KR102539265B1 - Semi-Self-driving cart assisted by electricity - Google Patents

Abstract

The present invention detects the force that the user pushes or pulls the cart, and drives the electric motor in the forward or reverse direction in response to the detected force, thereby enabling the cart to move forward and backward, change direction, stop, and adjust the driving speed. It is about an assisted semi-autonomous handcart.
The present invention is "a handcart including a body frame, wheels and a handle, wherein the handle is provided in a portion connected to the body frame and a pressure sensor for detecting the forward/reverse direction and magnitude of the applied force; An electric motor built into or external to the wheel to provide driving force to the wheel; and a controller provided in the body frame to control driving of the electric motor in response to a detected value transmitted from the pressure sensor. Provides an electric assisted semi-autonomous handcart including a.

Description

Semi-Self-driving cart assisted by electricity}

The present invention detects the force that the user pushes or pulls the cart, and drives the electric motor in the forward or reverse direction in response to the detected force, thereby enabling the cart to move forward and backward, change direction, stop, and adjust the driving speed. It is about an assisted semi-autonomous handcart.

A handcart refers to a cart that can be pushed or pulled by a person carrying a load, but an electric cart equipped with an electric device is used in farmhouses, factories, construction sites, and the like.

However, a conventional motorized handcart is applied with a motorcycle driving method in which the motorized handcart moves forward when the handle is pulled, and reverses when the handle is pulled after converting the gear to reverse gear. These electric handcarts have a problem in that driving methods must be mastered and it is not easy for the elderly in farmhouses to drive.

Recently, with the development of 4th industry technologies such as IoT and artificial intelligence, self-driving cart technology and remote driving control technology have emerged (Patent No. 10-1709683, Patent No. 10-2240688, Patent No. 10). -2018832, Patent No. 10-2033326, etc.), these technologies can only be used for limited purposes in a limited environment and cannot be used as a means to relieve users' troubles in various conditions and situations.

Therefore, unlike the current electric handcarts that operate with complicated manipulation methods or fully autonomous handcarts (carts) that have limited use environments or uses, the electric device drives the driving direction and speed according to the user's intention through various sensing information. There was a need to develop a semi-autonomous handcart with electric assistance that allows anyone of any age or gender to safely transport heavy loads without having to learn how to operate them separately.

1. Patent No. 10-1709683 "User-oriented self-driving shopping cart system through non-contact user interface, and self-driving shopping cart control method" 2. Patent No. 10-2240688 "Self-driving smart cart in cinema" 3. Patent No. 10-2018832 "Autonomous Cart" 4. Patent No. 10-2033326 "An electric cart for charging an electric vehicle that drives based on user driving control and autonomous driving and secures driving safety through central control and manager control"

An object of the present invention is to provide an electric-assisted semi-autonomous driving handcart in which a user's force is sensed and driven by an electric means in a desired direction.

The present invention is "a handcart including a body frame, wheels and a handle, wherein the handle is provided in a portion connected to the body frame and a pressure sensor for detecting the forward/reverse direction and magnitude of the applied force; An electric motor built into or external to the wheel to provide driving force to the wheel; and a controller provided in the body frame to control driving of the electric motor in response to a detected value transmitted from the pressure sensor. Provides an electric assisted semi-autonomous handcart including a.

The control unit may be configured to drive the electric motor in the forward/reverse direction when the detected value transmitted from the pressure sensor exceeds a set minimum value in the forward/reverse direction while the electric motor is stopped.

In addition, the control unit sets an effective range between the minimum value and the maximum value in the forward/reverse direction of the sensed value transmitted from the pressure sensor, sets the speed range in the forward/reverse direction of the electric motor, and drives the electric motor. It may be configured to control the speed within the speed range in proportion to the detected value within the effective range.

In addition, the controller may be configured to decelerate or stop the electric motor when a reverse/forward direction detection value is transmitted from the pressure sensor in a state in which the electric motor is driven in the forward/reverse direction.

The present invention is configured to further include a wheel sensor that detects slippage of the wheel and checks the rotational speed, and the control unit, when a slip signal is transmitted from the wheel sensor or a rotational speed exceeding the driving control speed is checked, It may be configured to control the deceleration of the electric motor.

