KR20120060064A - Intelligent cart and Intelligent cart Control Method - Google Patents

Abstract

PURPOSE: An intelligent cart and a control method are provided to maximize driving stability by maintaining tight contact of wheels on an uneven surface. CONSTITUTION: An intelligent cart(10) comprises a main body(110), a rechargeable battery(130) installed inside the main body, a micro-control unit for controlling cart operation, an operating unit(140) generating control signals outside the main body, and a driving unit(120) moving the main body. The main body includes a frame(111) formed of an aluminum material with a rectangular rim and is equipped with a plurality of ultrasonic sensors(114) along the peripheral surface thereof. A stopper(115) for preventing impacts is provided adjacent to the ultrasonic sensors.

Description

Intelligent cart and intelligent cart control method

The present invention relates to an intelligent cart and a control method, and more particularly, to an intelligent cart and a control method that does not interfere with the user's view by moving the cart along the user while the user is located in front of the user using an image signal. .

In general, electric carts are a means of loading luggage on an industrial site so that a worker can easily move heavy luggage.

Such electric carts usually have forward and backward capability and rotational capability and are intended to be operated directly by the operator by a controller attached to the electric cart.

However, such a conventional electric cart had a problem that the operation range is limited according to the working space, and in a sudden situation, the electric cart was suddenly stopped by the brake operation, and the loaded luggage was inclined toward the traveling direction by inertia.

In addition, a sudden stop caused a problem in which the worker was injured by the collision with the electric cart.

The technology developed by the present applicant to solve this problem is disclosed in Patent Application No. 2009-0135092.

However, even in the case of the patent application, when there is a lot of luggage loaded on the cart, there is a problem that the luggage cannot interfere with the operator's view and cannot correctly select the direction of travel.

In addition, there is a problem that the four wheels are not in close contact with the ground when the drive unit disposed in the lower portion of the main body to move the uneven ground.

The present invention has been made to solve the above problems, an object of the present invention is to provide an intelligent cart that does not interfere with the user's progress by moving the cart along the user with the user in front of the state using the image signal. Is in.

Another object of the present invention is to provide an intelligent cart that can maximize driving stability by allowing the entire wheel to be driven in close contact with the ground even in a terrain where the ground is not flat.

The present invention has the following structure in order to achieve the above object.

An intelligent cart of the present invention, comprising: a main body; An operation unit mounted by a support outside the main body, the operation unit capable of changing direction by a joint arm; A driving unit provided with a pair at each of the front and rear ends of the main body while being connected by a pair of electric motors; And a suspension provided between the driving unit and the main body to hold the driving unit, wherein the driving unit has a body formed in a rotatable manner with respect to the axial direction along the outer circumferential surface of the body and the body rotatably arranged with respect to the main body. It consists of a plurality of mecanum wheel is provided to minimize the radius of rotation according to the direction of travel.

In addition, the mecanum wheel is preferably arranged such that the rollers rotate in a diagonal direction with each other.

In addition, the main body is preferably made of a frame, and the ultrasonic sensor provided at equal intervals along the outer surface of the frame.

In addition, the support is preferably provided with a camera for eating the front video signal.

In addition, the intelligent cart is preferably provided with a detection sensor for checking the front state.

On the other hand, the intelligent cart control method of the present invention, 1) a step of importing an image signal through the operation unit; 2) changing the R, G, B colors to Y, Cb, Cr; 3) registering the color of the tracking object; And 4) extracting the center point of the tracking target.

In addition, in step 1), it is preferable to load an image size corresponding to 5 frames per second.

In addition, in step 3), it is preferable to register the color of the tracking target by placing the color of the target to be tracked in the rectangle in the image.

In addition, in step 4), the Cb and Cr values of the color registered in step 3 are preferably found within the range of +5 to -5 to extract the center point.

According to the present invention, the cart is moved along the user in a state where the user is located in front of the user by using an image signal, thereby preventing the progress of the user.

In addition, according to the present invention there is an effect that can maximize the running stability by allowing the entire wheel to be driven in close contact with the ground even in a terrain that is not flat ground.

