KR102033326B1 - Electric carts for charging electric vehicles that run on basis of user driving control and autonomous driving ensuring driving safety by central control and adiministrator control - Google Patents

Abstract

The present invention provides an electric cart for charging electric vehicles which is driven based on user driving control and autonomous driving so as to reduce labor of a user and secure driving safety by central control in case of emergency at the same time. The cart is driven by at least one of the user control and the autonomous driving and charges the electric vehicles parked at a parking lot. Driving and stopping are controlled by at least one of the central control and a manager control in preference to the user control and the autonomous driving.

Description

ELECTRIC CARTS FOR CHARGING ELECTRIC VEHICLES THAT RUN ON BASIS OF USER DRIVING CONTROL AND AUTONOMOUS DRIVING ENSURING DRIVING SAFETY BY CENTRAL CONTROL AND ADIMINISTRATOR CONTROL}

The present invention relates to an electric cart for charging an electric vehicle, which is driven based on user driving control and autonomous driving and secured driving safety by central control and manager control.

Recently, due to various problems such as depletion of fossil fuels and environmental pollution, research and development of active vehicles for replacing them are being actively conducted.

In addition, although an electric vehicle is representative as a means of transportation that has already been commercialized, it is about charging of an electric vehicle that is mentioned together whenever an electric vehicle appears.

Installing an electric vehicle charging device in all parking spaces of a building parking lot, such as an apartment or a building, is too expensive and is inefficient in that a non-electric car is also present.

If so, it may be an alternative to install an electric vehicle charging device only in some parking spaces. In this case, there may be a problem of efficiency of leaving a parking space and a problem of insufficient charging device when a lot of electric vehicles enter the parking lot. do.

An alternative to the above problems is to share the charging cart to perform charging, and the conventional charging cart has a problem in that a lot of manpower is consumed when moving.

On the other hand, using a cart that can be electrically assisted under the user's running control has the advantage of reducing the labor of the user. Further, in some cases, if the electric cart can move to autonomous driving to charge the electric vehicle, return to autonomous driving and recharge itself at the charging station, the user's labor will be hardly consumed.

However, such an electric cart system may cause an accident due to user's inexperience and carelessness when controlling a user's driving, and autonomous driving may also cause an accident when a system error occurs.

The problem to be solved by the present invention is to reduce the labor of the user by running on the basis of the user driving control and autonomous driving, and at the same time electric cart charging electric cart that can ensure the driving safety by the central control and manager control To provide.

Problems to be solved by the present invention are not limited to the above-mentioned problems, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

Cart according to an aspect of the present invention for solving the above problems is driven by at least one of the user control and autonomous driving, in the cart for charging the electric vehicle parked in the parking lot, prior to the user control and autonomous driving Driving and stopping may be controlled by at least one of central control and manager control.

When an obstacle stop signal is generated during driving by user control or autonomous driving, the driving or stopping may be controlled by at least one of the central control and the manager control after the stopping or moving direction is controlled.

When the shock stop signal is generated while driving by user control or autonomous driving, the driving or stopping may be controlled by at least one of the central control and the manager control after the stop or movement direction is controlled.

An alarm may be provided to the user when at least one of central control and administrator control is started.

The cart includes a body, an electrical energy storage device disposed on the body, a charging device electrically connected to the electrical energy storage device and charging an electric vehicle, and a docking terminal docked to a charging terminal of a charging station. It can be docked to the charging terminal by autonomous driving straight from the point near the charging station to the charging terminal point.

The docking terminal may be provided with a guide portion having a groove shape corresponding to the guide portion having a protruding shape of the charging terminal.

The guide portion having a groove shape of the docking terminal may include a tapered shape having a cross-sectional area widening in a direction in which the charging terminal is docked with the charging terminal.

The cart further includes a position sensor that senses the position of the charging terminal point to generate position information, and changes the posture according to the position information of the charging terminal point at a point near the charging station, and then autonomously runs straight to the charging terminal point. Can be docked to the charging terminal.

The cart may be docked at the charging terminal by moving autonomously from the charging point of the electric vehicle to the charging terminal point.

The cart may move autonomously from the charging terminal point to the charging point of the electric vehicle, and after the charging of the electric vehicle is completed, the cart may move to the autonomous driving from the charging point of the electric vehicle to be docked at the charging terminal.

The cart may be docked at the charging port of the vehicle by the docking driving of the charging device at the charging point of the electric vehicle, and may be undocked at the charging port of the vehicle by the undock driving of the charging device at the charging point of the electric vehicle.

The EV charging point and the charging terminal point are specified in the mapped parking lot, and the cart is autonomous according to the coordinates of the EV charging point and the charging terminal point in the mapped parking lot from the charging terminal point to the EV charging point. The vehicle may be driven and docked at the charging terminal by moving to an autonomous driving according to the coordinates of the charging point and the charging point of the electric vehicle charging point in the mapped parking lot from the electric vehicle charging point to the charging terminal point.

An electric vehicle charging point, a charging terminal point, and a charging station point are specified in a mapped parking lot, and the cart further includes a position sensor that senses the position of the charging terminal point and generates position information. To the charging point of the electric vehicle, to autonomous driving according to the coordinates of the charging point of the electric vehicle in the mapped parking lot and the coordinates of the charging terminal point, from the charging point of the electric vehicle to the point near the charging station, the electric vehicle in the mapped parking lot According to the coordinates of the charging point and the coordinates of the charging terminal point of can move to autonomous driving.

