KR102251511B1 - Control system for self-driving hot and cool service car - Google Patents

Abstract

The present invention relates to a system for controlling an autonomous driving heating/cooling distribution cart, which controls heating/cooling of the partitioned internal spaces of a distribution cart while performing autonomous driving to provide high-quality meals with a small manpower and minimizes current consumption of a battery by setting an operation time range of a heating/cooling device or stopping operation of the heating/cooling device on the basis of battery voltage information to remove hindrances to autonomous driving consuming a large amount of current. According to the present invention, the system comprises a distribution cart (100) moving in a driving mode selected from an autonomous driving mode, an electric driving mode, and a manual driving mode and a distribution cart control server (200) controlling a heating/cooling function and driving of the distribution cart (100) through wireless communications with the distribution cart (100). The distribution cart (100) includes: a main body (110) having an internal space divided into a high temperature space and a low temperature space; a heating/cooling device (124) installed to communicate with the high-temperature space and the low-temperature space of the main body (110) to control and maintain the temperature of the high-temperature space and the low-temperature space; a battery (130) connected to an electric motor (121), electric brake (122), electric steering device (123), and heating/cooling device (124) connected to the main body (110) to supply power; and a controller (150) controlling operation of the electric motor (121), the electric brake (122), the electric steering device (123), and the heating/cooling device (124).

Description

Control system for self-driving hot and cool service car}

The present invention relates to a self-driving hot and cold wiring car control system, and more specifically, it is possible to operate autonomously and at the same time heat and refrigerate a compartmentalized wiring car, thereby providing high-quality meals with a small manpower. The present invention relates to a self-driving hot and cold wiring car control system that minimizes the current consumption of a battery by setting the driving time range of the cooling device so that it does not interfere with the autonomous driving operation that consumes a large amount of current.

When serving a large number of inpatients, students, etc. in hospitals/hotels/schools, wiring cars are often used to move dishes from the food cooking area to the dining area. In particular, hospitals provide patient meals or prescription meals suitable for inpatients in each hospital room according to the patient's condition. In the case of meals, stocks such as rice or soup or desserts such as bread, milk, fruit, and ice cream are each provided. The food boards are stacked in several tiers at the top and bottom of the food board storage space in the wiring car, and the food plates are taken out of the wiring car and delivered to people while driving around each hospital room. In recent years, a hot and cold wiring car having a function of forming a warm room and a refrigerating room to keep warm or refrigerated depending on food has been generally used.

In the conventional distribution system using a wiring car, the food is distributed by manually moving the wiring car containing food. A wiring car basically moves a tray containing about 3 to 40 or more food items, but there is a problem that it is too heavy for a single person to drag and move around the building.

In addition, there is a problem that the wiring car greatly shakes or falls due to sudden braking due to obstacles. In particular, as wiring cars are used for distribution for a large number of people, it is necessary to ensure high safety as people are often crowded in the corridors of buildings where the wiring cars are moved.

In order to solve these problems, there have been many cases of increasing the safety and convenience of movement by applying an electric motor and an electric brake to a wiring car. As a technology related to the electric driving wiring car, there is Korean Patent Publication No. 10-1352531 "Cold and hot wiring car equipped with an integrated handle operation control device".

However, in order to move the wiring car, the manager must directly adjust and move the wiring car, so there is a limit to the distribution of the catering manpower in which more than one manager must be arranged for each wiring car. If a total of 20 wiring cars have to be moved for distribution during lunchtime, all 20 or more managers must move. Due to the structure of the food service system, more than half of the food service manpower is being put into the operation of moving the wiring car, so there is a problem that the manpower to be applied for cooking or washing is insufficient.

In addition, in order to move the wiring car, several people must be put on each floor. Most of the hospitals/nursing homes/schools where the wiring car system is used are small and medium-sized buildings with narrow corridors, so minimization of the moving manpower is required.

Republic of Korea Patent Publication Registration No. 10-1352531 "Cold and hot wiring car equipped with integrated handle operation control device"

Therefore, in order to solve the problems of the prior art, the present invention is a self-driving hot and cold wiring car control system that minimizes the mobile manpower as autonomous driving mode can be applied to a hot-cooled wiring car, thereby enabling unmanned driving without a separate mobile manpower. It is aimed at the implementation of.

In addition, the present invention aims to implement a self-driving hot and cold wiring car control system capable of overcoming the limit of low sustainability since the amount of current consumption required for self-driving and heating and refrigerating the inner space of the wiring car is supplied through a battery disposed in the wiring car. It is done.