1 is a perspective view showing an intelligent cart of the present invention.
Figure 2 is a side view showing an intelligent cart of the present invention.
3 is a partially enlarged rear view illustrating the operation unit illustrated in FIG. 1.
Figure 4 is a rear view showing a joint arm supporting the operation unit shown in FIG.
5a to 5c show a drive section according to the invention.
6 is a block diagram showing a control panel operation state according to the present invention;
Figure 7 is a block diagram showing a control method of the intelligent cart of the present invention.
8 to 13 is an operational state diagram showing a control method of the intelligent cart according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. The embodiments of the present invention may be modified in various forms, and the scope of the present invention should not be construed as being limited to the embodiments described below. The embodiments are provided to explain the present invention to a person having ordinary skill in the art to which the present invention belongs. Accordingly, the shape of each element shown in the drawings may be exaggerated to emphasize a more clear description.

1 and 2, the intelligent cart 10 of the present invention includes a main body 110, a rechargeable battery 130 installed inside the main body, a micro control unit 150 for controlling a cart operation, and the main body. An operation unit 140 mounted to the outside by the support 112 to generate the control signal, and a driving unit 120 to move the main body 110.

The main body 110 is formed by covering a frame 111 made of a rectangular aluminum material having an edge and a panel 111a covering the outside of the frame 111. In addition, the outer circumferential surface of the frame 111 is provided with a plurality of ultrasonic sensors 114 along the circumferential surface, and a stopper 115 for preventing shock is provided at a position adjacent to the ultrasonic sensor 114.

In addition, as shown in Figures 3 and 4, the support arm 112 is provided on one side of the main body 110, the articulation arm 113 is installed to fix the operation unit 140, the articulation arm 113 is configured such that a plurality of arms (113c) connecting between a pair of brackets (113a, 113b) is rotated by the hinge (113d), the operation unit 140 is attached to the bracket (113a), the other side of the bracket It is coupled to the support stand 112 side to 113b, and it uses the arm 113c to switch the position of an operation part to the main body side direction or the outward direction of a main body, and to use it.

In particular, the front portion of the main body 110 is provided with a sensor 170 for maintaining a constant distance to the tracking target and a camera 160 for acquiring image information of the tracking target.

The camera 160 is a means for acquiring color information of a tracking target in front of a cart, which will be described in detail later.

The detection sensor 170 is used as a means for maintaining a constant distance from the tracking target by decreasing the speed when the distance between the tracking target acquired by the camera is close and increasing the speed when the distance is far. For example, when the distance to the tracking target is less than 1m, the cart speed is prevented or stopped to prevent collision with the tracking target, and when the distance to the tracking target is 1m or more, the speed is gradually increased and the distance is narrowed. For this purpose, it is preferable that the sensor uses an ultrasonic sensor.

5A and 5C, the driving unit 120 includes a mecanum wheel 121 including a body 121a and a plurality of rollers 121b disposed at equal intervals along the outer circumferential surface of the body 121a. An electric motor 122 driving the Mecanum wheel 121 by connecting the chain 123 is disposed in the frame 124, and the frame 124 is in the main body 110, one side of which is the main body and the other side of which is the frame side. Suspension 125 is provided to support and serve as a cushion as the cart proceeds. Here, the mecanum wheel 121 is composed of four, and a pair of mecanum wheels arranged in the front and a pair of mechaden wheels arranged in the rear end are connected to the electric motor in a pair and driven respectively. In addition, the roller 121b of the mecanum wheel 121 is disposed so that the rollers located at different angles rotate in the same direction.

Since the rechargeable battery 130 generally uses a well-known lithium rechargeable battery, a detailed description thereof will be omitted.

The operation unit 140 is operated by a joint arm in a fixed state by using a support on the main body, and the screen is operated by a touch screen method.

In addition, the operation unit 140 may include a driving controller 141, a direction operation unit 142, a direction display unit 143, and an obstacle display unit 144 operating by a touch screen method and a joystick 145 selected according to an operation condition. It is provided.

The driving control unit 141 includes a collision avoidance mode 141a, a speed limiting mode 141c, and an operation unit position selection mode to selectively operate the cart, and the direction operation unit 141 includes an image screen 142a. ) And an emergency stop key (142b), the direction display unit 143 is lighted for each zone of the arrow in accordance with the direction and speed of the cart to enable the operator to easily understand the progress of the direction, obstacles The display unit 144 arranges the same number of display lamps 144b as the ultrasonic sensor along the periphery of the main body-shaped display panel 144a. It can be avoided or stopped, and the ultrasonic sensor measures the distance between the main body and the obstacle so that the change in distance from the obstacle can be displayed. It's a change. For example, if the distance to the obstacle is 30Cm, red for 31 ~ 80Cm, orange for 81 ~ 130Cm, yellow for green, and green for 131Cm or more. To quickly respond to contact with obstacles. Although not shown in the drawing, it is also possible to generate a warning sound at the same time as the display lamp is turned on.