An electric vehicle charging point and a charging terminal point are specified in a mapped parking lot, and the cart further includes a wheel provided for movement of the body, and a motor for rotating the wheel, wherein the motor is provided at the charging terminal point of the cart. Generates an encoder value of a path that travels to the charging point of the electric vehicle, and the cart is autonomous according to the coordinates of the charging point and the charging point of the electric vehicle charging point in the mapped parking lot from the charging terminal point to the electric vehicle charging point The vehicle may be driven and may be docked to the charging terminal by autonomous driving along the return path processed by inverting the encoder value in time series from the charging point to the charging terminal point of the electric vehicle.

In the present invention, it is possible to reduce the user's labor force by driving based on user control and autonomous driving, and at the same time (user call, obstacle sensing, etc.), the central control system (control tower) and the administrator intervenes, according to the central control and administrator The control is applied first, thereby providing an electric cart for charging an electric vehicle that can prevent an accident or reduce an accident damage.

In addition, the electric cart for charging the electric vehicle of the present invention may specify the coordinates of the electric vehicle charging point in the mapped parking lot, and may move autonomously from the charging terminal point of the charging station to the electric vehicle charging point.

Therefore, the user can skip the operation of moving the cart to the charging point of the electric vehicle during charging, and moving the cart to the charging station and docking the charging terminal after the charging is completed, and accordingly, Labor force can be reduced.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a perspective view showing a cart of the present invention.
2 is a system diagram showing that the cart of the present invention is controlled.
3 is a conceptual diagram showing that the cart of the present invention is decelerated and stopped.
4 is a conceptual diagram showing the cart of the present invention to the reaction.
5 is a conceptual diagram illustrating providing a stimulus to a user in the cart of the present invention.
6 is a perspective view showing a charging station in which the cart of the present invention is charged.
7 is a conceptual diagram illustrating a case in which the electric vehicle can be charged without moving the cart and a case in which the electric vehicle cannot be charged without moving the cart.
8 is a conceptual diagram showing a movement path of the cart of the present invention.
9 is a conceptual view showing that the cart of the present invention is docked to the charging terminal by autonomous driving from the point near the charging station to the charging terminal point.
10 is a conceptual diagram illustrating that the cart of the present invention is docked to the charging terminal by autonomous driving from the electric vehicle charging point to the charging terminal point.
FIG. 11 is a conceptual view illustrating a cart of the present invention moving autonomously from a charging terminal point to an electric vehicle charging point.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be embodied in various different forms, and the present embodiments only make the disclosure of the present invention complete, and those of ordinary skill in the art to which the present invention belongs. It is provided to fully inform the skilled worker of the scope of the invention, which is defined only by the scope of the claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, "comprises" and / or "comprising" does not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like elements throughout, and "and / or" includes each and all combinations of one or more of the mentioned components. Although "first", "second", etc. are used to describe various components, these components are of course not limited by these terms. These terms are only used to distinguish one component from another. Therefore, of course, the first component mentioned below may be a second component within the technical spirit of the present invention.

Unless otherwise defined, all terms used in the present specification (including technical and scientific terms) may be used in a sense that can be commonly understood by those skilled in the art. In addition, terms that are defined in a commonly used dictionary are not ideally or excessively interpreted unless they are specifically defined clearly.

The spatially relative terms "below", "beneath", "lower", "above", "upper", and the like, as shown in the figure, It can be used to easily describe a component's correlation with other components. Spatially relative terms are to be understood as including terms in different directions of components in use or operation in addition to the directions shown in the figures. For example, when flipping a component shown in the drawing, a component described as "below" or "beneath" of another component may be placed "above" the other component. Can be. Thus, the exemplary term "below" can encompass both an orientation of above and below. Components may be oriented in other directions as well, so spatially relative terms may be interpreted according to orientation.

Hereinafter, the cart 100 of the present invention will be described with reference to the drawings. 1 is a perspective view showing a cart of the present invention, Figure 2 is a schematic diagram showing that the cart of the present invention is controlled, Figure 3 is a conceptual diagram showing that the cart of the present invention is decelerated stop, Figure 4 is a cart of the present invention Is a conceptual diagram showing a reaction action, Figure 5 is a conceptual diagram showing the stimulation to the user in the cart of the present invention.

The cart 100 of the present invention may be an electric cart that can be assisted and moved by electric power to reduce the labor force for the user to move the cart 100. The cart 100 of the present invention may be driven by at least one of user control and autonomous driving (that is, the cart of the present invention is a cart driven by user control and a cart driven by autonomous driving and user control and autonomous driving. Concept including all the carts running in parallel), if necessary, the central control system 10 and the manager 20 may intervene to drive by the central control signal and the manager control signal in preference to the user's intention and autonomous driving.

Hereinafter, the case where the cart 100 of the present invention is a cart provided for charging an electric vehicle will be described by way of example, but the use of the cart 100 of the present invention is not limited thereto. For example, the cart 100 of the present invention may also be used for transporting goods.

Cart 100 of the present invention body 110, wheel 120, operation unit 130, obstacle sensor 140, bumper 150, motor 160, brake 160-1, haptic unit 170 ), The light source unit 180, and the electronic control unit 190.

The body 110 is a component forming the main body of the cart 100, and may include a case 111, an electrical energy storage device 112, a charging device 113, and a docking terminal 114.