According to a feature of the present invention for achieving the above object, in the present invention, a plurality of trays 114 are mounted in the inner space 111 and perform a hot/cool function for the inner space 111, and user selection A wiring car 100 that moves to a driving mode selected from an autonomous driving mode, an electric driving mode, and a manual driving mode based on manual selection information based on a signal or automatic selection information based on the driving environment sensing-judgment information; Including, the wiring car control server 200 for controlling the hot/cooling function and running of the wiring car 100 by wireless communication with the wiring car 100, the wiring car 100 has a driving wheel 110 on the bottom surface. ) Is mounted, the body 110 is formed with an internal space divided into a high temperature space and a low temperature space; A warm-cooling device 124 installed in communication with each of the high-temperature space and the low-temperature space of the main body 110 to control and maintain the temperature of the high-temperature space and the low-temperature space; An electric motor 121 connected to the main body 110, an electric brake 122, an electric steering device 123, and a battery 130 connected to the heating/cooling device 124 to supply power; A power cable connection terminal 140 that is exposed on the surface of the main body 110 so that a power cable connected to an external power supply is connected, and when the power cable is connected, external power is supplied to the battery 130 for charging. ); The electric motor 121, the electric brake 122, the electric steering device 123, the controller 150 for controlling the operation of the heating and cooling device 124; consisting of a configuration including,

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The controller 150 of the self-driving hot and cold wiring car control system includes the heating and cooling device 124 according to a temperature control signal transmitted from the wiring car control server 200 when wireless communication is connected with the wiring car control server 200. On the other hand, when the wireless communication connection with the wiring car control server 200 is disconnected, the operation of the heating/cooling device 124 may be controlled according to a temperature control signal set by the control panel 170.

The controller 150 of the self-driving hot and cold wiring car control system according to the present invention receives the control panel 170 receives a heating/cooling device timer setting signal for setting a driving time range of the heating/cooling device 124, and the It is transmitted to the controller 150, and the controller 150 drives the heating/cooling device 124 only within a driving time range according to the heating/cooling device timer setting signal, thereby minimizing power consumption of the battery 130.

The controller 150 of the self-driving hot and cold wiring car control system according to the present invention receives the control panel 170 receives a heating/cooling device timer setting signal for setting a driving time range of the heating/cooling device 124, and the It is transmitted to the controller 150, and when the voltage value of the battery 130 is less than a set battery allowable voltage value, the driving of the warming and cooling device 124 may be stopped.

The wiring car 100 of the autonomous driving hot/cool wiring car control system according to the present invention is connected to the battery 130 to sense battery status information including battery voltage, battery current, and battery temperature, and A BMS unit 160 for transmitting information to the controller 150; includes, and the controller 150 includes the electric motor 121, the electric brake 122, and the electric motor in the autonomous driving mode according to the battery status information. The operation of the steering device 123 is controlled, and when the battery voltage is less than the reference value, the autonomous driving mode may be converted to the manual driving mode.

According to the self-driving hot and cold wiring car control system according to the present invention, it is configured to enable the autonomous driving mode and the hot and cold storage of high and low temperature spaces, but the movement and temperature of the wiring street are controlled by enabling temperature control through a control server connected by wireless communication. While there is no need for a separate manpower assignment for the vehicle, there is an effect of efficiently controlling the amount of power required to simultaneously perform autonomous driving of the wiring car and the internal space heating and cooling.

1 is a schematic diagram of an autonomous driving hot and cold wiring car control system according to an embodiment of the present invention;
2 is a perspective view of a door of a wiring car according to an embodiment of the present invention in a closed state;
3 is a front view of a door of a wiring car according to an embodiment of the present invention in an opened state;
4 is a block diagram of an actuator according to an embodiment of the present invention;
5 is a block diagram showing a configuration of a control panel according to an embodiment of the present invention;
6 is an exemplary view of a temperature control screen of a control panel according to an embodiment of the present invention;

Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 6 of the accompanying drawings. On the other hand, in the drawings and detailed description, illustrations and references to configurations and actions that can be easily understood by those in this field have been simplified or omitted. In particular, in the illustration and detailed description of the drawings, a detailed description and illustration of a specific technical configuration and operation of elements not directly related to the technical features of the present invention are omitted, and only the technical configuration related to the present invention is briefly illustrated or described I did.

The self-driving hot and cold wiring car control system according to an embodiment of the present invention has a configuration including a wiring car 100 and a wiring car control server 200. Here, the wiring car 100 moves to a driving mode selected from an autonomous driving mode, an electric driving mode, and a manual driving mode.

