KR102485628B1 - Charging carts for charging electric vehicles - Google Patents

Abstract

A charging cart for charging an electric vehicle according to various embodiments of the present invention for realizing the above object is disclosed. The charging cart for charging an electric vehicle includes a body, a handle part extending from the body to be in contact with the user's body, and connected to the handle part to obtain sensing information corresponding to an external force related to the contact with the user's body. a sensor unit that allows movement of the body, a sensing unit that obtains driving state information related to whether or not the body can move, a drive unit that applies a driving force to the driving unit, and sensing information corresponding to the external force and the A control unit controlling the driving unit based on driving state information may be included.

Description

Charging carts for charging electric vehicles {CHARGING CARTS FOR CHARGING ELECTRIC VEHICLES}

The present invention relates to a charging device, and more particularly, to a mobile charging cart for charging an electric vehicle.

Recently, due to various problems such as depletion of fossil fuels and environmental pollution, research and development on transportation means to replace them have been actively conducted. An electric vehicle (Electric Vehicle) is a typical transportation means that has been commercialized as such a transportation means.

On the other hand, whenever an electric vehicle appears, what is mentioned together is the charging of the electric vehicle. Installing electric vehicle charging devices in all parking spaces of building parking lots such as apartments and buildings is realistically expensive and inefficient in that non-electric vehicles exist.

If so, installing an electric vehicle charging device only in some parking spaces can be an alternative. In this case, the efficiency problem of leaving a parking space and the problem that charging devices may be insufficient when a lot of electric cars enter the parking lot occur. do.

Due to the above problems, an alternative has emerged to perform charging by sharing a charging cart. Generally, a charging cart has a rather high weight (eg, about 700 kg) as it is configured through a combination of a charging module and electronic devices therefor. As provided through, it is difficult for the user to move the charging cart by applying force. For example, the charging cart may be moved regardless of the user's manipulation intention on a downhill or uphill road, and thus safety problems may occur.

Therefore, in the art, when the user's manipulation intention is grasped through various sensors and the movement of the charging cart is controlled to move the charging cart for charging the electric vehicle, charging for charging the electric vehicle is provided to provide convenience of movement. There may be a demand for carts.

Republic of Korea Public Utility Model Publication 20-2021-0000504

An object to be solved by the present invention is to solve the above-mentioned problems, and to provide a charging cart for charging an electric vehicle that controls the movement of the charging cart by grasping the user's manipulation intention through various sensors.

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

A charging cart for charging an electric vehicle according to various embodiments of the present invention for solving the above problems is disclosed. The charging cart includes a body, a sensor connected to the body and collecting external force sensing information, a handle connected to the sensor, a sensing unit acquiring driving state information of the body, and a driving connected to the body. It may include a driving unit for applying a driving force to the driving unit and a control unit for controlling whether or not the body moves based on the external force sensing information and the driving state information.

In an alternative embodiment, the control unit may be characterized in that the driving unit is controlled by preferentially reflecting the driving state information rather than the external force sensing information.

In an alternative embodiment, the sensor unit includes a first sensor unit and a second sensor unit connected to both ends of the handle unit, and the external force sensing information includes first sensing information obtained through the first sensor unit and the second sensor unit. It may include rotation calculation information generated based on the size difference of the second sensing information obtained through the second sensor unit and speed calculation information generated based on the size of each sensing information.

In an alternative embodiment, the control unit may control the driving unit or the traveling unit based on the rotation calculation information and the speed calculation information.

In an alternative embodiment, the driving unit includes a first driving unit and a second driving unit allowing driving with respect to left and right sides of the body, respectively, and the control unit includes the first driving unit based on the rotation calculation information. The driving unit may be controlled so that power applied to each of the driving unit and the second driving unit is different.

In an alternative embodiment, the sensing unit may include a piezoelectric sensor module provided on the handle portion to sense physical pressure, and a piezoelectric sensor module provided on the handle portion or the outside of the handle portion to emit electromagnetic waves toward the user and detect reflected electromagnetic waves. It may include a proximity sensor module that does.

In an alternative embodiment, the sensing unit may include a camera module that obtains image information related to the user and generates the driving state information based on the acquired image information.

In an alternative embodiment, the charging cart further includes a driving image acquisition unit that acquires driving image information related to the movement of the body, and the control unit generates danger detection information through image analysis of the driving image information. can do.

In an alternative embodiment, the control unit may be characterized in that the control unit controls the drive unit or the driving unit by reflecting the danger detection information with priority over the driving state information.

In an alternative embodiment, the sensing unit may include a piezoelectric sensor module provided in the handle to sense a physical pressure; or a proximity sensor module provided on the handle or an outer side of the handle to emit electromagnetic waves toward a user and detect reflected electromagnetic waves, even if the external force sensing information is continuously sensed from the sensor, the piezoelectric sensor module. Alternatively, when the signal sensed by the proximity sensor module disappears, the control unit may stop an operation of the driving unit or the driving unit or lower power.

Other specific details of the invention are included in the detailed description and drawings.

According to various embodiments of the present invention, it is possible to provide a charging cart for charging an electric vehicle that controls the movement of the charging cart by grasping a user's manipulation intention through various sensors.

The 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 description below.

Various aspects are now described with reference to the drawings, wherein like reference numbers are used to collectively refer to like elements. In the following embodiments, for explanation purposes, numerous specific details are set forth in order to provide a thorough understanding of one or more aspects. However, it will be apparent that such aspect(s) may be practiced without these specific details.
1 is a diagram illustrating an electric vehicle charging system using a charging cart related to an embodiment of the present invention.
2 shows a block diagram of a charging cart related to an embodiment of the present invention.
3 shows an illustratively illustrated illustration of a charging cart in accordance with one embodiment of the present invention.
Figure 4 shows an exemplary view viewed from the top of a charging cart related to an embodiment of the present invention.
5 shows a perspective view from above of a charging cart related to an embodiment of the present invention.
6 shows an exemplary view for explaining a sensing unit related to an embodiment of the present invention.
7 shows an exemplary diagram for explaining a sensing unit related to another embodiment of the present invention.
8 shows an exemplary diagram for explaining a sensing unit related to another embodiment of the present invention.