The case 111 may be a member forming an appearance. The electric energy storage device 112 may be a member that receives electric energy from the charging station 200 and provides the electric energy to the electric vehicle. The electrical energy storage device 112 may be provided in various kinds. For example, the electrical energy storage device 112 may be a secondary battery. The charging device 113 may be electrically connected to the electrical energy storage device 112 and a terminal may be provided with a docking connector docked at the charging port of the electric vehicle (charging device for electric vehicle charging). The electric energy of the electric energy storage device 112 may be supplied to the electric vehicle through the charging device 113, and thus, the user may charge the electric vehicle by using the cart 100. The docking terminal 114 may be electrically connected to the electrical energy storage device 112 and may be docked to the charging terminal 210 of the charging station 200 (self-charging terminal). Accordingly, the user can charge the cart 100.

The wheel 120 may be provided by the movement of the body 110 under the body 110. The wheel 120 may be rotated by receiving a driving force by the motor 160. That is, the wheel 120 may be driven according to the rotation speed (RPM) and the rotation force (torque) of the motor 160.

The cart 100 of the present invention may be four wheels 120, two of the four wheels 120 may be driven by the motor 160 with the rotating shaft fixed as a front wheel, four wheels The other two of the rear wheels 120 are rear wheels, and the axis of rotation may be changed according to the moving direction by the connector. That is, the front wheel can be driven by the motor 160 to move the cart 100 without a degree of freedom, and the rear wheel is driven by the driving of the front wheel with the degree of freedom, and the posture is variable by the connector to move the rotating shaft. It can be changed perpendicular to the direction.

However, the structure and function of the wheel 120 of the present invention is not limited thereto, and may have various structures and functions according to a mechanical design request.

The manipulation unit 130 may be disposed on an upper end of the body 110 and may be a member to which the user's body contacts. For example, the operation unit 130 may be provided in the form of a handle, and the user controls the moving speed and the moving direction of the cart 100 by manipulating the strength and direction of the force applied while holding the operation unit 130. Although it can do it, it is not limited to this.

To this end, the operation unit 130 may have a sensor for sensing at least one of the strength and direction of the external force applied by the user's body contact. For example, a touch sensor (load cell) may be built in the operation unit 130, but is not limited thereto. Various sensors may be used as the sensor of the operation unit 130 of the present invention.

The manipulation unit 130 may sense at least one of the strength and direction of the external force applied by the user's body contact, and then generate a user driving signal and a user stop signal corresponding thereto.

For example, when the user applies force to the operation unit 130 with both hands evenly forward, a driving signal for driving forward at a specific speed may be generated. In this case, the two front wheels of the wheel 120 may be driven at the same rotational speed and rotational force, and the rotational speed and rotational force may be determined (moving speed determination) according to a force applied by the user.

On the contrary, when the user applies the force to the manipulation unit 130 in a forward direction to the left hand of both hands, a driving signal may be generated to travel in a right turn at a specific speed. In this case, the rotational speed and the rotational force of the left wheel of the two front wheels of the wheel 120 may be higher than the rotational speed and rotational force of the right wheel, the rotational speed and the rotational force can be determined (moving speed determined) according to the force applied by the user have.

Furthermore, the user may generate a stop signal by releasing both hands on the manipulation unit 130.

The obstacle sensor 140 may sense the obstacle, generate information about the obstacle, and generate an obstacle stop signal. The information on the obstacle may exist in various ways. For example, the obstacle information may be three-dimensional information about the obstacle, but is not limited thereto.

The three-dimensional information about the obstacle may be depth information about the distance between the cart 100 and the obstacle, the shape or size of the obstacle, and the like, but is not limited thereto. Furthermore, the obstacle sensor 140 may generate three-dimensional information about the obstacle in time series.

Various types of sensors may be used for the obstacle sensor 140. For example, as the obstacle sensor 140, a lidar, an ultrasonic sensor, a 3D camera module, an RGBD camera module, a Kinect, and the like may be used. It is not.

The bumper 150 may be disposed at the bottom of the body 110, and may be disposed along at least a portion of the circumference of the body 110. The bumper 150 may perform a shock absorbing drive during an impact with an obstacle (Air bumper). For example, the bumper 150 may be supported by the elastic member, and the impact may be canceled by converting the impact energy into elastic energy by returning after moving in a direction opposite to the impact direction.

The bumper 150 may include a sensor configured to generate at least one of an intensity and a direction of an external force applied by the impact to generate an impact stop signal. Various types of sensors may be used as the sensor of the bumper 150. For example, a contact sensor (load cell) may be used, but the present invention is not limited thereto.

The motor 160 may rotate the wheel 120. That is, the motor 160 may apply a driving force to the wheel 120. In this case, the rotation speed and the rotation force of the motor 160 may be controlled by the electronic control unit 190. Various types of motors may be used for the motor 160. For example, the motor 160 may be an in-wheel motor, but is not limited thereto.

The brake 160-1 may stop the rotation of the wheel 120 by physical friction, and the operation of the brake 160-1 may be controlled by the electronic control unit 190. Meanwhile, the brakes 160-1 may be independently provided on the plurality of wheels 120, and by independently controlling the plurality of wheels 120, the moving direction of the cart 100 may be varied and the cart 100 may be changed. You can also stop. For example, by applying the brake force so as to deflect one of the two front wheels, it is possible to control the cart 100 to be stopped in one direction by stopping the difference between the rotational speed and the rotational force of the two front wheels at the time of stop.

The haptic unit 170 may be disposed on the manipulation unit 130, and may provide a haptic stimulus to the user when at least one of an obstacle stop signal and an impact stop signal is generated while the cart 100 runs.

Meanwhile, at least one of the strength and location of the haptic stimulus provided by the haptic unit 170 may be determined according to the information on the obstacle in the case of the haptic stimulus according to the obstacle stop signal, and in the case of the haptic stimulus according to the shock stop signal. It may be determined according to at least one of the strength and direction of the external force applied by.

