003-0076488

The technical problem of the present invention is to provide sanitary torsion bar filling means. A technical object of the present invention is to provide a means for mass production of clean high-quality solar salt using an electric automobile incorporating wireless communication technology that combines IT, ICT, and IOT technologies.

An embodiment of the present invention relates to an automobile body which is moved by battery driving power; A GPS position information generating unit for generating GPS position information; A surrounding terrain information sensing unit for sensing the surrounding terrain information; An air bucket provided with a plurality of air nozzle blocks for blowing air pressure towards the bottom for washing the floor material simultaneously with the remaining amount of the salt crystals to serve as an advancing agent for collecting the salt crystals formed in the trough during the movement of the automobile body; And an electronic control system unit for controlling the automobile body to collect or clean the salt crystals by performing air pressure ejection toward the floor through the air bucket while moving horizontally and avoiding obstacles using the GPS position information and the surrounding terrain information, ; ≪ / RTI >

The unmanned electric vehicle for collecting salt crystals of salt crystals comprises an air bucket inclination driving unit for varying the inclination of the air bucket; And an air bucket up and down driving unit for adjusting the height of the air bucket by vertically driving the bucket bar on which the air bucket is mounted, wherein the electronic control system unit controls the air bucket inclination When the vehicle body is moved or parked, the air bucket can be raised to the uppermost layer and the inclination can be controlled to be directed horizontally.

An unmanned electric vehicle for collecting salt crystals of salt crystals comprises an ultrasonic sensor for sensing a water ratio of a surrounding topography where a car body is located; And a laser sensor that senses floor condition information of the warp determination ground where the vehicle body is located.

The height of the salt crystals is calculated using the water ratio and the floor condition information and the height and tilt of the air bucket are determined according to the calculated height of the salt crystals to control the air bucket up and down driving unit and the air bucket tilt driving unit .

The unirradiated electric vehicle for collecting salt crystals of salt crystals includes an air blower for filtering the air introduced from the outside and providing the air nozzle as a preset air pressure. The air discharged from the blower, the compressor, And an air passage pipe for passing through the interior of the vehicle body for cooling in a closed space provided with a control system unit, a wire / wireless communication unit, a motor, a capacitor, and a driving unit.

The electronic control system unit may control to provide the air nozzle with different levels of air pressure generated in the blower and the compressor by using the water ratio and the floor condition information

Wherein the surrounding terrain information sensing unit comprises: a surround camera for transmitting an image of a surrounding image to a salient spotless collection management server for managing an unmanned electric vehicle for collecting salted salt crystals; A gyro sensor for sensing the tilt of the vehicle body; A laser scanner for scanning the surrounding terrain to generate terrain scanning information; And a rider sensor for measuring a distance to a place where the laser beam is determined by using the laser reflected light.

The unattended electric vehicle for collecting salt crystals of salt crystals comprises: a flashing warning lamp which emits light to notify an operation error and danger of the electric vehicle; And an alarm speaker for broadcasting an operation error and a danger warning of the electric vehicle, wherein the electronic control system unit is configured to transmit the GPS position information, the surrounding image, the vehicle body inclination, the terrain scanning information, the water ratio, When the set reference information is out of the predetermined reference information, it is determined as a dangerous situation and a warning can be outputted through the flashing warning lamp and the warning speaker.

Wherein the electronic control system unit is configured to transmit the GPS position information, the surrounding image, the car, the car, and the like to the trolley- The body slope, the terrain scanning information, the water ratio, the floor condition information, and the hazard situation to the salting-free picking management server in real time together with the unique identification ID of the electric car.

Further, an embodiment of the present invention is an automotive vehicle comprising: an automobile body moving by battery drive power; A GPS position information generating unit for generating GPS position information; A surrounding terrain information sensing unit for sensing the surrounding terrain information; An air bucket provided with a plurality of air nozzle blocks for blowing air pressure towards the bottom for washing the floor material simultaneously with the remaining amount of the salt crystals to serve as an advancing agent for collecting the salt crystals formed in the trough during the movement of the automobile body; A wired / wireless communication unit for wired communication or wireless communication with an external wartime unattended collection management server; And controlling the car body to collect or clean the salt crystals by blowing air pressure toward the floor through the air bucket while moving horizontally and avoiding obstacles using the GPS position information and the surrounding terrain information, And an electronic control system unit for transmitting, in real time, an unattended collection management server with a unique identification ID of the electric vehicle, a surrounding image, a vehicle body inclination and a height, a terrain scanning information, a water ratio, a floor condition information, Unmanned electric vehicles; And a control terminal equipped with an unattended picking-up management application for real-time transmission of the GPS position information, the surrounding image, the inclination and height of the vehicle body, the terrain scanning information, the water ratio, the floor condition information, And a collection management server.