Various embodiments and/or aspects are now disclosed with reference to the drawings. In the following description, for purposes of explanation, numerous specific details are set forth in order to facilitate a general understanding of one or more aspects. However, it will also be appreciated by those skilled in the art that such aspect(s) may be practiced without these specific details. The following description and accompanying drawings describe in detail certain illustrative aspects of one or more aspects. However, these aspects are exemplary and some of the various methods in principle of the various aspects may be used, and the described descriptions are intended to include all such aspects and their equivalents. Specifically, “embodiment,” “example,” “aspect,” “exemplary,” etc., as used herein, is not to be construed as indicating that any aspect or design described is superior to or advantageous over other aspects or designs. Maybe not.

Hereinafter, the same reference numerals are given to the same or similar components regardless of reference numerals, and overlapping descriptions thereof will be omitted. In addition, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiment disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the accompanying drawings.

Although first, second, etc. are used to describe various elements or components, these elements or components are not limited by these terms, of course. These terms are only used to distinguish one element or component from another. Accordingly, it goes without saying that the first element or component mentioned below may also be the second element or component within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

In addition, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or”. That is, unless otherwise specified or clear from the context, “X employs A or B” is intended to mean one of the natural inclusive substitutions. That is, X uses A; X uses B; Or, if X uses both A and B, "X uses either A or B" may apply to either of these cases. Also, the term "and/or" as used herein should be understood to refer to and include all possible combinations of one or more of the listed related items.

Also, the terms "comprises" and/or "comprising" mean that the feature and/or element is present, but excludes the presence or addition of one or more other features, elements and/or groups thereof. It should be understood that it does not. Also, unless otherwise specified or where the context clearly indicates that a singular form is indicated, the singular in this specification and claims should generally be construed to mean "one or more".

It is understood that when a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but other components may exist in the middle. It should be. On the other hand, when a component is referred to as “directly connected” or “directly connected” to another component, it should be understood that no other component exists in the middle.

The suffixes "module" and "unit" for the components used in the following description are given or used interchangeably in consideration of ease of writing the specification, and do not have meanings or roles that are distinct from each other by themselves.

When an element or layer is referred to as being "on" or "on" another element or layer, it means that the other element or layer is directly on, as well as intervening, the other layer or other component. Including all intervening cases. On the other hand, when a component is referred to as “directly on” or “directly on”, it indicates that no other component or layer is intervening.

The spatially relative terms "below", "beneath", "lower", "above", "upper", etc. It can be used to easily describe a component or its correlation with other components. Spatially relative terms should be understood as encompassing different orientations of elements in use or operation in addition to the orientations shown in the figures.

For example, if you flip a component that is shown in a drawing, a component described as "below" or "beneath" another component will be placed "above" the other component. can Thus, the exemplary term “below” may include directions of both below and above. Elements may also be oriented in other orientations, and thus spatially relative terms may be interpreted according to orientation.

Objects and effects of the present invention, and technical configurations for achieving them will become clear with reference to the embodiments described later in detail in conjunction with the accompanying drawings. In describing the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator.

However, the present invention is not limited to the embodiments disclosed below and may be implemented in a variety of different forms. These embodiments are provided only to make the present invention complete and to completely inform those skilled in the art of the scope of the disclosure to which the present invention belongs, and the present invention is only defined by the scope of the claims. . Therefore, the definition should be made based on the contents throughout this specification.

1 is a diagram illustrating an electric vehicle charging system using a charging cart related to an embodiment of the present invention.

Referring to FIG. 1 , an electric vehicle charging system using a charging cart according to an embodiment of the present invention may include a user terminal 10, a management server 200, and a charging cart 100. Here, the vehicle charging system using the charging cart shown in FIG. 1 is according to an embodiment, and its components are not limited to the embodiment shown in FIG. 1, and may be added, changed, or deleted as necessary. there is.

According to an embodiment of the present invention, the user terminal 10, the management server 200, and the charging cart 100 may transmit and receive mutual information through a network. The networks presented here include the Public Switched Telephone Network (PSTN), x Digital Subscriber Line (xDSL), Rate Adaptive DSL (RADSL), Multi Rate DSL (MDSL), Very High Speed DSL (VDSL), and Universal Digital Subscriber Line (UADSL). Asymmetric DSL), HDSL (High Bit Rate DSL), and various wired communication systems such as a local area network (LAN) may be used.

In addition, the network presented here is CDMA (Code Division Multi Access), TDMA (Time Division Multi Access), FDMA (Frequency Division Multi Access), OFDMA (Orthogonal Frequency Division Multi Access), SC-FDMA (Single Carrier-FDMA) and Various wireless communication systems may be used, such as different systems.

A network according to one aspect of the present invention may be configured regardless of its communication mode, such as wired and wireless, and may be composed of various communication networks such as a personal area network (PAN) and a wide area network (WAN). can In addition, the network may be a known World Wide Web (WWW), or may use a wireless transmission technology used for short-range communication, such as Infrared Data Association (IrDA) or Bluetooth. The techniques described herein may be used in the networks mentioned above as well as other networks.

According to an embodiment of the present invention, the user terminal 10 has a mechanism for communication with other entities through a network, and may refer to any type of entity in a system for providing an electric vehicle charging service. For example, the user terminal 10 may include a personal computer (PC), a note book (note book), a mobile terminal (mobile terminal), a smart phone (smart phone), a tablet pc (tablet pc), and the like, It may include all types of terminals capable of accessing wired/wireless networks. In addition, the user terminal 10 may include an arbitrary server implemented by at least one of an agent, an application programming interface (API), and a plug-in. In addition, the user terminal 10 may include an application source and/or a client application. For example, the user terminal 10 may include any terminal related to a user requesting a charging service for his or her electric vehicle 11 . For example, the user may transmit/receive information for obtaining permission for use of the charging cart 100 or information regarding charge calculation according to the use of the charging cart 100 with the management server 200 through the user terminal 10. there is. That is, the user can use the user terminal 10 to exchange information with the management server 200 and, accordingly, use the charging cart 100 to charge his or her electric vehicle 11 .