The light source unit 180 may be disposed on the body 110 or the operation unit 130. Like the haptic unit 170, when at least one of an obstacle stop signal and an impact stop signal are generated while driving the cart 100, The light may be output to provide a light stimulus to the user.

On the other hand, at least one of the intensity of the light stimulus provided from the light source unit 180, the position from which the light is emitted, the range in which the light is emitted, the wavelength band of the light, and the flashing pattern of the light is information on the obstacle in the case of the light stimulus according to the obstacle stop signal. The haptic stimulus according to the impact stop signal may be determined according to at least one of the strength and direction of the external force applied by the impact.

An electronic control unit (ECU) 190 may electronically control the components of the cart 100.

The electronic control unit 190 may be electrically connected to the manipulation unit 130 to receive a user driving signal and a user stop signal, electrically connected to the obstacle sensor 140 to receive an obstacle stop signal, and a bumper ( 150 may be electrically connected to the shock stop signal.

The electronic control unit 190 may control the motor 160, the brake 160-1, the haptic unit 170, and the light source unit 180 according to the user driving signal, the user stop signal, the obstacle stop signal, and the shock stop signal. Can be.

Hereinafter, "user control" of the cart 100 of the present invention will be described. The electronic control unit 190 may drive and stop the cart 100 by driving the motor 160 according to the user driving signal and the user stopping signal.

Hereinafter, the "automatic stop" of the cart 100 of the present invention will be described. The cart 100 of the present invention may be stopped by the user's intention by the user stop signal generated by the manipulation unit 130, and the obstacle stop signal generated by the obstacle sensor 140 and the impact generated by the bumper 150. The stop signal can automatically stop irrespective of the user's intention. That is, the cart 100 of the present invention can automatically stop even when the user does not recognize the presence of an obstacle or an impact to prevent the accident from occurring or the damage caused by the accident is expanded.

For the automatic stop, when the obstacle stop signal and / or the shock stop signal are generated while the cart 100 is driving, the electronic control unit 190 takes priority in the motor 160 and the brake 160-1 in priority to the user driving signal. By controlling at least one, the cart 100 can be stopped.

That is, even if the user does not recognize the obstacle or impact, the cart 100 of the present invention ignores the user's driving signal and automatically stops the cart 100, thereby preventing shock accidents or reducing accident damage. .

Furthermore, the cart 100 of the present invention may control the moving direction of the cart 100 together with or separately from "automatic stop". That is, when the obstacle stop signal and / or the impact stop signal are generated, the cart 100 of the present invention may perform at least one of stopping the cart 100 and controlling the moving direction.

For example, when the obstacle stop signal and / or the shock stop signal are generated while the cart 100 is driving, at least one of the motor 160 and the brake 160-1 may be given priority over the user driving signal. By controlling the movement direction of the cart 100 can be changed. As a result, even if the user does not recognize the obstacle in the cart 100 of the present invention can automatically drive to avoid the obstacle.

In contrast, when the obstacle stop signal and / or the shock stop signal are generated while driving, the cart 100 controls at least one of the motor 160 and the brake 160-1 in preference to the user driving signal. The cart 100 may be stopped while changing the moving direction of the cart 100. As a result, even if the user does not recognize the obstacle in the cart 100 of the present invention can automatically stop to avoid the obstacle.

Meanwhile, the moving direction of the cart 100 by the obstacle stop signal and / or the impact stop signal may be determined according to at least one of the strength and the direction of the external force applied by the information on the obstacle and / or the impact.

Meanwhile, when the user stop signal and / or the obstacle stop signal and / or the impact stop signal are generated while the cart 100 is driving, the electronic control unit 190 may apply rotational force to the motor 160 in the reverse direction. Accordingly, the cart 100 may be stopped while the moving speed is reduced. In this case, the "reverse direction" may mean a direction opposite to the rotation direction of the motor 160 while driving.

That is, the electronic control unit 190 may rotate the motor 160 in the forward direction according to a user driving signal while the cart 100 is driving.

If the electronic control unit 190 stops the motor 160 simply when the stop signal is generated while the cart 100 is running, the cart 100 may stop after continuing driving in the driving direction due to inertia. (See Motor Off Stop Movement Section in FIG. 3).

On the contrary, if the electronic control unit 190 stops the rotation of the wheel 120 by simply turning off the motor 160 and using an additional brake pad configuration when the stop signal occurs while the cart 100 is driving. , The cart 100 is suddenly stopped so that a shock caused by the reaction to the user will occur (see the sudden stop moving section in FIG. 3).

In the present invention, in order to solve the above-mentioned problems, the electronic control unit 190 applies a rotational force to the motor 160 in the opposite direction to the rotational direction during driving (i.e., when a stop signal occurs while the cart 100 is running (i.e., , The direction of the electromagnetic force of the motor is reversed), the forward rotational force by inertia and the reverse rotational force by electronic control can be conflicted.

As a result, the cart 100 may slowly decelerate in the driving direction and stop after driving by a predetermined distance, thereby reducing the impact applied to the user by reaction even though the moving section is not long.

Hereinafter, the "rebound stimulation" of the cart 100 of the present invention will be described. Meanwhile, even when an obstacle stop signal and / or an impact stop signal are generated, the user may not recognize the presence of the obstacle and / or the presence of the impact, and may continuously try to drive the vehicle.

In this case, the cart 100 of the present invention can be made aware of the presence of an obstacle and / or the presence of an impact by the "recoil stimulus" (providing an alarm).