If the distances between the unattended electric car for collecting salt crystals of salt crystals and the unattended collection management server are distant from a predetermined distance or if obstacles are scattered between the unattended electric vehicle for collecting salt crystals and the unattended collection management server, Data can be exchanged through.

According to the embodiment of the present invention, it is possible to collect salt crystals by using a high air pressure, to clean the flooring material, and to sanitarily deposit sun-salt in a short time by unattended operation before the salt is possible. Further, according to the embodiment of the present invention, it is possible to adjust the height and tilt of the air bucket for spraying the air pressure, thereby making it possible to efficiently perform equipment movement and compaction.

1 is a perspective view of an unmanned electric vehicle for collecting salt crystals of salt according to an embodiment of the present invention;
2 is a plan view of an unmanned electric vehicle for collecting salt-salt crystals according to an embodiment of the present invention;
FIG. 3 is an illustration showing a state in which salt is collected by an unmanned electric vehicle for collecting salt crystals of salt crystals according to an embodiment of the present invention. FIG.
4 is a block diagram showing the configuration of an unmanned electric vehicle for collecting salt crystals of salt according to an embodiment of the present invention.
FIG. 5 (a) is an illustration showing a plurality of air nozzle blocks according to an embodiment of the present invention. FIG.
FIG. 5 (b) is an illustration showing an integrated air nozzle block and a separate air nozzle block according to an embodiment of the present invention. FIG.
Figure 6 is an illustration of a blower in accordance with an embodiment of the present invention.
7 is a flowchart of a warning operation of the vehicle electronic control unit according to the embodiment of the present invention.
FIG. 8 is a configuration diagram of a torsion free acquisition collecting communication system according to an embodiment of the present invention; FIG.
FIG. 9 is a diagram showing a wired / wireless integrated communication system provided in an unmanned electric vehicle for collecting salt crystals of salt according to an embodiment of the present invention; FIG.
10 is an illustration of an equipment management program according to an embodiment of the present invention.
11 is a state information display displayed on a control terminal according to an embodiment of the present invention.
FIG. 12 is a diagram illustrating an emergency situation of a smartphone according to an embodiment of the present invention. FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and how to achieve them, will be apparent from the following detailed description of embodiments thereof taken in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the exemplary embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concept of the invention to those skilled in the art. And the present invention is only defined by the scope of the claims. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

FIG. 1 is a perspective view of an unmanned electric vehicle for collecting salt crystals according to an embodiment of the present invention, FIG. 2 is a plan view of an unmanned electric vehicle for collecting salt crystals of salt according to an embodiment of the present invention, FIG. 4 is a block diagram showing the construction of an unmanned electric vehicle for collecting salt crystals of salt according to an embodiment of the present invention, and FIG. FIG. 5A is a view illustrating a plurality of air nozzle blocks according to an embodiment of the present invention, FIG. 5B is a view showing an integral air nozzle block and a separate air nozzle block according to an embodiment of the present invention FIG. 6 is a diagram illustrating a blower according to an embodiment of the present invention, and FIG. 7 is a flowchart illustrating a warning operation of the vehicle electronic control unit according to the embodiment of the present invention.

In the present invention, various sensor information such as the surrounding environment and conditions before the trough are acquired and analyzed in real time, and the result is determined and transmitted to the electronic control system unit 160. The driving electronic control system unit 160 controls the electric vehicle So that the electric vehicle 100 can be flashed in the warp determination paper. In addition, it is possible to trace the location of an emergency in case of an emergency, and it is possible to immediately respond to an emergency situation immediately, so that safety and personnel accidents can be prevented in advance, so that workers can be prevented from being sacrificed or damaged An unmanned electric vehicle 100 is provided.

As shown in FIG. 4, the unmanned electric vehicle 100 for collecting salt crystals of the present invention comprises an automobile body 100a, a rotation driving means 150, a GPS position information generating unit 110, A sensing unit 120, an air bucket 130, and an electronic control system unit 160. [ The airbag up and down driving unit 131, the ultrasonic sensor 171, the laser sensor 172, the blower 140 or the compressor, the air bucket tilt driving unit 132, the air nozzle block 133 incorporated in the air bucket, A warning lamp 181, a warning speaker 182, an emergency braking control unit 183, and a battery control unit 184.