For example, when moving a baggage using the operation unit while the baggage is loaded on the upper surface of the main body 110, if there is an obstacle in the direction of travel by an ultrasonic sensor disposed along the outer circumferential surface of the main body 110, the distance between the obstacle and the obstacle is changed through the color change. It is possible to recognize and avoid in advance or to stop and bypass. When changing the direction of movement of the main body, the main body is replaced by the rollers which are rotated diagonally to each other when changing the direction by using the mecanum wheel described above. It is possible to proceed or rotate in the diagonal direction at. By occupying a small space in warning and obstacle avoidance like this, it is possible to work quickly and easily in a little work space, thereby maximizing work efficiency.

Also, in the present embodiment, the cart user registers the color information obtained by photographing the tracking target located in front of the cart through the camera 160 to the operation unit and moves the tracking target according to the control signal in the direction in which the tracking target moves. It is possible to adjust the cart in the desired position anywhere in front of or behind it.

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

First, when the cart 10 is operated using the operation unit, the position of the operation unit 140 is selected in the main body direction or the outer direction using the articulated arm 113 in a state where luggage is loaded on the main body 110. Preferably it is located in the outward direction.

In this state, as illustrated in FIG. 6, the collision prevention mode 141a is first operated among the driving control units 141 to operate the ultrasonic sensor 114. The operated ultrasonic sensor 114 transmits the generated ultrasonic signal to the micro control unit 150 and transmits the generated ultrasonic signal back to the operation unit 140 through the calculated signal. The transmitted signal is displayed through the obstacle display unit 144 provided in the operation unit. When the green lamp is turned on by the obstacle display lamp, it may be determined that there are no obstacles around, so that the joystick 145 provided on one side of the operation unit may be operated by operating the operation selection mode (not shown) to move the main body using the direction operation unit 142 on the screen. Use or to move the main unit.

In the present invention, it will be described as moving the main body using the direction operation unit 142.

Next, the speed limit of the main body is limited by using a lift switch (not shown) of the speed limit mode 141c. For example, if the speed is displayed at 5km / h, the main body is moved without exceeding the maximum speed of 5km / h.

Next, the position selection mode (not shown) of the operation portion described operation in the state selected in the outward direction of the main body as described above.

When the driving state of the cart is selected by the driving control unit 141, the cart is moved using the direction operation unit 142.

At this time, each arrow displayed on the direction manipulation unit 142 can be operated individually or simultaneously. That is, the cart is moved forward or backward at a speed corresponding to one touch by selecting one of the arrows pointing forward or backward on the drawing, and when repeatedly touching, within the range of the speed limit setting value described above. In the forward or backward.

In addition, when one of the left or right sides of the drawing is selected and touched, the mobile device proceeds within the speed limit to the left or the right as described above.

In addition, only rotation direction arrows disposed at the upper left and right sides of the drawing are used to rotate the cart. For example, when only one arrow is manipulated, the arrow moves in the direction corresponding to the selected arrow.

Therefore, the arrow of the direction control unit 142 is the cart to go forward in the diagonal direction, if you touch the arrows, for example forward and backward at the same time, when the forward and rotation arrows touch the forward and rotates . In this case, because the radius of rotation is large, it is used when the moving position is curved. The diagonal movement is possible by the mecanum wheel as described above.

That is, the electric motor 122 is one of the two front wheels to each electric motor, and one of the two rear wheels to the electric motor is responsible for the two electric motors respectively connected to the operation unit 140 as a port The right electric motor rotates the left wheel forward, the right wheel rotates backward, the rear electric motor rotates the left wheel backward, and the right wheel rotates forward It is possible to proceed diagonally by letting the four wheels rotate separately. It has a vector in the 45-degree direction when moving forward and backward. Due to the vector composition of the four wheels, it can be seen that all directions can be moved such as front and rear, right and left, rotation, and diagonal movement.

On the other hand, when the obstacle is close to the progress direction in the progress of the cart, as described above, the color of the display lamp 144b indicating the distance to the obstacle is different depending on the distance to the obstacle, so that the emergency stop Touching 142b stops the progress of the cart. At this time, the cart sequentially reduces the speed of the electric motor according to the signal of the micro control unit, thereby preventing luggage loss and safety accidents caused by sudden stops.