To this end, the electronic control unit 190 controls the motor 160 when at least one of an obstacle stop signal and an impact stop signal is generated during driving of the cart 100 and then a user driving signal is generated within a specific time. Movement of the cart 100 may provide a recoil stimulus to the user.

When the cart 100 of the present invention is decelerated and stopped by an obstacle or a shock, and the user does not recognize this and generates a user driving signal within a specific time, the cart 100 may not be cleared or an obstacle may not be cleared. There is a risk of driving accidents.

In order to prevent this, in the cart 100 of the present invention, by the recoil of the cart 100 moving a certain distance in the direction opposite to the driving direction, the user may recognize that an obstacle is present or an impact has occurred and is within a specific time therefrom. have.

In this case, the specific time may be determined by the use of the cart 100 and information on obstacles, impact strength, and the like, and may also be determined by the user's cart 100 proficiency, and the like before the cart 100 is operated. Or it may be set to a parameter value.

In addition, the electronic control unit 190 generates a user driving signal in a state in which at least one of an obstacle stop signal and an impact stop signal is generated while the cart 100 runs, and then at least one of the obstacle stop signal and the impact stop signal is maintained. When the motor 160 is controlled, a recoil stimulus may be provided to the user by the movement of the cart 100.

That is, when the cart 100 of the present invention is decelerated and stopped by an obstacle or an impact and the obstacle existence state and the impact state are maintained, when the user does not recognize this and generates a user driving signal, the obstacle does not disappear or the impact situation In this situation, there is a risk that the cart 100 may travel and cause an accident.

In order to prevent this, in the cart 100 of the present invention, a situation in which an obstacle exists to a user and / or a shock occurrence state is maintained by a reaction in which the cart 100 moves a predetermined distance in a direction opposite to the driving direction. Can be perceived.

Hereinafter, the "alarm stimulus provision" of the cart 100 of the present invention will be described. The electronic control unit 190 generates a haptic stimulus and / or light by using the haptic unit 170 and / or the light source unit 180 when the obstacle stop signal and / or the impact stop signal are generated while the cart 100 is driving. May provide stimulation.

That is, by notifying the user that the cart 100 of the present invention is decelerated and stopped by the obstacle stop signal and / or the shock stop signal, the user can expect the cart 100 to stop and at the same time present the user. It can alert you to the situation.

In this case, the electronic control unit 190 may determine at least one of the strength of the haptic stimulus and the providing position according to at least one of the strength and the direction of the external force applied by the 3D information and / or the impact on the obstacle.

For example, when the obstacle is located on the left side or the impact occurs on the left side, the haptic stimulus may be applied to the user's left hand (see (1-1) in FIG. 5). In contrast, when the obstacle is located on the right side or the impact occurs on the right side, the haptic stimulus may be applied to the right hand of the user (see (1-2) of FIG. 5). In contrast, when the obstacle is located in the center or the impact occurs in the center, the haptic stimulus may be applied to both the left and right hands of the user (see (1-3) of FIG. 5). Furthermore, the strength of the haptic stimulus can be increased according to the size of the obstacle or the strength of the impact.

In addition, the electronic control unit 190 according to at least one of the intensity and the direction of the external force applied by the three-dimensional information and / or the impact on the obstacle, the intensity of the light stimulation, the position where the light is emitted and the range in which the light is emitted And at least one of a wavelength band of the light and a blinking pattern of the light.

For example, when an obstacle is located on the left side or an impact occurs on the left side, the light source located on the left side may blink at a predetermined period (see (2-1) of FIG. 5). On the contrary, when the obstacle is located on the right side or the impact occurs on the right side, the light source located on the right side may blink at a predetermined period (see (2-2) of FIG. 5). On the contrary, when the obstacle is located at the center or the impact occurs at the center, the light source located at the center may blink at a predetermined period (see (2-3) of FIG. 5). Furthermore, the blinking period of the light source may be lowered, the wavelength band of the output light may be changed, or the intensity (light intensity) of the light stimulus may be increased according to the size of the obstacle or the intensity of the impact.

Furthermore, as in the case of “recoil stimulus”, the electronic control unit 190 generates a user driving signal within a specific time period after generating at least one of an obstacle stop signal and an impact stop signal while driving the cart 100. When the user driving signal is generated while at least one of the obstacle stop signal and the shock stop signal is generated and then at least one of the obstacle stop signal and the shock stop signal is maintained, the haptic unit 170 and / or the light source unit 180 is generated. ) May be used to provide a haptic stimulus and / or a light stimulus to the user.

In this case, the electronic control unit 190 may determine at least one of the strength and the providing position of the haptic stimulus according to at least one of the strength and the direction of the external force applied by the three-dimensional information and / or the impact on the obstacle. .

Even after notifying the user that the cart 100 will soon be stopped by an obstacle or an impact, if the user does not recognize the alarm, the alarm is provided again.

Meanwhile, the haptic stimulus and / or the light stimulus may be provided differently in the obstacle stop signal and the impact stop signal. This is to allow the user to recognize whether it is a stop by an obstacle or a stop by an impact.

Hereinafter, with reference to the drawings will be described that the cart 100 of the present invention autonomous driving. FIG. 6 is a perspective view illustrating a charging station in which a cart of the present invention is charged, and FIG. 7 is a conceptual view illustrating a case in which an electric vehicle cannot be charged without moving the cart of the present invention and a case in which the electric vehicle cannot be charged. 8 is a conceptual diagram illustrating a moving path of a cart of the present invention, FIG. 9 is a conceptual diagram illustrating that the cart of the present invention is docked at a charging terminal by autonomous driving from a point near a charging station to a charging terminal point, and FIG. It is a conceptual diagram showing that the cart of the present invention is docked to the charging terminal by autonomous driving from the electric vehicle charging point to the charging terminal point.

