KR102133717B1 - Driving system of transportation vehicle - Google Patents

Abstract

A transport vehicle driving system according to an embodiment of the present invention includes a driving unit for moving the main body, a sensor unit for sensing a driving environment, a GPS unit for calculating location information using a GPS (GPS: Global Positioning System), and driving It includes a transport vehicle including a control unit for controlling the driving of the wealth, and a guide unit sensed by the sensor unit, and the control unit sets the first path on the road of the map stored in advance based on the GPS location information, and the driving unit is the first. When driving along the path, and the sensor unit detects a guide unit pre-installed in an area not recognized as a road on the map while driving, a new second path is set based on the location information of the guide unit, and the driving unit follows the second path. An object of the present invention is to provide a transport vehicle driving system that controls driving.

Description

DRIVING SYSTEM OF TRANSPORTATION VEHICLE

The transport vehicle driving system according to the present invention relates to an autonomous driving system of a transport vehicle that transports cargo.

Generally, a transport vehicle can be used to transport crops or work tools when used in rural areas. Currently, the problem of labor shortage continues in rural areas, and in order to solve this problem, development of a transport vehicle that does not require a person to drive directly is being carried out.

On the other hand, autonomous driving technology has a system that sets a route based on the current location information of a vehicle and location information of a destination based on a GPS (GPS).

However, in a rural area, the transportation of a transport vehicle is required for the transportation of cargo even on a narrow farm road, and such a farm road is not recognized as a road of a vehicle on a map produced based on GPS, so it cannot be set as a driving path of an autonomous transport vehicle. There is.

Republic of Korea Patent Publication No. 10-2010-0041932 (published on April 23, 2010)

In order to solve the above-described problem, the present invention is to provide a transport vehicle capable of autonomous driving even in an area not recognized as a road on a GPS-based map.

A transport vehicle driving system according to an embodiment of the present invention includes a driving unit for moving the main body, a sensor unit for sensing a driving environment, a GPS unit for calculating location information using a GPS (GPS: Global Positioning System), and driving It includes a transport vehicle including a control unit for controlling the driving of the wealth, and a guide unit sensed by the sensor unit, and the control unit sets the first path on the road of the map stored in advance based on the GPS location information, and the driving unit is the first. When driving along the path, and the sensor unit detects a guide unit pre-installed in an area not recognized as a road on the map while driving, a new second path is set based on the location information of the guide unit, and the driving unit follows the second path. An object of the present invention is to provide a transport vehicle driving system that controls driving.

In the present embodiment, the main body includes a loading unit capable of loading cargo, and the loading unit includes a side wall portion formed at a predetermined height on an edge of the loading portion, an extension portion that can slide upward with respect to the side wall portion, and a loading portion It includes a cover portion for opening and closing the upper portion, the cover portion is hinged to at least a portion of the upper end of the extension portion, is accommodated between the side wall portion and the extension portion, and the extension portion slides upward with respect to the side wall portion, according to the rotation of the hinge The upper part of the loading part can be opened and closed.

In the present embodiment, the side wall portion is located adjacent to an edge extending in the vertical direction on the inside of the side wall portion, and includes a slide groove formed in the vertical direction and a fixing groove concavely formed toward the outside of the side wall portion on the top of the slide groove. , The extension portion includes a slide protrusion formed adjacent to an edge formed to extend in the vertical direction on the outside thereof, the slide protrusion is accommodated inside the slide groove, and the slide protrusion slides along the slide groove, so that the extension portion moves upwards to the side wall portion. It is slidable, and in the state in which the extended portion is slid upward, the slide projection is accommodated in the fixing groove to provide a transport vehicle traveling system in which the extended portion can be fixed to the side wall portion.

In this embodiment, the cover portions are disposed on the left and right sides of the loading portion, and provided as a pair. A magnet is provided at one end of each of the pair of cover portions, and a magnet or a magnetic body is provided at the other. The ends of the contact portions are in contact with each other in a state in which the upper portion of the loading portion is closed, and the contact is maintained due to the magnetic force of the magnet, so that arbitrary opening of the cover portion can be prevented.

In this embodiment, the guide unit is installed adjacent to the road on the digital map and is spaced apart from the position of the first guide unit in a region not recognized as a first guide unit having a GPS and a location that can be detected by the sensor unit It is installed in, and includes a second guide unit that does not have a GPS, the GPS location information is to provide a transport vehicle driving system including the GPS location information of the first guide unit.