In addition, the present invention may further include a grip sensor 150 provided on the handle, and the control unit may be configured to stop the electric motor when a grip detection signal is not transmitted from the grip sensor.

In addition, the present invention is configured to further include a front detection sensor provided on the body frame to detect a danger element in front, and the control unit stops the electric motor when a danger detection signal within a specified range is transmitted from the front detection sensor. can be configured to do so.

In addition, the present invention may further include a clutch for maintaining or disengaging a meshing state of gears that transmit the driving force of the electric motor to the wheels.

In addition, the handle is provided to hold the user's left and right hands openly, the pressure sensor is provided at a portion where the handle is connected to the body frame on the left and right sides, and the wheel is provided on the left and right sides of the body frame. It is provided on the right side, and the electric motor is provided to provide driving force to the left and right wheels on the left and right sides of the body frame, respectively, and the control unit responds to the detected values of the left and right pressure sensors to It may be configured to control the driving of the electric motor.

In this case, the control unit controls driving of the left and right electric motors based on the small value when the detected values of the left and right pressure sensors are in the same direction and the small value of the detected value exceeds a specific ratio of the large value, When the small value is less than a specific ratio of the large value, the steering may be performed while driving by controlling the drive speed ratio of the left and right electric motors according to the left and right sensing value ratio.

In addition, when the detected values of the left and right pressure sensors are in different directions, the control unit drives the electric motor on the side where the positive direction detection value is detected while stopping the electric motor on the side where the reverse direction detection value is detected. It can be configured so that the direction change is made in .

The present invention provides a handcart that autonomously travels in a desired direction by sensing a user's force.

Therefore, the present invention reads the user's intention from various sensors, rather than the current electric handcart operated by a complicated manipulation method, calculates the direction and speed that the user wants to move, and operates the electric handcart according to the user's intention. It is an electric-assisted semi-autonomous handcart that can safely transport heavy loads without having to learn how to use it separately.

[Figure 1] shows an embodiment of a two-wheeled handcart applied to the present invention.
[Figure 2] is a conceptual diagram defining the forward direction and the backward direction of the handcart of the present invention.
[Figure 3] shows the operation of the pressure sensor applied to the present invention.
[Figure 4] shows the operation of the grip sensor applied to the present invention.
[Figure 5] shows the operation of the front detection sensor applied to the present invention.
[Fig. 6] shows the magnitude of force when the user tries to turn left while driving the handcart.
[Fig. 7] shows an example of the direction of force applied when the user tries to turn right in place.
[Figure 8] shows the connection and action relationship of each component for controlling the driving of the electric-assisted semi-autonomous handcart provided by the present invention.
[Figure 9] shows an embodiment of a one-wheeled handcart applied to the present invention

The present invention relates to an electric assisted semi-autonomous driving handcart (100) that drives by pushing or pulling by a user's hand, and which senses the force of the user's pushing or pulling by hand to drive in a desired direction and speed. .

In the present invention, there is an element of "autonomous driving" in that the electric motor is controlled according to the user's intention to determine the driving direction and speed of the handcart, but it is called "semi-autonomous driving" because the user's force is involved.

The handcart 100 applied to the present invention is not limited in type and shape, but a wheel 102 is provided at the bottom of the body frame 101 so that the user can push or pull it by hand, and a handle at the top of the body frame 101 ( 103) should be provided. A basket-type or flat plate-type loading part 104 for loading luggage may be coupled to the body frame 101, and the loading part 104 may be detachable. The wheelbarrow 100 may be equipped with one wheel or with two wheels. Although the present invention can be applied to handcarts equipped with three or four wheels, the handcart equipped with one central wheel (see [Fig. 10]) and the left and It can be classified as a cart equipped with two wheels (see [Fig. 1]).

Hereinafter, the present invention will be described in detail with accompanying drawings, but a handcart equipped with two left and right wheels will be described as an example. However, technical matters other than controlling the driving direction of the handcart by driving the left and right electric motors can be equally applied to a handcart equipped with one wheel.