Cart 100 of the present invention may be an electric cart for charging the electric vehicle parked in the parking lot. The cart 100 of the present invention may be docked at the charging station 200 to perform its own charging. On the other hand, the charging station 200 may be preferably provided in the pillar between the car parking zone. In this case, it is because the electric vehicles parked in the parking areas on both sides can be charged without moving one cart 100 (see (1) in FIG. 7).

However, even if the charging station 200 is provided in the pillar between the car parking zones, since the pillars do not exist between each parking zone, there may be a case where the cart 100 needs to be moved. 2)).

In this case, in order to charge the electric vehicle, the user moves the cart 100 in a substantially straight line from the charging terminal point 1 to the point 2 near the charging station, and then changes the posture of the cart 100 and then the charging station. It should move approximately straightly from the adjacent point 2 to the electric vehicle charging point 3.

In addition, the user can return the cart 100 to the charging station 200 to charge the cart 100 by itself, in a substantially straight line from the electric vehicle charging point 3 to the charging station neighboring point 2. After moving, the attitude of the cart 100 must be changed and then moved to the charging terminal point 1 in a substantially straight line and docked at the charging terminal 210.

Of course, the cart 100 of the present invention is assisted by the electric drive to reduce the labor of the user, but if the user wants to move in part or the whole autonomous driving, the user's convenience can be further improved. Meanwhile, autonomous driving of the cart 100 of the present invention may be performed by the electronic control unit 190 controlling the motor 160 and the brake 160-1 in accordance with the corresponding information.

Furthermore, as shown in FIG. 1, the charging device 113 of the present invention may have a form in which a docking connector is provided at the end of the cable, but is not limited thereto, and a form in which the docking connector is provided at the end of the robot arm is provided. It can have

In this case, the charging device 113 of the present invention can be automatically docked to the charging port of the electric vehicle by the docking drive in the electric vehicle charging point (3) during charging, and after the charging is completed, the electric vehicle charging point ( In 3) it can be automatically undocked from the charging port of the electric vehicle by the undock drive. That is, the user may not perform cumbersome labor of docking the charging device 113 of the present invention to the charging port of the electric vehicle.

Meanwhile, the docking driving and the undocking driving may be performed by tracking the charging port of the electric vehicle using various sensors and then driving the robot arm accordingly.

Hereinafter, the first autonomous driving of the cart 100 of the present invention will be described. The cart 100 of the present invention moves from the first autonomous driving to the charging terminal 210 of the charging station 200 by moving the autonomous driving from the point (2) near the charging station to the charging terminal point (1). It can be docked.

That is, in the first autonomous driving, in order to charge the electric vehicle, the user drives the cart 100 from the charging terminal point 1 to the charging station 3 to the electric vehicle charging point 3 and then to the electric vehicle charging point 3. It can be moved by manual driving assisted by.

On the contrary, in the first autonomous driving, the user returns the cart 100 to the charging station 200 to charge the cart 100 by itself, so that the cart 100 is moved from the electric vehicle charging point 3 to the point near the charging station ( 2) After simply moving to the manual driving assisted by the electric drive and changing the posture of the cart 100, the cart 100 autonomously runs from the charging station point 1 to the charging terminal point 1 near the charging station. May be docked to terminal 210.

In this case, as described above, the cart 100 may be docked to the charging terminal 210 by autonomous driving approximately straight from the point 2 near the charging station to the charging terminal point 1.

On the other hand, when the first autonomous driving, the cart 100 performs the autonomous driving only by a simple straight running, it is not necessary to accurately track the position of the charging terminal point (1). However, according to this, a situation may occur in which the docking terminal 114 of the cart 100 is separated from the charging terminal 210 of the charging station 200. In order to prevent this, the docking terminal 114 of the cart 100 may be formed with a guide portion having a groove shape corresponding to the protruding guide portion of the charging terminal 210 of the charging station 200.

In this case, the groove-shaped guide portion of the docking terminal 114 of the cart 100 may include a tapered shape in which a cross-sectional area is widened in the direction in which the charging terminal 210 is docked. As a result, even if the docking path is shifted a lot at the beginning of the docking, the groove-shaped guide portion of the docking terminal 114 of the cart 100 is tapered so that the section having a large cross-sectional area protrudes from the charging terminal 210 of the charging station 200. Since the tapered portion of the guide portion accommodates a narrow cross-sectional area, the docking terminal 114 of the cart 100 may be guided in a correct path and docked to the charging terminal 210 of the charging station 200.

On the other hand, in order to increase the effect, a rail may be installed in at least a part of the path from the point 2 near the charging station to the charging terminal point 1.

Furthermore, the cart 100 of the present invention may further include a position sensor (not shown). The position sensor may generate position information by sensing the position of the charging terminal point 1. As a result, in the cart 100 of the present invention, the charging terminal point (ie, the docking terminal 114 is aligned with the charging terminal 210 according to the positional information of the charging terminal point 1 at the charging station adjacent point 2). After changing the posture toward 1), the autonomous vehicle may be docked to the charging terminal 210 by driving approximately straight ahead.

To this end, a feature point (not shown) sensed by the position sensor may be formed in the charging terminal 210. For example, the feature point may be a smart code, but is not limited thereto. In addition, various types of sensors may be provided as the position sensor. For example, a positioner may be a lidar, an ultrasonic sensor, a 3D camera module, an RGBD camera module, a Kinect, etc., but is not limited thereto. .