The automobile body 100a is a main body of the electric vehicle 100 that moves by driving a brushless direct current motor having two or more wheels with an electric brake system by battery driving power. The shape of the vehicle body 100a may have various shapes such as a trailer shape, a triangle shape, and the like. Also, the battery is a chargeable and dischargeable whole battery. The battery is controlled by the battery control unit 184 to charge or discharge. In addition, the emergency braking control unit 183 performs control for urgently braking the electric vehicle at an emergency.

On the other hand, a speed reducer can be used in parallel with the speed of the DLDC motor, and a hydraulic disc brake system can be included in the front wheel or the rear wheel separately from the electromagnetic brake system for the sake of safety.

The tire of the wheel here is made of urethane which is suitable for high salt resistance, natural rubber, rubber material for automobile tire, etc., and it can be used as a cover by covering with the material of high strength titanium or aluminum, etc. .

The rotation driving means 150 is rotatably installed at one end of a center shaft protruding perpendicularly to the center of the vehicle body 100a to rotate the vehicle body 100a. For example, when it is necessary to rotate the car body by 90 degrees, the car can be lifted and rotated through the rotation driving means 150. [ The rotation driving means 150 may be implemented as a stepping motor so that two or more wheels can be driven by the battery driving power in order to move leftward or rightward in the motor control unit, and forward / backward movement is also possible if necessary. The stepping motor transmits the information of the stepping motor to the control unit so that the height of the recollecting equipment can be adjusted up and down so that the wheel can rotate 90 ° to the left and right. It is a function to adjust up and down.

Further, the vehicle body 100a transmits the information of the stepping motor so that four wheels can be rotated 90 degrees by two or four stepping motors by the battery driving power, and the information of the stepping motor is transmitted to the electric vehicle So that it is possible to adjust the rotation by 90 degrees to the left and right sides.

The GPS position information generating unit 110 receives GPS information from at least three GPS (Global Positioning System) satellites and calculates GPS position information of the vehicle body 100a using the received GPS information. Therefore, the current position information of the electric vehicle 100 can be grasped in real time.

The surrounding terrain information sensing unit 120 performs a function of sensing the surrounding terrain information. The surrounding terrain information sensing unit 120 includes a surround camera 121 that captures a surrounding image and transmits the captured image to the electronic control system unit 160 or the unattended collection management server 200 and a gyro sensor 122, the amount of salt crystals, the state of the ground of the determination paper, A laser scanner 123 that scans the surrounding terrain to generate the terrain scanning information, and a rider sensor 124 that measures the distance between the laser reflected light and the location designated as the torsion decider.

The surround camera 121 includes a front surround camera for photographing the front of the electric vehicle 100 and a rear surround camera for photographing the rear of the electric vehicle 100. The front and rear cameras detect front and rear obstacles And can be utilized for control of the electronic control system unit 160. [ In addition, the gyro sensor 122 senses the tilt during operation of the vehicle body, and the tilt sensing value is used to enable the electric vehicle 100 to maintain the level during operation, It is possible to maintain the horizontal position by the air bucket tilt driving section 132 at all times. In addition, the laser scanner 123 scans the surrounding terrain to generate the terrain scanning information, and calculates the distance (height), front, back, left, right, and width to calculate the position According to the result of the analysis, it is used to determine the location and operating position of the electric car. Also, the rider sensor 124 can measure the distance to the place designated as the torsion decider using laser reflected light.

The air bucket 130 is a means for collecting the salt crystals formed before the tumbling of the automobile body 100a and cleaning the bottom surface of the determined tanks simultaneously with collecting the remaining amount of the salt crystals. That is, a plurality of air nozzles are provided for ejecting high-pressure air toward the bottom so that the air bucket 130 functions as an airbag and the air nozzle block 133 can collect the remaining amount of the salt crystals at the same time as the bottom floor material is cleaned.

To this end, the air bucket 130 may be provided with a plurality of air nozzle blocks 133 as shown in FIG. 5 (a). Each of the air nozzle blocks 133 is a block in which a plurality of air nozzles are disposed. Each of the air nozzle blocks 133 is equipped with 8 to 10 nozzles made of stainless steel or titanium, , A high air pressure of 70 N or more, a length of a bucket of 1,500 mm or more, and a width of 20 mm or more.