The present invention is a pressure sensor 110 provided at a portion where the handle 103 of the handcart 100 is connected to the body frame 101 to detect the forward and reverse directions and magnitude of the force transmitted through the handle 103 , The electric motor 120 built into or external to the wheel 102 to provide driving force and the electric motor 120 provided in the body frame 101 in response to the detected value transmitted from the pressure sensor 110 There is a main feature in the configuration and function of the control unit 130 that controls the driving of.

As shown in [FIG. 1], a battery 140 for supplying power to the pressure sensor 110, the electric motor 120, and the control unit 130 may be provided separately, and the On mode of the battery 140 In the interaction of the pressure sensor 110, the electric motor 120 and the control unit 130 can be made. Interactions between the pressure sensor 110, the electric motor 120, and the control unit 130 may be made through an electrical connection or a short-range communication means.

In the case of a wheelbarrow provided with wheels 102 on the left and right sides of the body frame 101, the electric motor 120 provides driving force to the left and right wheels 102 on the left and right sides of the body frame 101, respectively. is provided to provide The electric motor 120 may be external to the wheel 102 as shown in [FIG. 1] or built into the wheel 102 as shown in [FIG. 10].

In this specification, the forward direction of the handcart 100 is the forward direction, and the backward direction is the reverse direction (see [Fig. 2]). Therefore, the pushing force (compression force) sensed by the pressure sensor 110 is the forward force, and the pulling force (tension force) is the reverse force (see [FIG. 3]).

As shown in FIG. 3, the pressure sensor 110 can use a general pressure sensor widely used throughout the industry, and can sense pressure ranging from several grams to hundreds of kg per unit area. Therefore, in the case of a handcart capable of transporting a load of about 100 kg, a pressure sensor capable of withstanding a load of several hundred kg does not break first.

The sensed value of the pressure sensor 110 may represent a magnitude and direction as a voltage. When a compressive force is applied to the pressure sensor 110, a +voltage is generated, and when a tensile force is applied, a -voltage is generated. Also, the magnitude of the generated voltage varies depending on the intensity of the applied pressure. For example, when a compressive force of 100 g is applied to the pressure sensor, a voltage of 1 mV is generated, and when a compressive force of 100 kg is applied, a voltage of 1000 mV is generated.

The controller 130 operates the electric motor 120 forward/reverse when the detected value transmitted from the pressure sensor 110 exceeds a set minimum value in the forward/reverse direction while the electric motor 120 is stopped. It can be configured to drive in either direction. The minimum value in the forward/reverse direction is set to detect that the minimum force for starting the driving of the electric motor 120 is applied, and the minimum value in the forward/reverse direction may be set identically or differently.

For example, when the control unit 130 sets the minimum values of the forward and reverse directions of the detected value to 1 mV, if the detected value is between -1 mV and 1 mV, the controller 130 determines that the user did not push or pull. While maintaining the stopped state, if the detected value is greater than 1 mV, the electric motor 120 is driven in the forward direction so that the cart 100 moves forward, and if the detected value is less than -1 mV (the absolute value is 1 mV) If greater than), the electric motor 120 is driven in the reverse direction so that the handcart moves backward.

To explain this from another point of view, assuming that the pressure sensor 110 outputs a detected value of 100 g of load as 1 mV, the user drives the cart 100 loaded with loads of tens to hundreds of kg with only 100 g of force. that it can be done

In addition, the control unit 130 sets an effective range between the minimum value and the maximum value in the forward/reverse direction of the detected value transmitted from the pressure sensor 110, and sets the speed range in the forward/reverse direction of the electric motor 120. By setting, the driving speed of the electric motor 120 can be controlled within the speed range in proportion to the detected value within the effective range.

That is, the control unit 130 controls the driving speed of the electric motor 120 to be proportional to the force that the person pushes or pulls while holding the handcart handle, but excessive force is excluded from the effective range of the detected value. is configured so that the wheelbarrow 100 travels within an appropriate speed range by treating it as the maximum value of the detected value.