Hereinafter, the second autonomous driving of the cart 100 of the present invention will be described. In the cart 100 of the present invention, when the second autonomous driving is performed, the autonomous driving moves from the electric vehicle charging point 3 to the charging terminal point 1 so that the docking terminal 114 is charged terminal 210 of the charging station 200. Can be docked).

That is, in the second autonomous driving, as in the first autonomous driving, the user passes the cart 100 via the charging terminal point 1 from the charging terminal point 1 near the charging station 2 to charge the electric vehicle, and then the electric vehicle charging point. Up to (3), it can be moved by manual driving assisted by electric drive.

However, in the second autonomous driving of the present invention, unlike the first autonomous driving, after the charging is completed, the process of returning to the charging station 200 may be all performed by autonomous driving.

To this end, the parking lot in which the cart 100 of the present invention is used may be mapped, and the electric vehicle charging point 3 and the charging terminal point 1 may be specified in the mapped parking lot.

The cart 100 moves autonomously from the electric vehicle charging point 3 to the charging terminal point 1 according to the coordinates of the electric vehicle charging point 3 and the coordinates of the charging terminal point 1 in the mapped parking lot. May be docked to the charging terminal 210.

On the other hand, the cart 100 of the present invention, as in the first autonomous driving, may further include a position sensor (not shown), and the electric vehicle charging point (3) and the nearby point of charging station (2) is mapped Can be specified in the parking lot.

In this case, the cart 100 is (i) the coordinates of the charging point 3 of the electric vehicle in the mapped parking lot and the charging terminal point 2 from the charging point 3 of the electric vehicle to the point 2 near the charging station. (Ii) change the posture according to the position information of the charging terminal point (1) from the point (2) near the charging station to the charging terminal point (1), and then autonomous driving straight It may be docked to the charging terminal 210.

That is, in the second autonomous driving, the cart 100 may move according to the coordinates specified by the mapping of the parking lot in the second autonomous driving, and the position information of the charging terminal point 1 as in the first autonomous driving in the other some of the routes. In accordance with the autonomous driving can be docked to the charging terminal (210).

On the other hand, the cart 100 of the present invention may autonomously drive using the encoder value of the motor 160. In this case, the motor 160 may generate an encoder value of a path in which the cart 100 moves from the charging terminal point 1 to the electric vehicle charging point 3. That is, the motor 160 drives the cart 100 from the charging terminal point 1 to the charging station point 3 through the vicinity of the charging station 2 to the electric vehicle charging point 3 so that the user can charge the electric vehicle. When moving to manual driving assisted by an encoder, an encoder value can be generated.

After the charging of the electric vehicle is completed, the cart 100 performs autonomous driving according to the return path processed by inverting the encoder values recorded while moving from the electric vehicle charging point 3 to the charging terminal point 1 in time series. May be docked to the charging terminal 210.

That is, the cart 100 of the present invention records the encoder value of the motor 160 by the user manual driving (replaced by autonomous driving in the third autonomous driving mode described later), and then operates the motor 160 at the time of manual driving. By controlling in reverse order of time series, it is possible to return to the charging station 200.

Hereinafter, the third autonomous driving of the cart 100 of the present invention will be described. In the cart 100 of the present invention, when the third autonomous driving, both the moving process for charging the electric vehicle and the moving process returning to the charging station 200 may be implemented as autonomous driving.

That is, during the third autonomous driving, the cart 100 moves autonomously from the charging terminal point 1 to the electric vehicle charging point 3, and after the charging of the electric vehicle is completed, at the charging point 3 of the electric vehicle The charging terminal can be docked to the charging terminal by moving to an autonomous driving point (1).

On the other hand, for the process of returning from the third autonomous driving to the charging station 200 to infer to apply the return process of the second autonomous driving.

Hereinafter, in describing the third autonomous driving, a case in which the moving process for charging the electric vehicle by the cart 100 of the present invention is performed by autonomous driving will be described. The description is omitted.

In the third autonomous driving, the electric vehicle charging point 3 and the charging terminal point 1 may be specified in the mapped parking lot so that the movement process for charging the electric vehicle is performed autonomously. (I) may move autonomously from the charging terminal point 1 to the electric vehicle charging point 3 according to the coordinates of the electric vehicle charging point 3 and the coordinates of the charging terminal point 1 in the mapped parking lot. have.

Hereinafter, the cart 100 of the present invention will be described that the running and stop is controlled by the central control signal (central control) of the central control system 10 (control tower) and the manager control signal (manager control) of the manager 20. . As described above, the cart 100 of the present invention guarantees user freedom and convenience (reduction of labor force) by user control (control by user driving signal and user stop signal) and autonomous driving, but the central control system 10 at any time. And / or the manager 20 can intervene to cope with situations where the likelihood of an accident is high and situations where an accident has occurred (to ensure stability).

The cart 100 of the present invention may be under management of the central control system 10, in which case the central control system 10 may intervene in case of need. Alternatively, the cart 100 of the present invention may be provided as a stand-alone type in which the central control system 10 is omitted. In this case, the manager 20 may intervene in case of emergency. In addition, both the central control system 10 and the manager 20 may intervene in the cart 100 of the present invention.

Meanwhile, in the cart 100 of the present invention, since the central control and the manager control are applied in preference to the user control and autonomous driving, once the at least one of the central control and the manager control is started, the user can control the cart 100. Autonomous driving can be turned off.

Central control by the central control system 10 may be implemented by a wireless communication scheme. Central control may be achieved by wirelessly receiving the central control signal from the central control system 10 in the electronic control unit 190 of the cart 100 and controlling the motor 160 and the brake 160-1 accordingly. In this case, the central control signal may be a concept including a central control driving signal and a central control stop signal. However, the central control method of the present invention is not limited to the above-described method.