The air nozzle block 133 includes a central air nozzle block 133b disposed at the center, a left air nozzle block 133a connected to the left end and the outer surface of the central air nozzle block 133b at an acute angle, And a right air nozzle block 133c connected to the right and left ends of the nozzle block 133b at an acute angle. Accordingly, the air nozzle block 133b in the center is fixed, and the air nozzle blocks 133a and 133c on both side surfaces are slightly concentrated at the center. The high-pressure air nozzle central air nozzle 133b coming out of the air nozzle, 133a and 133c can sweep the remaining amount of the salt crystals and simultaneously serve as a cleaning agent for the flooding salt floors.

In addition, the nozzle block of the air bucket is integrally formed with a semi-circle shape or a linear shape, and the high-pressure air central nozzle 133b and both side air nozzles 133a and 133c can sweep the remaining salt crystals and simultaneously serve as a salt- have.

Further, as shown in FIG. 5 (b), the air bucket may be manufactured as a separate type in which the air nozzle block and the nozzle are separable from each other, or the air nozzle block and the nozzle may be integrally formed as one body, It will be apparent that the invention can be embodied in the form of figures.

The electronic control system unit 160 performs air pressure ejection toward the floor through the air bucket 130 as shown in FIG. 3 while keeping the horizontal position and the obstacle avoiding movement using the GPS position information and the surrounding terrain information, And controls the automobile body 100a so as to collect the crystals. For example, if there are obstacles in the front and rear, the obstacle avoiding algorithm avoids the obstacle and collects the salt crystals in one place while moving.

If there is an obstacle in the front and rear, if the obstacle avoidance is not possible according to the obstacle algorithm, the emergency main body 100a is stopped by the emergency (emergency) braking device, By wirelessly transmitting information to the surrounding worker or manager, emergency measures can be taken.

In addition, the unattended electric vehicle 100 for collecting salt crystals of salt crystals includes an ultrasonic sensor 171 for sensing the water ratio of the surrounding topography in which the car body 100a is located, And a laser sensor 172 for sensing the laser beam. The ultrasonic sensor 171 grasps the water ratio of the floor using transmission and reception of ultrasonic waves and provides it to the electronic control system unit 160. The laser sensor 172 (Laser Scanner) And transmits data obtained by measuring the intensity of reflected light or transmitted light to the electronic control system unit 160.

The air bucket 130 may be vertically movable. The air bucket 130 may be vertically moved by vertically driving the bucket bar mounted with the air bucket 130 to adjust the height of the air bucket 130. ). The air bucket up and down driving unit 131 can move the air bucket 130 up and down by a stepping motor.

The electronic control system unit 160 calculates the height of the salt crystals using the measured water ratio and the floor condition information and determines the height of the air bucket 130 in accordance with the calculated height of the salt crystals, It is possible to control the display unit 131. For example, the data information of various sensors such as the laser sensor 172 and the ultrasonic sensor 171 is reviewed and analyzed so that the air bucket 130 operates at about 10 to 30 mm from the bottom surface of the determined paper depending on the salt amount of the salt crystals It is possible to implement the automatic control of the electronic control system unit 160 to clean the flooring with salt water simultaneously with the salt crystals.

In addition, the air bucket 130 can be adjusted in tilt. And may include an air bucket inclination driving unit 132 for varying the air pressure ejecting direction inclination of the air bucket 130 for this purpose. The air bucket inclination driving section 132 includes an air cylinder or a stepping motor so as to be movable up and down at an angle of about 20 degrees. Therefore, the electronic control system unit 160 allows the air pressure of the air bucket 130 to be directed toward the ground during the compaction operation for collecting the salt crystals. When the vehicle body 100a is moved or parked, The air bucket tilting driving unit 132 may be controlled such that the air pressure tilting direction of the air bag 130 is horizontally directed. In other words, during the compaction work, it is inclined about 20 ° downward, and when moving, it is level with the car body and raised to the upper side, so that there is no obstacle to operation during storage or storage of the tongue.

In addition, it is preferable that the steering apparatus 101 can change its direction naturally without an electric or mechanical driving device, and may be automatically controlled by applying a driving motor according to circumstances.

On the other hand, the unattended electric vehicle 100 for collecting salt crystals of salt crystals comprises a blower 140 for filtering the air introduced from the outside and providing it to the air nozzle as a preset air pressure, or a compressor. Such a blower 140 is provided with a replacement filter 1411 for filtering air inside the blower 140 as shown in FIG. As described above, as a device using the air pressure difference of the air blowing device, the air moves from a high pressure to a low pressure when a pressure difference occurs. The blower 140 produces an air pressure difference using alternating current or direct current electrical energy. Since the air is sucked into the vacuum cleaner having a lower air pressure than that of the surrounding air, the vacuum cleaner is not a perfect vacuum but creates an imperfect vacuum, so that the air cleaner has a filter inlet 1411 through which clean air is passed, It can be divided into a fan part which produces a weak vacuum level.