For example, if the effective range of the detected value is set to 1 mV to 100 mV, the control unit 130 does not respond to a detected value of less than 1 mV according to a load of less than 100 g applied to the handle 103 by the user. , Even if a detected value exceeding 100 mV is transmitted as a load exceeding 10 kg is applied, the controller 130 processes the detected value as 100 mV to control the electric motor 120 at a driving speed corresponding to 100 mV It can be done.

In addition, even if the forward and reverse effective ranges are set identically, the forward and reverse speed ranges of the electric motor 120 may be set differently. Since people are accustomed to moving forward and not to moving backward, the reverse drive speed can be set in a lower range.

The forward/reverse speed range of the electric motor 120 may be set by reflecting the average walking speed of a person. For example, when the average walking speed of a person is 4 km/h, the lowest running speed of the handcart 100 is set to 2.8 km/h, which is 70% of the average walking speed, and the highest running speed is 200% of the average walking speed. It can be set to %, 8 km/h. Accordingly, the control unit 130 may control the driving speed of the electric motor 120 so that the wheelbarrow 100 travels at a speed proportional to the detected value within the effective range in the range of 2.8 to 8 km/h.

The control unit 130 may control the driving speed of the electric motor 120 to be discontinuously changed in a plurality of stages according to the detected value within the effective range. For example, when the electric motor 120 drive speed control step is 5 steps, the wheelbarrow 100 traveling speed 2.8 km/h, 4.1 km/h, 5.4 km/h, 6.7 km/h, To control the driving speed of the electric motor 120 according to 8 km / h.

The control unit 130, in a state in which the electric motor 120 is driven in the forward/reverse direction, when a reverse/forward direction detection value is transmitted from the pressure sensor 110, the electric motor 120 decelerates or You can control it to stop. That is, the control unit 130 decelerates or stops the electric motor 120 (stops when the cart is traveling at a low speed) when the pressure sensor 110 transmits a detection value in the opposite direction to the cart traveling direction. When the handcart 100 is traveling at a high speed, it may be decelerated to a low speed when a detection value in the opposite direction of the driving direction is transmitted, and this deceleration may be performed step by step. In addition, when the magnitude of the detection value in the opposite direction of the driving direction exceeds a set standard, the cart 100 may be suddenly stopped.

In other words, when the user pulls the handle 103 in a state in which the handcart 100 is moving forward due to the forward driving of the electric motor 120, the pressure sensor 110 transmits the detected value in the reverse direction to the control unit 130. , and the control unit 130 stops the electric motor 120 to control the driving speed of the handcart 100 to be reduced or stopped.

Conversely, when the user 103 pushes the handle while the handcart 100 is moving backward due to the reverse driving of the electric motor 120, the pressure sensor 110 transmits a positive detection value to the control unit 130 and , The control unit 130 stops the electric motor 120 to control the driving speed of the handcart 100 to be reduced or stopped.

In addition, the present invention may further include a wheel sensor (not shown) for detecting the slip of the wheel 102 and checking the rotational speed. In particular, on a slope (downhill road), the wheel 102 may slip or roll faster than the normal driving speed by the electric motor 120, and the controller 130 may transmit a slip signal from the wheel sensor or control the driving speed. When the exceeding rotation speed is checked, the electric motor 120 is decelerated and controlled to prevent over rotation.

In addition, the present invention may be configured to further include a grip sensor 150 provided on the handle 103. In this case, the controller 130 may be configured to stop the electric motor 120 when a grip detection signal is not transmitted from the grip sensor 150 (see FIG. 4 ). The grip detection signal is an interrupt signal with release conditions and is applied prior to other signals for driving the electric motor 120 .

In other words, the electric motor 120 is driven only when the user holds the handle 103, and safety accidents can be prevented by stopping the moment the user releases the handle 103 even if the handcart 100 is running. In addition to simply controlling the driving speed to 0 m/h, the stop of the electric motor 120 may be accomplished by adding technical means such as a brake device or reverse rotation control so that sudden braking is performed without wheel rolling or slippage due to inertia.

The grip sensor 150 may be installed around the handle as a whole, but as shown in [Fig. 1], [Fig. 4] and [Fig. 10], it may be partially installed in a part that the user's hand touches a lot, and the grip sensor The user can be induced to stably hold the grip sensor 150 by holding the handcart 100 only when the grip sensor 150 is held. As the grip sensor 150, an electrostatic sensor, a static pressure sensor, an electrostatic-static pressure composite sensor, and the like can be applied.