According to an embodiment of the present invention, the management server 200 may refer to a subsystem that provides intensive processing functions in a local area network. The management server 200 monitors and controls the entire network, such as control of arbitrary functions related to the content disclosed in the present invention and data management, or connects to other networks through a mainframe or public network, such as data, programs, and files. It can play a role of helping to share hardware resources such as software resources, modem/fax/printer sharing, and other equipment. The management server 200 may refer to a computer that discloses information contained in its hard disk to the outside in a special form. In general, various pieces of information are managed by the management server 200, and general users can access the management server 200 using their terminals and use information provided by the management server 200. In one embodiment, the management server 200 may control, store, or transmit/receive information to share with the user terminal 10 or the charging cart 100 .

For a specific example, the management server 200 may receive information related to a request for permission to use the charging cart 100 from the user terminal 10 . In addition, the management server 200 may transmit information about the location of the charging cart 100 to the user terminal 10 in response to a request for permission to use, information about charging charge calculation, or information about charging amount setting. However, the information received and transmitted by the management server is not limited thereto, and more diverse information for charging service of the electric vehicle 11 can be transmitted and received.

According to one embodiment, the management server 200 may exchange information by communicating with an external server (not shown). In addition, the management server 200 may store arbitrary information/data in a database or computer readable medium. Computer readable media may include computer readable storage media and computer readable communication media. Such computer-readable storage media may include all types of storage media in which programs and data are stored so that they can be read by a computer system. According to one aspect of the present invention, such a computer readable storage medium is ROM (read only memory), RAM (random access memory), CD (compact disk)-ROM, DVD (digital video disk)-ROM, magnetic tape, floppy disks, optical data storage devices, and the like. Also, computer-readable communication media may also include those implemented in the form of carrier waves (eg, transmission over the Internet). Additionally, such media may be distributed in a networked system to store computer readable codes and/or instructions in a distributed manner.

According to one embodiment of the present invention, the charging cart 100 may include a charging module for charging the electric vehicle 11. The electric vehicle 11 may refer to a vehicle that moves by generating driving force by a battery engine. It may refer to a vehicle capable of driving by driving an electric motor as a power source only with electric energy supplied from a charged battery cell without an internal combustion engine. The electric vehicle 11 may be environmentally friendly as it does not use fossil fuels and does not emit carbon dioxide or nitrogen oxides during driving. In an embodiment, an electric vehicle may include a hybrid vehicle that moves by generating driving force by a battery engine and an internal combustion engine. The charging cart 100 has a charging connector electrically connected to the charging port of the electric vehicle 11, and can supply power to the electric vehicle 11 through the charging connector.

The charging cart 100 may be provided to be movable so that a plurality of users in a parking space may share and use the charging cart 100 . In the embodiment, as the charging cart 100 is provided including a driving unit 140 allowing movement of the body 110, it may be movable in a parking space where a plurality of vehicles are parked. For example, users can charge their electric car 11 by parking their electric car 11 and moving the charging cart 100 to the location where their electric car 11 is parked to supply power. .

According to one embodiment, the charging cart 100 may be an electric cart that can be moved while assisted by electric power in order to reduce the force for movement, that is, the user's labor force. In general, a cart for charging the electric vehicle 11 may be equipped with a rather high weight (eg, about 700 kg) as it is configured through a combination of a charging module (eg, an energy storage device) and electronic elements therefor. . In this case, a lot of labor may be required for the user to move the cart to the location where the user's vehicle is parked. In particular, when there is an uphill road, a downhill road, or a speed bump on the moving path of the charging cart, a lot of user's force may be required to control the movement of the charging cart. If the movement control is difficult as much force is required to control the movement of the cart, this may cause a great stability problem.

According to the embodiment, since the charging cart is provided with a relatively high weight, a safety hazard may occur if the driving is not controlled by immediately recognizing the user's manipulation intention. For example, in a situation where a user leads a charging cart and moves downhill, if the user's hand leaves the handle, the charging cart must immediately sense this and generate sensing information related to stopping to prevent an accident. can

The charging cart 100 according to an embodiment of the present invention may assist the movement of the charging cart by recognizing the user's manipulation intention through various sensors. For example, when a user moves the charging cart 100 to charge his or her electric vehicle 11, the user's manipulation for moving the charging cart 100 through various sensors provided in the corresponding charging cart 100 It is possible to control the movement of the charging cart 100 through a small amount of force by identifying the intention and applying power to the charging cart 100 in response thereto. A detailed description of a method of determining a user's manipulation intention using a charging cart and a method of controlling movement of the charging cart through the method will be described in detail with reference to FIGS. 2 to 8 hereinafter.

2 shows a block configuration diagram of a charging cart related to an embodiment of the present invention. 3 shows an illustratively illustrated illustration of a charging cart in accordance with one embodiment of the present invention. Figure 4 shows an exemplary view viewed from the top of a charging cart related to an embodiment of the present invention. 5 shows a perspective view from above of a charging cart related to an embodiment of the present invention. 6 shows an exemplary diagram for explaining a sensing unit related to an embodiment of the present invention. 7 shows an exemplary diagram for explaining a sensing unit related to another embodiment of the present invention. 8 shows an exemplary diagram for explaining a sensing unit related to another embodiment of the present invention.