The wiring car 100 is a device for moving and distributing a large amount of meals at once, and as shown in Figs. 1 to 3, the main body 110 constituting the frame, the movement of the wiring car and the temperature control of the internal space 111 The actuator 120, the battery 130, a power cable connection terminal 140 connected to the battery 130 to supply input power, the controller 150 controlling the actuator 120, and the battery 130 are connected. A BMS unit 160 for managing charging and discharging, a control panel 170 connected to the controller 150, and a sensor module 180 for determining a path of autonomous driving are included.

The main body 110 is formed with a door 112 that opens and closes at least one open surface selected from the front and rear surfaces that communicate with the inner space 111, as shown in FIGS. 2 and 3, and the inner space 111 has a plurality of A frame is installed so that the tray 114 is fixed. At this time, the internal space 111 is divided into a high-temperature space and a low-temperature space to store food to be kept warm and food to be refrigerated at the same time.

Drive wheels 115 are installed on the bottom of the main body 110 to rotate by power through the battery 130 when the autonomous driving mode and the electric driving mode are activated, or the main body 110 by an external force of the manager when the manual driving mode is activated. It is configured to move left and right afterward. When the autonomous driving mode and the electric driving mode are activated, the driving wheel 115 rotates by receiving the rotational force of the electric motor 121 driven by the power of the battery 130 through the clutch 116. When the manual driving mode is activated, the manager directly applies a force to the main body 110 to rotate the driving wheel 115, and a handle 113 is provided on the side of the main body 110 so that the manager moves the main body 110. It is formed so that it can be held tightly.

On the other hand, the wiring car 100 is selected as any one of an autonomous driving mode, an electric driving mode, and a manual driving mode based on manual selection information based on a selection signal from the manager or automatic selection information based on driving environment sensing-judgment information. And move.

Regarding the autonomous driving mode, the wiring car 100 senses an object outside the main body 110 through the sensor module 180 to generate object recognition information, and transmits the object recognition information to the controller 150. The controller 150 may control the movement of the wiring car 100 by generating a signal for controlling the actuator 200 based on the transmitted object recognition information.

In addition, the wiring car 100 is fixed to one or more portions selected from the front portion and the rear portion of the main body 110, generates one or more image information selected from the front image and the rear image, and transmits it to the controller 150. It may further include a 3D camera 117 for autonomous driving. The controller 150 may perform path adjustment for obstacle avoidance based on image information transmitted from the 3D camera 117 for autonomous driving.

The actuator 120 is a device that adjusts the movement of the wiring car 100, the internal temperature, etc. in response to an electrical signal. As shown in FIG. 4, the electric motor 121, the electric brake 122, the electric steering device 123, A warming and cooling device 124 is included. The electric motor 121 is connected via a driving wheel 115 and a clutch 116 of the main body 110, and the electric brake 122 performs a braking operation of the driving wheel 115, and the electric steering device 123 ) Performs a steering operation of the driving wheel 115.

The electric motor 121, the electric brake 122, and the electric steering device 123 are controlled according to a control signal input from the controller 150 or the control panel 170 when the autonomous driving mode and the electric driving mode are selected. In the case of the autonomous driving mode, the controller 150 controls the operation of the electric motor 121, the electric brake 122, and the electric steering device 123 by generating a control signal for autonomous driving, while in the case of the electric driving mode, The operation of the electric motor 121, the electric brake 122, and the electric steering device 123 is controlled by receiving a manager operation signal input from the control panel 170.

The warming and cooling device 124 is a device that is installed in communication with each of the high-temperature space and the low-temperature space of the internal space 111 to control and maintain the temperature of the high-temperature space and the low-temperature space. It can be categorized as a refrigerating hot and cold device installed in. The heating/cooling device 124 may be operated according to a temperature control signal received from the controller 150 or a manager manipulation signal input from the control panel 170 so that the manager maintains a desired temperature. The temperature control signal or the manager operation signal includes a zone-specific set temperature signal, a hot-refrigeration reservation set signal, a warm-refrigeration timer set signal, and a meal temperature for each food service provider, so that the hot-cooling device 124 is automatically operated at the set temperature at the set time. As it is made, it may be formed to provide a meal at an appropriate temperature for each caterer.

The battery 130 is a device connected to the actuator 120 connected to the main body 110 to supply power, and is connected to an external power supply device or a generator unit to be charged. The electric motor 121, the electric brake 122, the electric steering device 123, and the heating/cooling device 124 of the actuator 120 are supplied with power by the battery 130 as described above.

If the heating/cooling device 124 is operating at the same time while driving in the autonomous driving mode or the electric driving mode, the electric power of the battery 130 is reduced to the electric motor 121, the electric brake 122, and the electric steering device 123 for driving. ) And is also supplied to the hot and cold device 124 for internal hot and cold storage.