The compressor 142 has an exchange filter (not shown) for filtering air outside. In other words, clean air is discharged at a high pressure by using AC or DC electric energy

The blower 140 to which the motor is connected makes the inside of the vacuum cleaner at a pressure lower than the normal atmospheric pressure (vacuum state) by a strong rotation. Strong motor rotation several tens of times per minute causes the air inside the blower 140 to be blown The air pressure inside the blower 140 is remarkably lower than that of the outside, so that the blower 140 having a high pressure outside the high-pressure state of the blower 140, which is in a high pressure state, ). It is preferable to use a filter 1411 that can be replaced with a natural material since dust and dust come into the air when the outside air is sucked into the blower 140 through the air inlet. Accordingly, the blower 140 is installed on the upper side of the collecting device of the unmanned collection device and its management system suitable for high salinity using the electric vehicle 100, and the discharge path of the clean high-pressure air is an electronic control system, , A function of cooling the heat generated in a closed space such as a capacitor and a driving part is provided.

Also, the air discharged from the blower and supplied to the nozzle has an air passage pipe for passing through the inside of the vehicle body for cooling in a closed space provided with an electronic control system unit, a wire / wireless communication unit, a motor, a capacitor and a driving unit. That is, the unmanned electric vehicle 100 is an apparatus suitable for a decontamination apparatus, a salt-free operation site, a product production or transportation means, and a customized transportation means, Since it is sealed by a triple structure so as not to come into direct contact with the outside in order to prevent a short circuit, it is necessary to provide a cooling device in order to prevent the operating temperature of the electric and electronic products from rising in the collecting equipment. The high pressure air is passed through the inside of the air bucket to cool the heat generated in the enclosed space, such as the vehicle electronic control system, the oil / wireless communication unit, the motor, the capacitor, To the nozzle block 131 of the nozzle 130.

Therefore, the role of the powerful blower 140 is to perform a combined function such as collecting the salt crystals in the crystal paper, cleaning the bottom floor of the crystal paper, and cooling the inside of the electric vehicle.

Further, the electronic control system unit 160 of the present invention automatically controls the blower 140 to provide the air nozzles with different levels of air pressure generated in the blower 140 by using the bottom ratio and the floor condition information can do. That is, the electronic control system unit 160 analyzes the data sent from the laser scanner 123, the data of the bottom state in the ultrasonic sensor 171, etc., and adjusts the air pressure according to the result, As shown in Fig.

Therefore, according to the data analysis results of the laser scanner 123 and the ultrasonic sensor 171, the air discharge amount is adjusted to five levels, and the air bucket 130 is arbitrarily adjusted to a predetermined interval or interval according to the application, The function of discharging salt crystals and salt water remaining in a small amount of 10mm or less on the basis of the bottom material is a function of blowing salt crystals at the same time of cleaning the calcium component or various impurities attached to the flooring with high pressure air, Air pressure can be blown to the highest level to collect the salt crystals and some salt water on the floor by pushing them into the air bucket (130).

On the other hand, the unattended electric vehicle 100 for collecting salt crystals of salt has a blinking flashing warning lamp 181 that emits light to notify an operation error and a danger of the electric vehicle 100, And a warning speaker 182 for warning the user. Therefore, when the GPS position information, the surrounding image, the vehicle body inclination, the terrain scanning information, the water ratio, the floor condition information are out of preset reference information, the electronic control system unit 160 determines that the flashing warning lamp 181 is in a dangerous state, And a warning speaker 182. [0086]

In addition, the main body of the untreated untreated collecting equipment was arranged so that the windows could be opened or closed on the upper side or the side surface so that the main body of the untreated unauthorized collecting equipment could be easily and conveniently diagnosed or maintained for each unit in a short time.

Referring to FIG. 7, the steps for detecting and warning the danger are described as S710, S720, S730, and S740. ).

The sensing step S710 includes an operation of tracking and detecting the current rear obstacle information, an operation of sensing the water ratio information during the current operation, an operation of sensing the horizontal retention information during the current operation, Tracking, detecting the current ground floor condition information, tracking and detecting the pre / post / left / right distance information of the pre-tilt determination ground, and determining the current pre / post / left / Tracking and detecting the information, tracking and detecting the current pre / post / left / right width information of the current salt crystal, tracking and detecting the current position of the salt crystals, A step of tracking and detecting the collecting device height information so as to rotate the present wheel, an operation of detecting the present high pressure air discharge amount information, an operation of detecting the present collecting equipment unique number And performs an operation of sensing at least one of an operation and an operation to be tracked and detected.