2 shows a block configuration diagram of a charging cart related to an embodiment of the present invention. As shown in FIG. 2, the charging cart 100 includes a body 110, a charging unit 120, a handle unit 130, a driving unit 140, a driving unit 150, a sensor unit 160, a sensing unit ( 170), a driving image acquisition unit 180, and a control unit 190. The components shown in FIG. 2 are exemplary, and additional components may exist or some of the components shown in FIG. 2 may be omitted.

According to one embodiment of the present invention, the charging cart 100 may include a body 110. The body 110 is a component forming the main body of the charging cart 100, and may form an internal space that may include an electric energy storage device, a charging device, and a motor. In the inner space formed by the body 110, various components for charging the electric vehicle may be further included in addition to the components described above.

According to one embodiment of the present invention, the charging cart 100 may include a charging unit 120 for charging an electric vehicle. In the embodiment, the charging unit 120 may be provided connected to a part of the body 110 . The charging unit 120 may be electrically connected to the electric energy storage device and the electric energy storage device, and as shown in FIG. 3 , one end may include a docking connector docked to the charging port of the electric vehicle 11. An electrical energy storage device may refer to a member that receives electrical energy from a charging station and provides it to an electric vehicle. For example, the electrical energy storage device may be a secondary battery (fuel cell). Electric energy from the electric energy storage device may be supplied to the electric vehicle 11 through a charging device, and thus, a user may charge the electric vehicle 11 using a charging cart.

According to one embodiment of the present invention, the charging cart 100 may include a handle portion 130. The handle part 130 refers to an area that the user grips to move the body 110, and as shown in FIG. 3, it may be formed to extend from the body 110. For example, the handle part 130 may be connected to an inner part of the body 110 . In an embodiment, a sensor module may be provided in a partial inner region of the body 110 connected to the handle part 130 . In this case, the sensor module (ie, the sensor unit) may be used to detect an external force generated when the user's body and the handle unit 130 come into contact. The user may move the charging cart 100 by applying an external force while holding the handle 130 by hand. For example, the handle part 130 may be provided through a handle shape that can be gripped by the user, and the user manipulates the strength and direction of the applied force while holding the handle part 130 to charge the cart ( 100) can control the movement speed and movement direction.

According to one embodiment of the present invention, the charging cart 100 may include a driving part 140 allowing movement of the body 110 . The traveling unit 140 is configured to include one or more wheels and may be provided on the lower side of the body 110 . The driving unit 140 may provide convenience for the movement of the charging cart 100 through rotation in one direction or another. According to the embodiment, the driving unit 140 may rotate through a driving force applied from the driving unit 150 . The traveling unit 140 may be driven according to the number of revolutions (RPM) and rotational force (torque) of the driving unit 150 .

In one embodiment, the driving unit 140 may include four wheels. In one embodiment, two of the four wheels may be driven by the driving unit 150 with the rotational axis fixed as front wheels, and the other two of the four wheels are rear wheels, and the rotational axis is rotated according to the moving direction by the connector. can be changed. That is, the front wheels are driven by the drive unit 150 without a degree of freedom to move the cart, and the rear wheels follow the driving of the front wheels with a degree of freedom, and the posture is changed by the connector so that the rotation axis is perpendicular to the moving direction. can be changed to However, the structure and function of the wheel is not limited thereto, and may have more diverse structures and functions according to mechanical design requests.

According to one embodiment, the driving unit 140 may include a first driving unit 141 and a second driving unit 142 . For example, as shown in FIG. 5 , the driving unit 140 includes a first driving unit 141 and a second driving unit 142 that allow driving with respect to the left and right sides of the body 110, respectively. can include In an embodiment, the moving direction of the charging cart 100 may be controlled as different driving or rotational forces are transmitted to each of the first driving unit 141 and the second driving unit 142 . For example, more driving force is applied to the second driving unit 142 than the first driving unit 141 so that the second driving unit 142 can be rotated more than the first driving unit 141, and accordingly , The moving distance is greater on the right side than on the left side, so that the charging cart 100 can be moved to be rotated in the left direction. The driving force and the number of revolutions applied to each driving unit described above are only examples, and the present invention is not limited thereto.

According to one embodiment of the present invention, the charging cart 100 may include a driving unit 150 that applies a driving force to the driving unit 140 . The drive unit 150 refers to a device that converts electrical energy into mechanical energy by using a force applied to a current-carrying conductor in a magnetic field, and may be, for example, an electric motor (ie, a motor). In an embodiment, the driving unit 150 may rotate the wheel by applying a driving force to the wheel. In this case, the rotational speed and rotational force of the driving unit 150 may be controlled by the controller. Various types of motors may be used for the driving unit 150. For example, the motor may be an in-wheel motor, but is not limited thereto.

As the driving unit 150 is connected to the driving unit 140 and provided in one inner region of the body 110 , rotational force may be applied to the driving unit 140 . In the embodiment, as the driving unit 140 is driven by the power generated through the driving unit 150, the force applied by the user to move the body 110 may be minimized. In other words, when moving the body 110, the user can easily move the body 110 through the driving force generated by the driving unit 150 without applying much force, so convenience can be improved. .

According to one embodiment, the driving unit 150 may be driven under the control of the controller 190 . For example, the controller 190 may control the driving unit 150 to determine the moving speed and direction of the charging cart 100 . For a specific example, the control unit 190 may determine the moving speed of the charging cart 100 by controlling rotational force of a driving unit (eg, a motor). For another example, the control unit 190 may determine the direction of movement by controlling the driving unit 150 to provide different driving force or rotational force to each of the first driving unit 141 and the second driving unit 142 . Here, each of the first driving unit 141 and the second driving unit 142 may be related to driving of the left and right sides of the body 110 . That is, the driving unit 150 may determine the moving direction (or driving direction) of the charging cart 100 by differently adjusting the moving speed between the left side and the right side by the control unit 190 .