The power cable connection terminal 140 connects the battery 130 and an external power device, and is exposed on the surface of the main body 110 so that the power cable connected to the external power device is connected, and when the power cable is connected, external power Is formed to be charged by supplying to the battery 130.

The controller 150 controls the operation by outputting an electrical signal to a technology configuration constituting the wiring car 100 or receives an electrical signal from the technology configurations to determine the situation. As shown in FIG. 2, the actuator 120 and the battery It is connected to 130, the control panel 170, and the sensor module 180 to receive or transmit an electrical signal.

The controller 150 is connected to the battery 130 and receives battery status information from the BMS unit 160 that senses battery status information including battery voltage, battery current, and battery temperature, and autonomously runs according to the battery status information. In the mode, the operation of the electric motor 121, the electric brake 122, and the electric steering device 123 is controlled, and when the battery voltage is less than the reference value, the autonomous driving mode or the electric driving mode is converted to the manual driving mode.

In addition, the controller 150 stops driving the hot/cooler 124 when the voltage value of the battery 130 is less than the set battery allowable voltage value or when the driving time of the hot/cooler 124 exceeds the set driving time range. It can be configured so that it does not interfere with autonomous driving and electric driving operation that consumes electric current.

In addition, when the battery status information collected due to the failure of the battery 130 or the BMS unit 160 is out of the set normal voltage range, the controller 150 determines that the wiring car 100 has failed and switches to the manual driving mode. I can.

On the other hand, the controller 150 controls the operation of the heating and cooling device 124 according to the temperature control signal transmitted from the wiring car control server 200 when wireless communication is connected with the wiring car control server 200, and When the wireless communication connection with the 200 is released, the operation of the hot/cooler 124 is controlled according to a temperature control signal set by the control panel 170.

The BMS (Battery Management System) unit 160 senses battery status information, and is connected to the battery 130 to collect information such as battery voltage, battery current, and battery temperature. The collected battery status information may be transmitted to the controller 150 and used for controlling the driving mode of the controller 150.

In addition, the battery voltage and battery current information collected by the BMS unit 160 is transmitted to the control panel 170 through the controller 150, and the battery voltage and battery current information are output from the control panel 170 so that the manager This is done so that you can check the current displayed voltage and remaining amount of.

In this way, the battery-related information collected by the BMS unit 160 is stored and output in the manager server, so that battery-related information of various wiring cars can be checked from the outside.

The control panel 170 outputs the wiring car operation information and inputs the wiring car operation control signal. It is installed on the upper side of the side of the main body 110 so that the administrator can easily check the wiring car operation information displayed with the eyes, and It is installed in a position that can be manipulated.

As shown in FIG. 5, the control panel 170 may include a driving mode selection information input device 171, a display screen 172, a sound device 173, a touch screen 174, and a switch panel 175. .

The driving mode selection information input unit 171 may receive input by an administrator to select any one of an autonomous driving mode, an electric driving mode, and a manual driving mode group and transmit the input to the controller 150.

The display window 172 and the sound device 173 output a message or an alarm sound, and a message when the battery 130 or the BMS unit 160 is malfunctioning or when the battery voltage is less than the reference value and is switched to the manual driving mode. I can output an alarm sound.

The touch screen 174 outputs food, temperature, and driving-related information appropriate to the input signal by the manager, and includes a temperature control signal, a temperature information management signal, a reservation setting signal, a heating/cooling device timer setting signal, and a food service completion signal for each caterer. Input and output of meal information, driving information, and temperature information for each caterer are made. Here, the warming/cooling device timer setting signal sets the driving time range of the warming/cooling device 124, and is received and transmitted to the controller 150 by a manager's selection through the touch screen 174.

Referring to FIG. 6, the touch screen 174 is a ① desired temperature section for outputting a target temperature for heating and refrigeration for each area of the wiring car inner space 111, and a ② high temperature section for outputting the temperature of the current inner space 111, The controller 150 displays whether the wiring car control server 200 is connecting or canceling wireless communication ④ wireless communication connection display section, ⑥ timer setting section for generating a heating/cooling device timer setting signal, and temperature data to the controller 150 ⑦ temperature data download section, which can be transmitted through the USB terminal connected to, and ⑧ hot/cooler ON-OFF section for stopping or operating the hot/cooler 124 operation.

The switch panel 175 is provided with a function switch for implementing a driving function and a hot/cold function, and an ON-OFF switch for converting the driving mode and operating the hot/cooling function, and the current driving state and the operating state of the hot/cooling device 124 are displayed. LEDs to indicate may be included.