In the determination step S720, at least one or more current information sensed in the sensing step S710 is set as the reference rear obstacle information, the water ratio information in the reference operation, the horizontal maintenance information in the reference operation, the reference front obstacle information, The information on the ground floor condition, the reference determination ground front / rear / left / right distance information, the reference determination ground front / rear / left / right elevation information, the reference determination ground front / rear / left / right width information, Determining whether or not at least one of the reference information of the reference collection equipment location information, the collection equipment height information for rotating the reference wheel, the reference high pressure air discharge information, the reference collection equipment location information, and the operation for tracking and detecting the collection equipment unique number is determined do.

In the determination step S730, if it is determined in the determination step S720 that at least one current information is out of at least one reference information, the current emergency situation is identified.

In operation S740, when the GPS position information, the surrounding image, the vehicle body inclination, the terrain scanning information, the water ratio, and the floor condition information are out of preset reference information, it is determined as a dangerous situation and the blink warning lamp 181 is blinked Or through the warning speaker 182.

In addition, through the communication unit, information on the dangerous situation is notified to the surrounding worker and the manager in real time in the smartphone, the terminal (not shown) or the control terminal.

Meanwhile, the operation information of the unattended electric vehicle 100 for collecting salt-based salt crystals of the present invention can be confirmed in real time from an external server and delivered to an administrator, and also can receive a control command from an external server. .

FIG. 8 is a configuration diagram of a triboelectric-free acquisition communication system according to an embodiment of the present invention, and FIG. 9 is a diagram illustrating a wired-wireless integrated communication system provided in an unmanned electric vehicle for collecting salt crystals of salt according to an embodiment of the present invention FIG. 10 is a diagram illustrating an apparatus management program according to an exemplary embodiment of the present invention, FIG. 11 is a diagram illustrating state information displayed on a control terminal according to an exemplary embodiment of the present invention, FIG. This is an example of emergency situation on smartphone.

The salt-free unattended collection communication system of the present invention may include an unattended electric vehicle 100 for collecting salt crystals of salt, a salt-free unattended collection management server 200, and a control terminal 300.

The salt-free salt crystals collecting unmanned electric vehicle 100 includes a rotation driving unit 150, a GPS position information generating unit 110, a peripheral terrain information sensing unit 120, an air bucket 130, an electronic control system unit 160 An air bucket vertical driving part 131, an ultrasonic sensor 171, a laser sensor 172, an air blower 140, an air bucket inclination driving part 132, an air nozzle block 133 built in an air bucket, Wireless communication unit 190 may be additionally provided in addition to the warning speaker 181 and the warning speaker 182.

As shown in FIG. 9, the unmanned electric vehicle integrated communication system 1000 for collecting salt-salt crystals of the present invention includes a vehicle electronic control system unit and a wire / wireless communication unit 190. The wired / wireless communication unit 190 may include a wired communication module 191 and a wireless communication module 192.

The wired communication module 191 supports an Ethernet, a universal serial bus, an IEEE 1394, a serial communication, and the like in order to support a function of performing wired communication with an external wartime acquiring management server 200 And supports a wired communication method such as parallel communication. The wireless communication module 192 supports a function of wirelessly communicating with an external wartime acquiring management server 200. The wireless communication module 192 may be a mobile communication network, a Bluetooth, a Zigbee communication module, a Wi-Fi communication module, a Wibro communication module, And a communication module (not shown).

The wired / wireless communication unit is provided so as to enable bidirectional communication capable of transmitting and receiving when an emergency occurs, so that the unmanned electric vehicle 100 or the control terminal 300 to be described later without any confusion And may be provided to enable communication or transmission with at least one of the third party guardian, manager and controller.

Therefore, the electronic control system unit 160 can transmit the GPS position information, the surrounding image, the vehicle body inclination, the terrain scanning information, the water ratio, the floor condition information and the dangerous situation in real time with the unique identification ID of the electric vehicle 100 To the collection management server 200 by wire or wirelessly. That is, when the electronic control system unit 160 determines that at least one current information is out of at least one reference information through the wire / wireless communication unit, the electronic control system unit 160 transmits the emergency obstacle warning light, Water ratio warning light, leveling warning light, front obstacle warning light, decision ground condition warning light, pre / post / left / right distance warning light, current pre / post / The operation signal of at least one of the left / right width warning light, the current position information warning light for collecting the salt crystals, the collecting equipment location warning light, the collecting equipment height warning light for rotating the wheel, the high pressure air discharge warning light, To the collection management server (200).