According to one embodiment of the present invention, the charging cart 100 may include a sensor unit 160 that obtains sensing information corresponding to an external force related to contact with the user's body. According to an embodiment, when a user applies an external force to control the movement of the charging cart 100, the sensor unit 160 may obtain sensing information related to the applied external force. In this case, the sensing information acquired by the sensor unit 160 may be related to the user's manipulation intention related to the movement of the charging cart 100 . The control unit 190 can provide convenience for the movement of the charging cart 100 by determining the user's control intention through the sensing information of the sensor unit 160 and controlling the driving unit 150 .

The sensor unit 160 according to an embodiment of the present invention is a rod-shaped load cell and can measure the direction and magnitude of an applied external force. Meanwhile, a multi-axis force sensor or a piezo sensor may be applied to the sensor unit 160 . All sensors capable of measuring the direction and magnitude of force applied to the handle or body may be applied to the sensor unit 160 .

That is, the sensor unit 160 may obtain sensing information related to the user's external force in order to grasp the user's manipulation intention related to the charging cart 100 . According to the embodiment, the sensor unit 160 may be provided through a load cell that senses the direction and intensity of force applied from the user.

In an embodiment, when a pulling force or a pushing force is applied in one direction, the strain gage is slightly changed, and based on this, sensing information related to the direction and strength of the force may be obtained. That is, the sensor unit 160 may obtain sensing information related to the user's manipulation intention by sensing the direction and strength of the force through the load cell.

In the embodiment, the sensor unit 160 may be connected to the handle unit 130 and provided. Specifically, the sensor unit 160 may be provided on the handle unit 130 that is in contact with the user's body, and may obtain sensing information related to at least one of the intensity and direction of the external force applied from the user. Here, the handle part 130 may be disposed on top of the body 110, and may be a member that the user's body contacts.

In an embodiment, a load cell constituting the sensor unit 160 may be connected to and provided with the handle unit 130 as shown in FIG. 4 . The sensor unit 160 may include a first sensor unit 161 and a second sensor unit 162 connected to both ends of the handle unit 130 . The sensing information acquired by the sensor unit 160 may include rotation calculation information and speed calculation information. Specifically, the sensing information includes rotation calculation information generated based on a size difference between the first sensing information obtained through the first sensor unit 161 and the second sensing information obtained through the second sensor unit 162. can include For example, when the first sensing information is greater than the second sensing information (ie, when the pressure applied to the first sensor unit is greater than the pressure applied to the second sensor unit), rotation calculation information related to right turn is generated. can The detailed description of the size of each sensing information described above is only an example, and the present invention is not limited thereto. Also, the sensing information may include speed calculation information generated based on the size of the sensing information obtained from each of the first sensor unit 161 and the second sensor unit 162 . For example, as the size of each sensing information increases, faster speed estimation information can be generated, and as the size of each sensing information decreases, relatively slower speed estimation information can be generated. In other words, speed calculation information may be generated according to the magnitude of the pressure applied to each sensor unit.

That is, the sensor unit 160 may obtain sensing information related to a force applied while the user grips the handle unit 130 . The control unit 190 may control the moving speed and direction of the charging cart 100 by determining the user's manipulation intention based on the sensing information sensed by the sensor unit and controlling the driving unit 150 based on this. A more detailed description of how the controller controls the movement of the charging cart based on the sensing information will be described later.

According to one embodiment of the present invention, the charging cart 100 may include a sensing unit 170 that obtains driving state information. Here, the driving state information may be information about whether or not the charging cart 100 is in a driving state. That is, the sensor 170 may obtain driving state information related to whether or not the current charging cart 100 is capable of driving. In an embodiment, the sensing unit 170 may be provided to determine whether the user's body (eg, hand) is in contact with the handle unit 130 . For example, the sensing unit 170 may detect whether the user's hand is in contact with the handle unit 130 .

The charging cart 100 of the present invention may be provided with a high weight (eg, about 700 kg) as it is provided including various components for charging the electric vehicle 11. According to an embodiment of the present invention, as the charging cart 100 is provided with a high weight, the sensing unit 170 may be provided to determine whether the charging cart can run.

For example, when the charging cart 100 includes only the sensor unit 160 for driving operation (ie, the sensor unit is not provided), the user stops the charging cart 100 from moving. Even if the pressure applied to the sensor unit 160 is released (that is, when the hand holding the handle is released), a heavy load of about 700 kg is applied to the load cell constituting the sensor unit 160, so that the load cell does not work for a short time. (i.e. the strain gage does not return), so it may not stop immediately.

Such an error may be removed through software correction, ie, calibration, such as correction of a sensing value serving as a critical reference. However, since information such as the size or duration of the sensed value is different for each situation, it may be difficult to accurately calculate it. Accordingly, when the charging cart 100 is continuously used, erroneous sensing information that is different from the user's intention is obtained, so that it is stable. may pose a hazard.

Meanwhile, when the charging cart 100 is located on an inclined surface, it may move along the inclined surface even if no pressure is applied from the sensor unit 160 . Since the charging cart 100 is quite heavy, a serious accident may occur when it is unintentionally moved by weight along an inclined surface. In order to prevent such a dangerous situation in advance, the present invention may further include an additional configuration such as a sensing unit.

Specifically, as shown in FIGS. 6 to 8 , the present invention includes separate modules, that is, a sensing unit 170 in addition to the sensor unit 160 to determine whether the current charging cart 100 is suitable for driving. It is possible to obtain driving state information that is a criterion for determining . That is, the present invention can determine whether or not the charging cart 100 can be driven more accurately than the sensor unit 160 that determines only the direction and strength of force by providing an additional module (ie, a sensing unit) in terms of hardware. For example, when the user hurriedly places the handle part 130 of the charging cart 100, the sensor 170 detects that the user's body falls from the charging cart 100, thereby urgently stopping the cart to improve stability. can be secured It has the advantage of being able to stop the movement of the charging cart 100 while moving even on a flat surface, but exerts a greater effect on an inclined portion. A more detailed description of the sensing unit 170 will be described below with reference to FIGS. 6 to 8 .