In this embodiment, the transport vehicle further includes a path storage unit for storing a second path set based on the location information of the guide unit, and the control unit is configured to store the driving unit in the path storage unit even in an environment where the guide unit is removed. It can be controlled to travel along two paths.

In this embodiment, the sensor unit includes a magnetic sensing sensor, and the guide unit may include a magnetic rail.

The present invention is to provide a vehicle capable of autonomous driving even in an area not recognized as a road on a GPS-based map.

1 is a perspective view showing a transport vehicle according to an embodiment of the present invention.
Figure 2 is a perspective view showing a modified state of the loading unit according to an embodiment of the present invention.
3 is a view showing a slide coupling of the side wall portion and the extension portion of the loading portion according to an embodiment of the present invention.
4 is a perspective view showing a state of a loading part of a transport vehicle according to a modified embodiment of the present invention.
5 is a view showing a driving route of a transportation vehicle driving system according to an embodiment of the present invention.
6 is a view showing a driving route in a garage of a transportation vehicle driving system according to an embodiment of the present invention.

The present invention will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only the present embodiments allow the disclosure of the present invention to be complete, and the general knowledge in the technical field to which the present invention pertains. It is provided to fully inform the holder of the scope of the invention, and the invention is only defined by the scope of the claims. On the other hand, the terms used in this specification are for describing the embodiments and are not intended to limit the present invention. In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase. As used herein, "comprises" and/or "comprising" refers to the components, steps, operations and/or elements mentioned above, the presence of one or more other components, steps, operations and/or elements. Or do not exclude additions. Terms such as first and second may be used to describe various components, but components should not be limited by terms. The terms are only used to distinguish one component from other components.

The transport vehicle 11 driving system 1 according to an embodiment of the present invention is equipped with a guide unit 12 in an area not recognized as a road on a digital map based on GPS (GPS) to provide a transport vehicle ( It relates to a transport vehicle (11) driving system (1) for guiding the travel path of 11). In this case, the digital map is a digital form of digital maps of various geospatial information, such as the location of the surface, underground, underwater, and space, and topographical, geographical, and geographical names, according to the'Numerical Mapping Operation Rules'. Means map.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a transport vehicle according to an embodiment of the present invention.

The transport vehicle 11 traveling system 1 may include a transport vehicle 11 and a guide unit 12.

The transport vehicle 11 may be a vehicle for transporting cargo. The transport vehicle 11 includes a main body (not shown), a driving unit 112 for moving the main body, a sensor unit 113 for sensing a driving environment, a GPS unit and a driving unit 112 for calculating location information using GPS. It may include a control unit 114 for controlling the driving of.

The body of the transport vehicle 11 may include a loading part 111. The loading unit 111 may be a portion capable of loading cargo. The loading unit 111 is mounted on the traveling unit 112 and may be fixed to the frame of the traveling unit 112. The loading part 111 may include a side wall part 1111, an extension part 1112, and a cover part 1113.

The side wall part 1111 is to prevent the cargo from falling out of the loading part 111 when loading the cargo into the loading part 111. Cargo may be loaded on the bottom of the loading unit 111. The side wall portion 1111 may be formed with a predetermined height at the bottom edge of the loading portion 111.

Figure 2 is a perspective view showing a modified state of the loading unit according to an embodiment of the present invention. 3 is a view showing a slide coupling of the side wall portion and the extension portion of the loading portion according to an embodiment of the present invention.

2 and 3, the extension portion 1112 is a portion that can be extended by sliding upwards of the side wall portion 1111. Due to the extension portion 1112, a height of the sidewall may be substantially increased. Accordingly, even if more cargo is loaded on the loading unit 111, it is possible to prevent the cargo from falling outward. The extension portion 1112 may be disposed inside the side wall portion 1111 and slide-coupled to each other. A slide protrusion 1112a or a slide groove 1111a may be formed at both end portions of the side wall portion 1111 for sliding engagement. Correspondingly, a slide groove 1111a or a slide protrusion 1112a may be formed at both ends of the extension portion 1112. For example, the inner side of the side wall portion 1111 is located adjacent to the edge extending in the vertical direction and extended to the slide groove 1111a formed in the vertical direction and the edge extended in the vertical direction outside the extension portion 1112. The slide protrusion 1112a formed is coupled, and while the slide protrusion 1112a slides while being accommodated in the slide groove 1111a, the extension portion 1112 may slide upward with respect to the side wall portion 1111. In addition, the upper portion of the slide groove (1111a) is formed concave toward the outside of the side wall portion 1111, the slide protrusion 1112a is accommodated can be provided with a fixing groove (1111b) that can be fixed in position. Through this, the extension portion 1112 may be fixed in a position extending upward from the side wall portion 1111.