Manager control by the manager 20 may be implemented by a wired / wireless communication scheme. Manager control may be achieved by receiving a manager control signal from the manager 20 in the electronic control unit 190 of the cart 100 and controlling the motor 160 and the brake 160-1 accordingly. In this case, the manager control signal may be a concept including a manager control driving signal and a manager control stop signal. On the other hand, the manager 20 may be provided with a separate terminal for transmitting the manager control signal to the electronic control unit 190 of the cart 100. However, the manager control method of the present invention is not limited to the above-described method.

For example, the manager 20 may directly input the manager control signal to the electronic control unit 190 by controlling the operation unit 130 of the cart 100 like the user. In this case, the cart 100 may be provided with an identification unit (not shown) for identifying the general user and the manager 20. Therefore, in case of emergency, the manager 20 may take over the operation unit 130 from the user, authenticate the manager 20 through the identification unit, and then control the driving of the cart 100 by operating the operation unit 130.

In summary, the cart 100 of the present invention is driven by at least one of user control and autonomous driving, and in the cart 100 for charging an electric vehicle parked in a parking lot, priority is given to user control and autonomous driving. Therefore, driving and stopping may be controlled by at least one of the central control and the manager control.

Meanwhile, the central control and the administrator control may be started at the request of the user, or may be started by the forced intervention of the central control system 10 and the manager 20. On the other hand, the cart 100 of the present invention may be provided with a user call unit (not shown), the user calls the central control system 10 and / or manager 20, if necessary, the central control and / or manager You can request control.

For example, when an obstacle stop signal is generated while driving by user control or autonomous driving, the central control system 10 and / or the manager 20 receives the obstacle stop signal and accordingly receives the central control signal and / or the manager signal. The cart 100 may be generated and controlled.

Meanwhile, the central control system 10 and / or the manager 20 may selectively generate the central control signal and / or the manager control signal, and an accident may occur even when the cart 100 is controlled by user control or autonomous driving. If there is no possibility, it may not generate a central control signal and / or an administrator control signal (determine whether the central control system and the administrator are involved or not).

On the other hand, since the central control system 10 and / or manager 20 can not immediately react to the accident situation, the cart 100 of the present invention, when the obstacle stop signal is generated, the central control signal and / or manager Prior to the control signal, the obstacle may be automatically stopped immediately after generation of the obstacle stop signal or the direction of movement is controlled, and then driving and stopping may be controlled according to the central control signal and / or the manager control signal.

In addition, when the shock stop signal is generated while driving by user control or autonomous driving, the central control system 10 and / or the manager 20 receives the shock stop signal and accordingly receives the central control signal and / or the manager control signal. The cart 100 may be generated and controlled.

On the other hand, as described above, the central control system 10 and / or the manager may selectively generate the central control signal and / or the manager control signal, and the impact stop in preference to the central control signal and / or the manager control signal. Immediately after the signal is generated, it is automatically stopped or the direction of movement is controlled, and then driving and stopping may be controlled according to the central control signal and / or the manager control signal.

In addition, the cart 100 of the present invention is provided with an alarm unit (not shown), it is possible to provide an alarm to the user when at least one of the central control and administrator control is started. Therefore, the user may recognize that the central control and / or manager control is currently started, and may be separated from the cart 100 by a certain distance so as not to interfere with the central control and / or the manager control.

In the above, embodiments of the present invention have been described with reference to the accompanying drawings, but those skilled in the art to which the present invention pertains may implement the present invention in other specific forms without changing the technical spirit or essential features. I can understand that. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

Claims (14)

delete A cart for driving by at least one of user control and autonomous driving,
body;
A handle disposed on the body and configured to sense at least one of an intensity and a direction of an external force applied by a body contact of the user to generate a user driving signal and a user stop signal;
A wheel provided for movement of the body;
A motor for rotating the wheel; And
An electronic control unit configured to control the motor according to the user driving signal and the user stop signal to implement user driving;
The cart calculates a return path by a sensor that senses the rotational speed of the motor when the user moves, and returns to autonomous driving.
The cart,
A cart that charges an electric vehicle parked in a parking lot,
An electrical energy storage device embedded in the body, a charging device electrically connected to the electrical energy storage device and charging an electric vehicle, and a docking terminal docked to a charging terminal of a charging station,
Go from the charging terminal point to the electric vehicle charging point
Docked at the charging terminal by autonomous driving according to the return path processed by inversely processing the encoder value of the motor from the charging terminal point to the charging terminal point to the charging point of the electric vehicle
A cart in which at least one of driving and stopping is controlled by at least one of central control and administrator control in preference to user control and autonomous driving.
The method of claim 2,
If the impact stop signal is generated while driving by user control or autonomous driving, the cart is stopped or the direction of movement is controlled, and then the cart is controlled by at least one of the central control and the manager control.
The method of claim 2,
A cart that provides an alarm to a user when at least one of central control and administrator control is started.
delete The method of claim 2,
The docking terminal is provided with a guide portion having a groove shape corresponding to the guide portion protruding from the charging terminal.
The method of claim 6,
The guide portion of the groove shape of the docking terminal comprises a tapered shape that the cross-sectional area is widened in the direction docked with the charging terminal.
delete delete delete The method of claim 2,
The cart is docked at the charging port of the vehicle by the docking drive of the charging device at the charging point of the electric vehicle, the cart is undocked at the charging port of the vehicle by the undock drive of the charging device at the charging point of the electric vehicle. delete delete delete

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