The torsion free unattended collection management server 200 displays the received information. Such a display can be managed by a PC program for equipment management as shown in Fig.

In addition, the present invention can relays GPS position information, a surrounding image, a slope of a vehicle body, a terrain scanning information, a water ratio, floor condition information, and a dangerous situation to the registered control terminal 300, if necessary . The control terminal 300 may be implemented as a notebook computer, a desktop PC, a smart phone, or a tablet PC. As shown in FIG. 11, information about a dangerous situation is distinguished . Each electric vehicle 100 has a unique identification ID, and an emergency situation and a failure cause of each electric vehicle 100 that collects the salt crystals can be clearly displayed for each collection field. You can also display the composite status.

For example, in the display window of the control terminal 300, green (LED) lights up in a normal state, and in particular, a green (LED) Can be displayed. Therefore, the manager can grasp the state of the unmanned electric vehicle 100 for collecting salt crystals of salt crystals in real time through the control terminal 300 such as a notebook computer, a smart phone or the like,

Further, the unattended electric vehicle 100 for collecting salt-salt crystals may further include an audio amplifying unit (not shown). The voice amplifying unit may be provided to amplify voice when communicating voice through the control manager managing the control terminal 300 and the wire / wireless communication unit.

Meanwhile, when the control terminal 300 is implemented as a smartphone, a control application (app / app.) Is installed to provide various functions through the unattended collection management application.

- BLE or Zigbee unmanned collection equipment search and connection function

- BLE, Zigbee device registration / device name setting function for easy device interlocking function

- Notify user according to reception status

- Operation status, data saving and reading function of various sensors

Such a control application is intended to transmit a notification through the BLE or Zigbee communication method of the smartphone held by the user with the result of sensing whether the unmanned electric vehicle 100 for collecting salt crystals is in operation state or emergency warning, In order to make it easier for the user to interlock with the unmanned electric vehicle 100 for collecting salt crystals, automatic BLE or Zigbee turn-on and scan functions are automated and the distinction of the unattended electric vehicle 100 And provides the unique number registration function of the unmanned electric vehicle 100 for collecting salt crystals of salt. It is possible to provide an automatic storing and browsing function of the sensing event result of the operation status of the unmanned electric vehicle 100 for collecting salt crystals of salt and transmitting the result from the unattended electric vehicle 100 for collecting salt crystals Such as an operation state error, an emergency warning, and the like, depending on the results of various sensors.

If the distance between the unmanned electric car for collecting salt crystals of salt crystals and the unattended collection management server is distant from a preset distance or if obstacles are scattered between the unattended electric vehicle for collecting salt crystals and the unattended collection management server The data is exchanged through the repeater 400 as shown in FIG.

Further, the present invention can display an emergency situation on a smartphone. For example, as shown in FIG. 12, a fault location of an unmanned electric vehicle for collecting salt crystals of salt is displayed on a smartphone, Can be done. It will be obvious that other large number of emergencies can be displayed on smartphones.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: Unmanned electric car for collecting salt salt crystals
100a: Car body
110: Generate GPS location information
120: peripheral terrain information sensing unit
130: Air bucket
141: blower
142: Compressor
150: rotation driving means
160: Electronic control system unit

Claims (9)