The cover portion 1113 is a portion that can open and close the upper portion of the loading portion (111). The cover portion 1113 may be hinged 1112b to at least a portion of the upper end of the extension portion 1112. In addition, the cover portion 1113 may be accommodated in a space between the extension portion 1112 and the side wall portion 1111 in a state folded adjacent to one side of the extension portion 1112. With the extension portion 1112 slid upward with respect to the side wall portion 1111, the cover portion 1113 may cover the upper portion of the loading portion 111 according to the rotation of the hinge 1112b. The handle 1112c is provided at one end of the hinge 1112b axis, so that the hinge 1112b axis is rotated when turned, so that the cover portion 1113 can open and close the upper portion of the loading portion 111. The cover portion 1113 is installed in each of the left and right extension portions 1112 of the loading portion 111 to be provided in a pair, and meets each other at the central portion of the loading portion 111 according to the rotation of the hinge 1112b, respectively. Can be. A hole 1113a is formed in a portion where the cover portion 1113 meets and adjacent to each other, so that a locking device can be installed therethrough. As a result, there is an advantage that the risk of cargo theft can be prevented when the transport vehicle 11 is unmanned and autonomous.

In addition, a magnet 1113b is provided at one of the ends of each of the pair of cover parts 1113, and a magnet 1113b or a magnetic body is provided at the other, and each end is provided above the loading part 111. In contact with each other in the closed state, the contact is maintained due to the magnetic force of the magnet 1113b to prevent the arbitrary opening of the cover portion 1113, and fixed through the magnetic force of each other while the pair of cover portions 1113 are covered. Therefore, even if the transport vehicle 11 rattles due to an obstacle or the like, it is possible to prevent the cargo loaded on the inside of the loading part 111 from being dropped because the cover part 1113 is opened.

4 is a perspective view showing a state of a loading part of a transport vehicle according to a modified embodiment of the present invention.

Referring to FIG. 4, as a modified embodiment, the sum of the left and right widths of the pair of cover portions 1113 ′ may be formed to be longer than the sum of the left and right widths of the loading portion 111. Due to this, a pair of cover portions 1113 are brought into contact with each other in a shape that rises upward from the central portion of the loading portion 111, and downward slopes may be formed toward the left and right sides thereof. Therefore, the rainwater flows to the left and right when it rains, so it does not seep into the inside of the loading part 111, so that the cargo can be prevented from getting wet. The extension portion 1112' has a shape corresponding to a shape in which a pair of cover portions 1113' are in contact with each other, and the front and rear sides thereof may be formed in a pentagonal shape.

The driving unit 112 includes a power unit (not shown) that generates power such as an electric drive motor or an engine, a plurality of driving wheels (not shown) rotated by the produced power, and a frame that supports them and connects them to each other (not shown) City).

The sensor unit 113 may be composed of various sensors, and may sense a driving environment while the vehicle 11 is running. The sensor unit 113 includes a camera sensor (not shown), an ultrasonic sensor (not shown), a rider sensor (not shown), a radar sensor (not shown), a magnetic detection sensor (not shown), and a gyroscope sensor (not shown). It can contain. The sensor unit 113 may be installed at various positions of the transport vehicle 11. In particular, the camera sensor is composed of a stereo camera, a plurality of spaced apart from each other is installed at the front end of the transport vehicle 11, it is possible to perform obstacle detection by generating a surrounding environment in 3D. The ultrasonic sensor can detect obstacles at a short distance. The rider sensor can detect the distance using light. The radar sensor can detect the surrounding environment of the transport vehicle 11 using electromagnetic waves. The gyroscope can detect the tilt condition of the wagon. The magnetic sensor is a sensor that senses magnetism, and may be for recognizing when the guide unit 12 to be described later is composed of a magnetic rail 122'.

The GPS unit may calculate the current location of the transport vehicle 11 and the location information of the destination using the GPS. Hereinafter, the GPS itself is a well-known technology, so a detailed description thereof will be omitted.

The control unit 114 controls the driving of the driving unit 112, and is composed of, for example, a microprocessor, a programmable logic controller (PLC), and the like, and performs input/output control, calculation, and communication control inside the control unit 114. . The control unit 114 may control the entire system by calculating according to a preset algorithm based on the corresponding data of the input sensors and outputting an appropriate command for each component. The control unit 114 includes a display (not shown) capable of inputting and displaying the location of the origin and destination of the transport vehicle 11 and a handle (not shown) capable of manually controlling the driving unit 112. Can. The control unit 114 may also be provided with a communication module (not shown) to enable remote control. For example, control of the control unit 114 may be performed using a smartphone.