The sensor module 180 senses the presence of an obstacle when the main body 110 moves. When an object outside the main body 110 is sensed in the autonomous driving mode and object recognition information is transmitted to the controller 150, the controller 150 Determines whether or not an obstacle has occurred and generates a driving motion control signal for obstacle avoidance to control the actuator 120.

The controller 150 may be configured to switch from the autonomous driving mode to the manual driving mode because the failure of the sensor module 180 may interfere with the autonomous driving operation.

According to the self-driving hot and cold wiring car control system according to the present invention, it is configured to enable the autonomous driving mode and the hot and cold storage of high and low temperature spaces, but the movement and temperature of the wiring street are controlled by enabling temperature control through a control server connected by wireless communication. While there is no need for a separate manpower assignment for the vehicle, there is an effect of efficiently controlling the amount of power required to simultaneously perform autonomous driving of the wiring car and the internal space heating and cooling.

As described above, the self-driving hot and cold wiring car control system according to the embodiment of the present invention is illustrated according to the above description and drawings, but this is only described as an example and various types within the scope not departing from the technical idea of the present invention. It will be well understood by those of ordinary skill in the art that changes and changes are possible.

100: wiring car
110: main body
111: internal space
112: door
113: handle
114: tray
115: drive wheel
116: clutch
117: 3D camera for autonomous driving
118: bottom surface
119: Door open detection sensor
120: actuator
121: electric motor
122: electric brake
123: electric steering device
124: warming and cooling device
130: battery
140: power cable connection terminal
150: controller
160: BMS unit
170: control panel
171: driving mode selection information input device
172: display screen window
173: sound equipment
174: touch screen
175: switch panel
180: sensor module
200: wiring car control server

Claims (5)

A plurality of trays 114 are mounted in the inner space 111 and perform a warm-cooling function for the inner space 111, and automatic selection by manual selection information or driving environment sensing-judgment information by a user selection signal A wiring car 100 that moves to a driving mode selected from an autonomous driving mode, an electric driving mode, and a manual driving mode according to the information;
Including; a wiring car control server 200 for controlling the heating and cooling function and running of the wiring car 100 by wireless communication with the wiring car 100,
The wiring car 100,
A main body 110 in which the driving wheel 110 is mounted on the bottom surface and an internal space divided into a high temperature space and a low temperature space is formed;
A warm-cooling device 124 installed in communication with each of the high-temperature space and the low-temperature space of the main body 110 to control and maintain the temperature of the high-temperature space and the low-temperature space;
An electric motor 121 connected to the main body 110, an electric brake 122, an electric steering device 123, and a battery 130 connected to the heating/cooling device 124 to supply power;
A power cable connection terminal 140 that is exposed on the surface of the main body 110 so that a power cable connected to an external power supply is connected, and when the power cable is connected, external power is supplied to the battery 130 to perform charging. );
The electric motor 121, the electric brake 122, the electric steering device 123, the controller 150 for controlling the operation of the heating and cooling device 124; consisting of a configuration including,
The controller 150,
Controls the operation of the heating/cooling device 124 according to a temperature control signal transmitted from the wiring car control server 200 when wireless communication with the wiring car control server 200 is connected, while the wiring car control server 200 The autonomous driving wiring car system, characterized in that when disconnecting the wireless communication connection with, controls the operation of the heating/cooling device (124) according to a temperature control signal set by the control panel (170). delete The method of claim 1,
The controller 150,
The control panel 170 receives a heating/cooling device timer setting signal for setting a driving time range of the heating/cooling device 124 and transmits it to the controller 150,
The controller 150 drives the heating/cooling device 124 only within a driving time range according to the heating/cooling device timer setting signal to minimize power consumption of the battery 130. The method of claim 1,
The controller 150,
The control panel 170 receives a heating/cooling device timer setting signal for setting a driving time range of the heating/cooling device 124 and transmits it to the controller 150,
When the voltage value of the battery 130 is less than the set battery allowable voltage value, the driving of the hot/cooling device 124 is stopped. The method of claim 1,
The wiring car 100,
A BMS unit 160 connected to the battery 130 to sense battery state information including battery voltage, battery current, and battery temperature, and to transmit battery state information to the controller 150; includes,
The controller 150 controls the operation of the electric motor 121, the electric brake 122, and the electric steering device 123 in the autonomous driving mode according to the battery status information, and autonomous driving when the battery voltage is less than the reference value. Autonomous driving hot and cold wiring car control system, characterized in that converting the mode to a manual driving mode.

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