An automobile body moving by battery-powered power;
A GPS position information generating unit for generating GPS position information;
A surrounding terrain information sensing unit for sensing the surrounding terrain information;
An air bucket provided with a plurality of air nozzle blocks for blowing an air pressure toward the bottom for washing the floor material simultaneously with the collection of the remaining amount of the salt crystals so as to promote the collection of the salt crystals formed in the trough during the movement of the automobile body;
An electronic control system unit for controlling the automobile body to collect or clean the salt crystals by blowing air pressure toward the floor through the air bucket while horizontally maintaining and obstacle avoiding movement using the GPS position information and the surrounding terrain information;
An air bucket inclination driving unit for varying the air bucket inclination;
An air bucket vertically driving unit for vertically driving the bucket bar on which the air bucket is mounted to adjust the height of the air bucket;
An ultrasonic sensor for sensing a water ratio of a surrounding terrain in which an automobile body is located; And
And a laser sensor for sensing the floor condition information of the warp determination paper where the automobile body is located,
The electronic control system unit calculates the height of the salt crystals by using the water ratio sensed by the ultrasonic sensor and the floor condition information sensed by the laser sensor during the compaction operation for collecting the salt crystals, And controls the air bucket up and down driving unit and the air bucket tilt driving unit by determining the height and tilt of the air bucket according to the height of the air bucket,
Wherein when the car body is moved or parked, the air bucket is raised to the uppermost layer and the inclination is controlled to be directed horizontally.
delete delete The salt-free salt crystal collecting unmanned electric vehicle according to claim 1,
And a blower for filtering the air introduced from the outside and supplying the air to the air nozzle as a predetermined air pressure, wherein air blown out from the blower and the compressor and supplied to the nozzle is supplied to an electronic control system unit, And an air passage tube for allowing the inside of the automobile body to pass through the inside of the automobile body for cooling in a closed space provided with a condenser and a driving part.
[3] The apparatus of claim 1,
A surveillance camera for transmitting the collected images to an unattended collection management server for managing an unmanned electric vehicle for collecting salt crystals;
A gyro sensor for sensing the tilt of the vehicle body;
A laser scanner for scanning the surrounding terrain to generate terrain scanning information; And
A rider sensor for measuring a distance from a designated place using laser reflected light;
Wherein the untreated electric vehicle for collecting salt crystals comprises:
The salt-free salt crystal collecting unmanned electric vehicle according to claim 1,
A flashing warning lamp which emits light to notify an operation error and a danger of the electric vehicle; And
And a warning speaker for broadcasting a warning of an operation error and a danger of the electric vehicle,
The electronic control system unit judges that the GPS position information, the peripheral image, the vehicle body inclination, the terrain scanning information, the water ratio, the floor condition information are out of preset reference information, A unmanned electric vehicle for collecting salt crystals of salt, which outputs a warning through.
[7] The salt-free salt crystal collecting unmanned electric vehicle of claim 6,
And a wired / wireless communication unit for performing wired communication or wireless communication with an external wartime unattended collection management server,
The electronic control system unit is configured to transmit the GPS position information, the surrounding image, the slope of the vehicle body, the terrain scanning information, the water ratio, the floor condition information, Unmanned electric vehicle for collecting salt salt crystals to be transferred.
An automobile body moving by battery-powered power; A GPS position information generating unit for generating GPS position information; A surrounding terrain information sensing unit for sensing the surrounding terrain information; An air bucket provided with a plurality of air nozzle blocks for blowing an air pressure toward the bottom for washing the floor material simultaneously with the collection of the remaining amount of the salt crystals so as to promote the collection of the salt crystals formed in the trough during the movement of the automobile body; An air bucket inclination driving unit for varying the air bucket inclination; An air bucket vertically driving unit for vertically driving the bucket bar on which the air bucket is mounted to adjust the height of the air bucket; An ultrasonic sensor for sensing a water ratio of a surrounding terrain in which an automobile body is located; A laser sensor that senses floor condition information of a warp determination ground where a car body is located; And controlling the car body to collect or clean the salt crystals by blowing air pressure toward the floor through the air bucket while moving horizontally and obstacle avoiding using the GPS position information and the surrounding terrain information, And an electronic control system unit that transmits real time information to the unattended picking management server in real time together with the unique identification ID of the electric vehicle, information of the vehicle, inclination of the vehicle body, terrain scanning information, water rate, floor condition information,
The electronic control system unit calculates the height of the salt crystals by using the water ratio sensed by the ultrasonic sensor and the floor condition information sensed by the laser sensor during the compaction operation for collecting the salt crystals, And controls the air bucket up and down driving unit and the air bucket tilt driving unit by determining the height and tilt of the air bucket according to the height of the air bucket. Unmanned electric vehicles for collecting salt crystals of salt;
A wired / wireless communication unit for wired communication or wireless communication with an external wartime unattended collection management server; And
A unattended collection management server for real-time relaying information on the GPS position information, the surrounding image, the inclination of the vehicle body, the terrain scanning information, the water ratio, the floor condition information and the dangerous situation to the control terminal installed with the unattended collection management application ;
Wherein the unmanned electric car integrated communication system for collecting salt salt crystals comprises:
The method of claim 8,
If the distances between the unattended electric car for collecting salt crystals of salt crystals and the unattended collection management server are distant from a predetermined distance or if obstacles are scattered between the unattended electric vehicle for collecting salt crystals and the unattended collection management server, Wherein the data is exchanged with the unmanned electric vehicle integrated communication system for collecting salt crystals of salt.

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