5 is a view showing a driving route of a transportation vehicle driving system according to an embodiment of the present invention.

Referring to FIG. 5, the controller 114 may set a first route on a road of a digital map stored in advance based on GPS location information. The controller 114 applies the current vehicle's GPS location and the location of the destination on the digital map, finds a route that takes the shortest distance or the shortest time from the vehicle's location to the destination based on the road on the digital map. It can be set as the first path. The control unit 114 may cause the driving unit 112 to travel along the first path.

In the description of the present invention, the term “first path” means a path calculated using only a road recognized as a road of a vehicle in a pre-stored digital map.

On the other hand, if the location of the destination is a point that is not connected to the road of the vehicle on the digital map, the control unit 114 may have a problem that the transport vehicle 11 cannot set the first path to reach the destination. For example, in the case of a rural farm road, the width is narrow, and it is difficult to distinguish it from other farmland on the map, so it may not be recognized in the program of the control unit 114 as a road through which the transport vehicle 11 can travel.

The guide unit 12 is intended to solve the above-described problems, and may be installed in an area not recognized as a road on a numeric map to guide the vehicle route setting.

For example, an area in which the sensor unit 113 is not recognized as a road on the map while the guide unit 12 is installed along the farm road from the connection point where the road is connected to the farm road to the destination, and the transport vehicle 11 is traveling. When the guide unit 12 installed in advance is sensed, a new second path may be set based on the location information of the guide unit 12 to control the driving unit 112 to travel along the second path. The second route may be a route set in an area not recognized as a road on the digital map.

Hereinafter, a method of setting the first path and the second path will be described in detail when the location of the destination is a point not connected to the road of the vehicle on the digital map.

In the transport vehicle driving system 1 according to an embodiment of the present invention, a guide unit 12 is previously installed at a point where a road and a farm road on a numerical map are connected before driving of the transport vehicle 11, and starting from this, the farm road According to the plurality of guide units 12 may be installed to be arranged at a sensing interval by the sensor unit 113. The user can set the position of the guide unit 12 installed at the point where the road and the farm road are connected as a waypoint, so that the control unit 114 can set a first route that can go from the current vehicle position to the waypoint. When the sensor unit 113 detects the guide unit 12 installed at a point where the road and the farm road are connected while driving along the first path, the driving unit 112 detects the surrounding environment and detects the other guide unit 12. By detecting and analyzing the surrounding environment information, a second path may be set on the farm road to control the driving unit 112 to travel along it.

On the other hand, a guide unit 12 equipped with GPS may be used. Hereinafter, for convenience of explanation, the guide unit 12 provided with the GPS is referred to as a first guide unit 121, and the guide unit 12 provided without GPS is referred to as a second guide unit 122. Shall be

The guide unit 12 is installed adjacent to the road on the digital map, the first guide unit 121 having a GPS and the sensor unit 113 at the position of the first guide unit 121 in an area not recognized as a road It is installed in a position that can be detected by, and includes a second guide unit 122 that does not have a GPS, the GPS location information based on the control unit 114 to set the first path is the first guide unit It may include GPS location information of (121).

First, a first guide unit 121 having a GPS may be installed at a point where the road and the farm road are connected. The control unit 114 may receive the location of the destination from the user and calculate and set the first route based on the current location information of the transport vehicle 11. In this case, the GPS unit of the transport vehicle 11 detects the GPS location of the first guide unit 121, and the control unit 114 sets the location of the first guide unit 121 as a stopover on the basis of this, on the road It is possible to set the first path of the top and control the driving unit 112 to travel along the first path. Subsequently, the vehicle 11 is autonomously driven to the position of the first guide unit 121, and the sensor unit 113 detects the first guide unit 121 and installs a second guide around it. The second path on the farm road may be set by sensing the unit 122 and the surrounding environment. The control unit 114 may control the traveling unit 112 to travel along the second path to reach the destination.

The transport vehicle 11 may further include a path storage unit (not shown) for storing a second path set based on the location information of the guide unit 12.

The path storage unit may be a portion that serves as a memory capable of storing the first path and the second path. When the transport vehicle 11 is moved from the origin to the destination once, the control unit 114 may store the movement route in the route storage unit. Based on the stored route, the control unit 114 stores the route even when the driving unit 112 is traveling to reach the same destination or a destination set on the second route even in the environment where the guide unit 12 is removed. It can be controlled to travel along a path stored in the unit.