In addition, the present invention may be configured to further include a front detection sensor 160 provided on the body frame 101 to detect a risk factor in the front. [ see Figure 5). The danger detection signal is a stop conditional (停止條件附) interrupt signal, which is applied prior to other signals for driving the electric motor 120.

The front detection sensor 160 can be configured by selectively or complexly utilizing an image sensor, an infrared sensor, an ultrasonic sensor, and the like, and accordingly, all forward walls, objects, stairs, and sunken floors are considered as forward risk factors. can detect The danger detection range can be set as needed (for example, 1 m in front), and the control unit 130 prevents safety accidents by stopping the electric motor 120 when the danger detection signal is transmitted. It is as described above that technical means such as a brake device or reverse rotation control can be added to stop the electric motor 120 .

In addition, the present invention may further include a clutch (not shown) for maintaining or disengaging the meshing state of gears that transmit the driving force of the electric motor 120 to the wheels 102 . If necessary, by setting the clutch, the reduction gear of the electric motor 120 is not transmitted to the wheels 103, so that the handcart can be operated only by the user's power without power assistance, like other general handcarts.

On the other hand, the handle 103 is provided to hold the user's left and right hands open, and the pressure sensor 110 is located at a portion where the handle 103 is connected to the body frame 101 from the left and right sides. The wheels 102 are provided on the left and right sides of the body frame 101, respectively, and the electric motor 120 is provided on the left and right sides of the body frame 101. ), the controller 130 may be configured to control the driving of the left and right electric motors 120 in response to the detected values of the left and right pressure sensors 110.

The control unit 130 drives the left and right electric motors based on the small value when the detected values of the left and right pressure sensors 110 are in the same direction and the small value of the detected value exceeds a specific ratio of the large value. can control. Conversely, when the small value of the transmitted detected value is less than or equal to a specific ratio of the large value, the control unit 130 controls the drive speed of the left and right electric motors 120 according to the left and right detected values, respectively, so that steering during driving is achieved. you can make it

For example, when the "specific ratio" is set to 80%, when the small value of the detected value exceeds 80% of the large value, the difference in force applied to the left and right knobs 103 by the user is not large, It is understood that there is no intention to change the driving direction, but in order to prevent unexpected safety accidents, both the left and right electric motors 120 are controlled based on the small value so that the handcart 100 continues to drive straight. If the small value of the detection value is 80% or less of the large value, it is determined that the user intends to change direction to one side, and the driving direction of the left and right electric motors 120 is controlled according to the left and right detection values, respectively. conversion takes place

6 shows the magnitude of force when the user tries to make a left turn while driving the handcart 100. As shown, if the user wants to turn the handcart 100 left, the right side of the handle 103 must be pushed more strongly than the left side. Accordingly, the detection value of the pressure sensor on the right is large and the detection value of the pressure sensor on the left is small. By driving the motor relatively slowly, the change of direction of the wheelbarrow is achieved. The steering angle increases as the difference between the left and right detection values increases, and the driving radius can be controlled while changing the driving direction within the range of 90 degrees.

When the detected values of the left and right pressure sensors 110 are in different directions, the controller 130 determines that the user intends to change the direction in place, and stops the electric motor 120 on the side where the reverse detected value is detected. In this state, the direction change may be made in place by driving the electric motor 120 on the side where the positive direction detection value is detected.

[Figure 7] is a diagram showing the direction of force applied when the user tries to turn right in place as an example. When the user tries to turn the handcart 100 right, the left side of the handle 103 must be pushed and the right side must be pulled. A positive direction detection value is output from the left pressure sensor receiving the pushing force, and a reverse direction detection value is output from the right pressure sensor receiving the pulling force. Therefore, the control unit 130 drives the left electric motor in a state in which the right electric motor is stopped so that the direction change is made in place. At this time, the driving speed of the electric motor on the driven side is controlled at the set speed rather than according to the magnitude of the detected value, so that even if the user applies a strong force, the direction change is not made rapidly and the direction change is made safely according to the set speed. can do.