According to an embodiment of the present invention, the sensing unit 170 may include a piezoelectric sensor module 171 provided on the handle unit 130 to sense physical pressure. For example, as shown in FIG. 6 , the piezoelectric sensor module 171 may be provided in the form of two piezoelectric sensors on each of the left and right sides of the handle 130 . In this case, the handle part 130 is provided through a cylindrical shape with an empty inside, and a power line related to power or a connection line for electrical connection with the control unit 190 is connected to each proximity sensor between the corresponding empty cylindrical spaces. There may be. Here, the piezoelectric sensor module 171 may not detect the strength and direction of the force applied by the user, but may be a sensor for determining whether or not there is contact with the user's body. Meanwhile, information obtained from the piezoelectric sensor module 171 that the user has contacted the handle may be used as a precondition for operating the driving unit and the driving unit.

According to another embodiment of the present invention, the sensing unit 170 may include a proximity sensor module 172 that emits an electromagnetic field or electromagnetic wave to the outside of the handle portion 130 and detects a response related to the electromagnetic field or electromagnetic wave. there is. In this case, as shown in FIG. 7 , the proximity sensor module 172 may protrude from one region of the top of the body 110 to emit an electromagnetic field or electromagnetic wave toward the handle 130 . That is, the proximity sensor module 172 emits an electromagnetic field or electromagnetic wave in the direction of the handle part 130, and obtains information about whether the user's body is located at the corresponding position (ie, the handle part) through a response thereto. can

According to another embodiment of the present invention, the sensor 170 may include a camera module 173 that obtains image information related to the user and generates driving state information based on the acquired image information. In this case, as shown in FIG. 8 , the camera module 173 may be provided in the direction where the user is located in order to obtain image information related to the user. For example, the image information obtained by the camera module 173 may be a criterion for determining whether a distance between the user's body and the charging cart 100 is closer than a predetermined distance. For example, the camera module 173 obtains image information related to the grip part 130, determines whether the user's hand is gripping the handle part 130, and provides driving state information related to whether or not driving is possible. can be obtained

In an additional embodiment, the sensing unit 170 may obtain an image related to the user's face through the camera module 173 and detect whether or not the driving state is possible through facial recognition based on the image. In this case, the use of the charging cart 100 may be permitted only to specific users set in advance.

At least one of a piezoelectric sensor module, a proximity sensor module, and a camera module may be applied to the sensing unit 170, and all three may be applied simultaneously. In addition, the sensing unit 170 is a component capable of determining whether the user is holding the handle or can immediately grasp the handle, and may correspond to an infrared light receiving sensor or an illuminance sensor. Likewise, an infrared light receiving sensor or an illuminance sensor may also be applied together with a piezoelectric sensor module, a proximity sensor module, and a camera module.

That is, the charging cart of the present invention, apart from the sensor unit 160 that detects the intensity and direction of the external force applied by the user, detects pressure or sensitivity to electromagnetic waves in order to clearly recognize the user's manipulation intention. Alternatively, a sensing unit 170 may be provided to detect contact between the charging cart 100 and the user's body by analyzing the image. Accordingly, when the user's body is separated from the charging cart 100 (for example, when the user releases the handle), the sensing unit 170 immediately detects the situation and urgently stops the charging cart 100. This can be done to improve stability.

In summary, when the charging cart 100 having a relatively large weight controls movement by sensing only the strength of an external force, an immediate reaction of the sensor unit is difficult, and stability may not be secured. For example, in the case of a downhill road, even if the user does not apply force to the device, the sensor unit (i.e., the load cell) immediately senses the corresponding situation (i.e., the situation in which force is not applied) as a high weight is applied. may not be able to In addition, in the process of continuous use of the charging cart 100, the load cells constituting the sensor unit 160 may be finely bent differently from the beginning, and through this, sensing information may become non-zero. In this case, periodic calibration of the sensor unit 160 may be required to determine whether or not there is contact between the user's body and the charging cart 100 . Accordingly, in the present invention, the sensing unit 170 is separately provided to obtain information on the driving state, and thus control the movement of the charging cart 100 with high accuracy. That is, by providing the sensor unit 170 additionally in addition to the sensor unit 160, when the charging cart 100 is moved, fast and accurate emergency braking is enabled and improved stability can be secured.

That is, by providing the sensor unit 170 additionally in addition to the sensor unit 160, when the charging cart 100 is moved, fast and accurate emergency braking is enabled and improved stability can be secured.

According to one embodiment of the present invention, the charging cart 100 may further include a driving image acquisition unit 180 that acquires driving image information related to the movement of the body 110 . According to an embodiment, the driving image acquisition unit 180 may be provided through a camera module. For example, as shown in FIG. 3 , the driving image acquisition unit 180 may be provided on the front of the charging cart 100 to acquire driving image information related to driving or movement of the charging cart 100 . In an additional embodiment, a plurality of driving image acquisition units 180 may be provided in various areas of the body 110, and thus, panoramic image information related to the movement of the body 110 may be acquired. Panoramic image information may be image information that simultaneously captures a view angle higher than a general viewing angle through a plurality of cameras, and secures a wider viewing angle (eg, a 360-degree field of view) through a combination of the captured images. For example, the panoramic video image may be a video image related to a synthesized circular view viewed from above.

According to a further embodiment, the charging cart 100 may further include an obstacle sensor. The obstacle sensor may sense an obstacle, generate information about the obstacle, and generate an obstacle stop signal. Information about obstacles may exist in various ways, and for example, may be three-dimensional information about obstacles, but is not limited thereto.

The 3D information about the obstacle may be depth information about the distance between the charging cart 100 and the obstacle, the shape or size of the obstacle, etc., but is not limited thereto. Furthermore, the obstacle sensor may generate 3D information on the obstacle in a time-sequential manner. Various types of sensors may be used as the obstacle sensor, and for example, LIDAR, an ultrasonic sensor, a 3D camera module, an RGBD camera module, and a Kinect may be used as the obstacle sensor, but are not limited thereto.