6 is a view showing a driving route in a garage of a transportation vehicle driving system according to an embodiment of the present invention.

Referring to Figure 6, the guide unit 12 may be a magnetic rail (122'). In this case, the magnetic sensor of the sensor unit 113 can detect the magnetism of the guide unit 12. The control unit 114 may control the driving unit 112 to travel along the magnetic rail 122 ′ based on the detection of the magnetic sensor. For example, when the transport vehicle 11 is used in an indoor space that is not displayed on a numerical map as well as a farm road, a guide unit 12 in the form of a magnetic rail 122' may be installed in advance on the floor, Based on the result of the magnetic sensor of the transport vehicle 11 detecting this, the control unit 114 may control the driving unit 112 to travel along the magnetic rail 122'.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and variations without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain them, and the scope of the technical spirit of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical spirits within the equivalent range should be interpreted as being included in the scope of the present invention.

1: Transport vehicle driving system 11: Transport vehicle
12: guide unit 111: loading unit
112: driving unit 113: sensor unit
114: control unit 121: first guide unit
122, 122': 2nd guide unit 1111: side wall part
1111a: Slide groove 1111b: Fixed groove
1112, 1112': extension 1112a: slide projection
1112b: hinge 1112c: handle
1113, 1113': cover 1113a: hole
1113b: magnet

Claims (7)

A driving unit for moving the main body;
Sensor unit for sensing the driving environment;
A GPS unit for calculating location information using a GPS (GPS: Global Positioning System); And
A transport vehicle including a control unit that controls the driving of the driving unit; And
It includes a guide unit sensed by the sensor unit,
The controller sets a first path on a road of a digital map stored in advance based on the GPS location information, causes the driving unit to travel along the first path, and the sensor unit is not recognized as a road on the digital map during driving. When the guide unit pre-installed in an area is detected, a new second path is set based on the location information of the guide unit, and the driving unit is controlled to travel along the second path,
The main body,
It includes a loading unit capable of loading cargo,
The loading unit,
A side wall portion formed at a predetermined height on the edge of the loading portion;
An extension portion that can slide upward with respect to the side wall portion; And
Includes; a cover portion for opening and closing the upper portion of the loading portion,
The cover portion is hinged to at least a portion of the top of the extension portion, is accommodated in the space between the side wall portion and the extension portion,
In the state in which the extension portion slides upward with respect to the side wall portion, the upper portion of the loading portion can be opened and closed according to the rotation of the hinge,
The cover portion is disposed on each of the left and right of the loading portion is provided in a pair,
The sum of the left and right widths of the pair of lid portions is formed longer than the sum of the left and right widths of the stacking portion, and a magnet is provided at one end of each of the pair of lid portions, and a magnet or a magnetic body is provided at the other. ,
The respective ends are in contact with each other in a state in which the upper portion of the loading portion is closed, and contact is maintained due to the magnetic force of the magnet to prevent arbitrary opening of the lid portion,
Transport vehicle driving system.
delete According to claim 1,
The side wall portion,
A slide groove positioned adjacent to an edge extending in the vertical direction on the inside of the side wall portion and extending in the vertical direction; And
A fixed groove formed concave toward the outside of the side wall portion on the upper portion of the slide groove,
The extension,
It includes a slide protrusion formed adjacent to the edge formed extending in the vertical direction on the outside of the extension,
While the slide protrusion is accommodated inside the slide groove, and the slide protrusion slides along the slide groove, the extension part is slidable upwards of the side wall part, and the extension part slides upwards of the side wall part. A slide vehicle projection system is accommodated in the fixing groove so that the extension portion can be fixed to the side wall portion. delete According to claim 1,
The guide unit,
A first guide unit installed adjacent to the road on the digital map and having GPS; And
Includes a second guide unit that is spaced apart from the position of the first guide unit in an area not recognized as the road, is installed at a position detectable by the sensor unit, and has no GPS.
The GPS location information includes the GPS location information of the first guide unit, the vehicle transport system. According to claim 1,
The transport vehicle further includes a path storage unit for storing a second path set based on the location information of the guide unit,
The control unit controls the driving unit to travel along the second path stored in the path storage unit even in an environment in which the guide unit is removed. According to claim 1,
The sensor unit includes a magnetic detection sensor,
The guide unit includes a magnetic rail, a transport vehicle running system.

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