[Figure 8] shows the connection and action relationship of each component for controlling the driving of the electric assisted semi-autonomous cart 100 provided by the present invention.

In the present invention, each sensor, battery, electric motor, etc. are connected electrically or by short-range wireless communication means centered on a control unit. Conceptually, each component includes a control unit, a power supply unit (battery), an operation control input unit (left and right pressure sensors), an interrupt control input unit (grip sensor, front detection sensor, wheel sensor, etc.), and a drive unit (motor driver, left and right electric motors). can be understood as

In the above, the present invention was examined in detail with specific examples. However, the present invention is not limited by the above embodiments and can be modified and modified within the scope without departing from the gist of the present invention. Accordingly, the claims of the present invention include such modifications and variations.

100: Electric assisted semi-autonomous cart
101: body frame 102: wheel 103: handle
104: loading part
110: pressure sensor 120: electric motor 130: control unit
140: battery 150: grip sensor 160: front detection sensor

Claims (11)

A body frame 101, a wheel 102 provided at the lower left and right sides of the body frame 101, and a handle 103 coupled to the body frame 101 so that the user's left and right hands can be held open. ) As a handcart containing,
Left and right pressure sensors 110 provided at the portion where the handle 103 is connected to the body frame 101 on the left and right sides to sense the forward and reverse directions and magnitudes of the applied force;
Left and right electric motors 120 built into or external to the wheel 102 to provide driving force to the wheel 102, respectively; and
a control unit 130 provided on the body frame 101 and controlling driving of the left and right electric motors 120 in response to the detected values transmitted from the left and right pressure sensors 110; including,
The controller 130,
In a state where the left and right electric motors 120 are stopped, when the detected value transmitted from the left and right pressure sensors 110 exceeds the set minimum value in the forward and reverse directions, the electric motor 120 is switched forward and reverse. drive in the direction
When the detected values of the left and right pressure sensors 110 are in the same direction and the smaller value of the detected value exceeds a specific ratio of the larger value, the driving of the left and right electric motors 120 is controlled based on the small value, When the small value is less than a specific ratio of the large value, driving of the left and right electric motors 120 is controlled according to the left and right sensing value ratios so that steering is performed while driving,
When the detection values of the left and right pressure sensors 110 are in different directions, the electric motor 120 on the side where the positive detection value is detected is driven while the electric motor on the side where the reverse detection value is detected is stopped. An electric-assisted semi-autonomous handcart (100), characterized in that it is configured to change direction in place.
delete In paragraph 1,
The controller 130,
Setting an effective range between the minimum value and the maximum value in the forward and reverse directions of the sensed value transmitted from the pressure sensor 110,
By setting the forward/reverse speed range of the electric motor 120,
Electric-assisted semi-autonomous handcart (100), characterized in that configured to control the driving speed of the electric motor (120) within the speed range, in proportion to the detected value within the effective range.
In paragraph 1,
The controller 130,
In a state where the electric motor 120 is driven in the forward/reverse direction, when a reverse/forward direction detection value is transmitted from the pressure sensor 110, the electric motor 120 is decelerated or stopped. An electric assisted semi-autonomous driving cart (100).
In paragraph 1,
a wheel sensor (not shown) that detects the slip of the wheel 102 and checks the rotational speed; Including more,
The control unit 130 is configured to decelerate and control the electric motor 120 when a slip signal is transmitted from the wheel sensor or a rotation speed exceeding the driving control speed is checked. 100).
In paragraph 1,
a grip sensor 150 provided on the handle 103; Including more,
The control unit 130 is configured to stop the electric motor 120 when a grip detection signal is not transmitted from the grip sensor 150.
In paragraph 1,
A front detection sensor 160 provided on the body frame to detect a risk factor in the front; Including more,
The control unit is configured to stop the electric motor when a danger detection signal within a specified range is transmitted from the front sensor.
In paragraph 1,
a clutch (not shown) that maintains or releases a meshed state of a gear that transmits the driving force of the electric motor 120 to the wheel 102; Electric-assisted semi-autonomous driving cart (100), characterized in that configured to further include.
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