According to one embodiment of the present invention, the charging cart 100 may include a control unit 190 that controls the driving unit 150. According to one embodiment, the control unit 190 may generally handle the overall operation of the charging cart. The control unit 190 processes signals, data, information, etc. input or output through the components described above or drives application programs stored in memory, so that information appropriate to associated terminals (eg, user terminal or manager terminal, etc.) Alternatively, it may provide or process a function.

For example, the control unit 190 may be electrically connected to the grip unit 130 to receive driving information and a stop signal. Also, the control unit 190 may be electrically connected to an obstacle sensor to receive an obstacle stop signal. In an additional embodiment, the controller 190 may be electrically connected to the bumper to receive an impact stop signal.

The controller 190 may control the movement of the charging cart 100 by controlling the driving unit 150 or the brake based on at least one of driving information related to movement or stop, an obstacle stop signal, and an impact stop signal.

According to an embodiment, the controller 190 may control the driving unit 150 based on sensing information acquired through the sensor unit 160 and driving state information obtained through the detector 170 .

The sensing information acquired by the sensor unit 160 may include rotation calculation information and speed calculation information. Specifically, the sensing information includes rotation calculation information generated based on a size difference between the first sensing information obtained through the first sensor unit 161 and the second sensing information obtained through the second sensor unit 162. can include For example, when the first sensing information is greater than the second sensing information (ie, when the pressure applied to the first sensor unit is greater than the pressure applied to the second sensor unit), rotation calculation information related to right turn is generated. can The detailed description of the size of each sensing information described above is only an example, and the present invention is not limited thereto. Also, the sensing information may include speed calculation information generated based on the size of the sensing information obtained from each of the first sensor unit 161 and the second sensor unit 162 . For example, as the size of each sensing information increases, faster speed estimation information can be generated, and as the size of each sensing information decreases, relatively slower speed estimation information can be generated. In other words, speed calculation information may be generated according to the magnitude of the pressure applied to each sensor unit.

For example, when sensing information (ie, speed calculation information) that the user equally applies force forward to the handle part 130 with both hands, the control unit 190 determines that the driving unit 140 moves through a specific speed. The driving unit 150 may be controlled to drive. In the embodiment, the first driving unit 141 and the second driving unit 142 can be driven with the same rotational speed and rotational force, and the rotational speed and rotational force are determined (moving speed determined) according to the force applied by the user. can

In an embodiment, the control unit 190 may control the driving unit so that power applied to each of the first driving unit 141 and the second driving unit 142 is different based on the rotation calculation information. For example, when the user applies force to the handle unit 130 in a forward direction such that the left side of both hands is deflected, rotation calculation information related to a right turn may be obtained through the sensor unit 160 . In this case, the control unit 190 may control the driving unit 150 to drive in a right turn at a specific speed. Here, the rotational speed and rotational force of the first driving unit 141 may be higher than the rotational speed and rotational force of the second driving unit 142, and the rotational speed and rotational force are determined according to the force applied by the user (moving speed determination). It can be. That is, the control unit 190 determines the number of revolutions of each driving unit 140 through rotation calculation information corresponding to a difference in size of each sensing information obtained from each sensor unit (ie, the first sensor unit and the second sensor unit). The torque can be determined differently. In an additional embodiment, the controller 190 may control the driving unit 150 to stop the charging cart 100 when sensing information indicating that the user has placed both hands on the handle unit 130 is obtained.

According to an embodiment of the present invention, the control unit 190 may be characterized in that it controls the driving unit 150 by preferentially reflecting driving state information rather than sensing information. In order to clearly recognize the user's manipulation intention, the charging cart 100 of the present invention senses pressure or responds to electromagnetic waves, apart from the sensor unit 160 that senses the intensity and direction of the external force applied by the user. A sensing unit 170 may be provided to detect contact between the charging cart 100 and the user's body by detecting or analyzing an image. Accordingly, when the user's body is separated from the charging cart 100 (for example, when the user releases the handle), the sensing unit 170 immediately detects the situation and urgently stops the charging cart 100. This can be done to improve stability.

For example, in a state where the speed of the charging cart 100 is greater than or equal to a predetermined value, sensing information applied through the sensor unit 160 and/or the sensor unit 170 becomes 0 or the user's hand is moved from the handle unit 130. When not detected, the control unit may stop the charging cart 100 by utilizing the brake system of the driving unit 150 and the traveling unit 140 . However, the user may temporarily release his hand from the handle part 130 or the force applied from the sensor part 160 may become zero. In this case, when the driving unit 150 and the driving unit 140 are collectively stopped, a more dangerous situation may occur. In this case, if it is confirmed that the user is in close proximity to the charging cart 100 by utilizing the camera module 173 or the like, it is controlled to generate only a warning alarm or a warning alarm or an emergency stop of the charging cart 100 after a predetermined time. back can be taken.

That is, according to the present invention, the sensing unit 170 is separately provided to obtain information on a driving state, and the driving state information is preferentially reflected over the sensing information obtained by the sensor unit 160 to operate the driving unit 150. By controlling, the movement of the charging cart 100 can be controlled with high accuracy. That is, as the movement of the charging cart 100 is controlled by preferentially reflecting the driving state information obtained through the sensing unit 170 rather than the sensing information obtained by the sensor unit 160, when the charging cart 100 moves , it is possible to secure improved stability by enabling quick and accurate emergency braking.

According to an embodiment, the controller 190 may generate danger detection information through image analysis of driving image information. For example, the controller 190 may perform image analysis based on driving image information using an artificial intelligence model. The artificial intelligence model may be a model that detects unexpected situations such as driving of a vehicle or appearance of a pedestrian through image analysis. In an embodiment, the control unit 190 may limit the movement of the charging cart 100 by controlling the driving unit 150 for a predetermined time period in response to generation of danger sensing information. In addition, in the embodiment, in response to the generation of danger detection information, the controller 190 applies vibration to the handle 130 or provides a notification related to danger detection through an audio output unit (not shown) or a display. Cognitive information related to the driving situation may be provided to the user.

For example, when an obstacle that hinders the smooth movement of the charging cart 100 on a moving path is detected by an obstacle sensor or an obstacle or an unexpected situation is detected from driving image information, the control unit stops the operation of the driving unit 150. Alternatively, a brake system provided in the driving unit 140 may be operated. If the user is driving the charging cart 100 while holding the handle part 130, vibration may be primarily transmitted to the handle part 130 or other alarm functions may be used to alert the user that an obstacle exists. there is. However, in some cases, if the user does not stop driving despite notifying the user of the existence of an obstacle in various ways, when an obstacle enters within a predetermined radius of the charging cart 100, the control unit stops the operation of the driving unit 150 or drives the driving unit 150. The brake system provided in the unit 140 may be forcibly operated.

In an additional embodiment, the driving image information includes panoramic image information that simultaneously captures a view angle higher than a general viewing angle through a plurality of cameras and secures a wider viewing angle (eg, a 360-degree view) through a combination of the captured images. can include When image analysis is performed based on the corresponding panoramic image information, since image analysis information on a wider field of view in relation to the driving environment can be provided, the risk detection range can be more determined and stability can be improved.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains can be implemented in other specific forms without changing the technical spirit or essential features of the present invention. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

Specific implementations described in the present invention are examples and do not limit the scope of the present invention in any way. For brevity of the specification, description of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection of lines or connecting members between the components shown in the drawings are examples of functional connections and / or physical or circuit connections, which can be replaced in actual devices or additional various functional connections, physical connection, or circuit connections. In addition, if there is no specific reference such as "essential" or "important", it may not necessarily be a component necessary for the application of the present invention.

It is to be understood that the specific order or hierarchy of steps in the processes presented is an example of example approaches. Based upon design priorities, it is to be understood that the specific order or hierarchy of steps in the processes may be rearranged while remaining within the scope of the present invention. The accompanying method claims present elements of the various steps in a sample order, but are not meant to be limited to the specific order or hierarchy presented.

The description of the presented embodiments is provided to enable any person skilled in the art to use or practice the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the present invention. Thus, the present invention is not to be limited to the embodiments presented herein, but is to be construed in the widest scope consistent with the principles and novel features presented herein.

10: user terminal
11: EV
100: charging cart
200: management server
110: body 120: charging part
130: handle part 140: driving part
141: first driving unit 142: second driving unit
150: driving unit 160: sensor unit
161: first sensor unit 162: second sensor unit
170: sensing unit 171: piezoelectric sensor module
172: proximity sensor module 173: camera module
180: driving image acquisition unit 190: control unit

Claims (10)

In the charging cart for charging electric vehicles,
body part;
a sensor unit connected to the body unit and collecting external force sensing information;
a handle part connected to the sensor part;
a sensing unit that obtains driving state information of the body unit;
a driving unit connected to the body unit;
a driving unit for applying a driving force to the traveling unit; and
a control unit controlling whether or not the body part moves based on the external force sensing information and the driving state information;
Including,
The control unit,
Characterized in that the driving unit is controlled by preferentially reflecting the driving state information rather than the external force sensing information.
Charging cart for charging electric vehicles.
delete In the charging cart for charging electric vehicles,
body part;
a sensor unit connected to the body unit and collecting external force sensing information;
a handle part connected to the sensor part;
a sensing unit that obtains driving state information of the body unit;
a driving unit connected to the body unit;
a driving unit for applying a driving force to the traveling unit; and
a control unit controlling whether or not the body part moves based on the external force sensing information and the driving state information;
Including,
The sensor unit,
A first sensor unit and a second sensor unit connected to both ends of the handle unit,
The external force sensing information,
Rotation calculation information generated based on the size difference between the first sensing information obtained through the first sensor unit and the second sensing information obtained through the second sensor unit, and speed calculation generated based on the size of each sensing information containing information,
Charging cart for charging electric vehicles.
According to claim 3,
The control unit,
Characterized in that the driving unit or the driving unit is controlled based on the rotation calculation information and the speed calculation information.
Charging cart for charging electric vehicles.
According to claim 4,
the driving part,
A first driving part and a second driving part allowing driving in relation to the left and right sides of the body, respectively,
The control unit,
Controlling the driving unit so that the power applied to each of the first traveling unit and the second traveling unit is different based on the rotation calculation information.
Charging cart for charging electric vehicles.
According to claim 1 or 3,
the sensor,
a piezoelectric sensor module provided in the handle portion to sense physical pressure; and
a proximity sensor module provided on the handle or an outer side of the handle to emit electromagnetic waves toward a user and detect reflected electromagnetic waves;
including,
Charging cart for charging electric vehicles.
According to claim 1 or 3,
the sensor,
a camera module that obtains image information related to a user and generates the driving state information based on the obtained image information;
including,
Charging cart for charging electric vehicles.
According to claim 1 or 3,
The charging cart,
a driving image acquisition unit acquiring driving image information related to movement of the body part;
Including more,
The control unit,
generating danger detection information through image analysis of the driving image information;
Charging cart for charging electric vehicles.
According to claim 8,
The control unit,
Characterized in that the driving unit or the driving unit is controlled by reflecting the danger detection information with priority over the driving state information.
Charging cart for charging electric vehicles.
According to claim 1 or 3,
the sensor,
a piezoelectric sensor module provided in the handle portion to sense physical pressure; or a proximity sensor module provided on the handle or an outer side of the handle to emit electromagnetic waves toward the user and then detect the reflected electromagnetic waves;
Even if the external force sensing information is continuously sensed by the sensor unit, when the signal sensed by the piezoelectric sensor module or the proximity sensor module disappears, the control unit stops operation of the driving unit or the driving unit or lowers power. A charging cart for charging electric vehicles.

Images