Next, when the cart user sees driving in the forward position,

After the user (tracking target) is positioned in front of the user and manipulates the operation unit, the tracking target is photographed through a camera disposed in front of the user, and the captured image information is displayed on the image screen 142a, and the color of the tracking target is registered. .

Next, based on the registered color information, register the center part of the tracking object to be within a certain error range, and when the deviation is out of the error range, the tracking object will be stinged by changing direction to left or right, and then through the operation panel. When the driving signal is applied, the cart moves along the tracking object according to the direction in which the tracking object moves.

In this way, when the cart moves behind the tracked object and the cart and the tracked object come within a certain distance during the movement, the cart is stopped or slowed down by the sensor and the speed increases sequentially when the distance between the cart and the tracked object increases. Maintaining the distance prevents the track from colliding with the cart and allows the cart to move in the desired direction.

Meanwhile, looking at the intelligent cart control method of the present invention,

As shown in FIG. 7, 1) importing an image signal through an operation unit (S10); 2) changing the color R, G, B to Y, Cb, Cr (S20); 3) registering the color of the tracking target (S30); And 4) extracting the center point of the tracking target (S40).

In step 1), as illustrated in FIG. 9, the operation unit (not shown) is operated to bring up the image screen M to the operation unit through a camera provided in the front of the main body. It is desirable to load 320 * 240 size with the corresponding image size.

Step 2) in step S20 is to shoot the central portion of the tracking target (T) on the image screen (M) formed in the step 1) and then obtain the Y, Cb image information of the R, G, B type acquired based on this. In this step, the Cr type image information is changed. That is, in the case of the R, G, and B color forms, the color registration error is large due to the influence of the ambient light. Sensitivity can be minimized.

The step S30 is to store the color of the tracking target M through the operation unit based on the changed color, and the cart tracks the color of the tracking target color in the rectangle S on the image screen M. It is a step to register the color color of the target T.

The step S40 is a step of extracting the center point CH of the tracking target T based on the registered color information as shown in FIG. 9. The image is based on the color color information registered in the step 3). In the screen (M), the Cb and Cr values of the color are found within the range of +5 to -5, and the center point is extracted. The screen is divided into three equal parts as shown in FIG. It is the step of setting the progress direction of the cart according to where the position of.

For example, as shown in FIG. 11, when the coordinate value of the center screen CH divided into three parts is located at 0 to 100, the cart 10 is recognized to move to the left side, and as shown in FIG. 12, the center point CH is shown. The cart 10 is recognized to move forward when it is located between 100 and 220, and the center point CH is located between 220 and 320 as shown in FIG. 13 to track the cart 10 to move toward the right direction. Depending on the location of the target can be changed in the direction of the cart, as well as to change the tracking target according to the user conditions.

The present invention is not limited by the embodiments described above, and various changes and modifications can be made by those skilled in the art, which are included in the spirit and scope of the present invention as defined in the appended claims.

Claims (9)

In the intelligent cart,
main body;
An operation unit mounted by a support outside the main body, the operation unit capable of changing direction by a joint arm;
A driving unit provided with a pair at each of the front and rear ends of the main body while being connected by a pair of electric motors; And
And a suspension provided between the driving unit and the main body to hold the driving unit.
The drive unit is configured to be rotatable about the main body and the roller along the outer circumferential surface of the body at an angle with respect to the axial direction is provided with a plurality of mecanum wheel is provided to minimize the radius of rotation according to the progress direction Intelligent cart.
The method of claim 1,
The mecanum wheel is an intelligent cart, characterized in that the roller is arranged to rotate in a diagonal direction with each other.
The method of claim 1,
The main body is an intelligent cart, characterized in that consisting of the frame and the ultrasonic sensor provided at equal intervals along the outer surface of the frame.
The method of claim 1,
The support is an intelligent cart characterized in that the camera for eating the front video signal is further provided.
The method of claim 4, wherein
Intelligent cart characterized in that the intelligent cart is provided with a detection sensor for checking the front state.
1) importing a video signal through the operation unit;
2) changing the R, G, B colors to Y, Cb, Cr;
3) registering the color of the tracking object; And
4) intelligent cart control method comprising the; extracting the center point of the tracking target.
The method according to claim 6,
In step 1), the intelligent cart control method characterized in that to load the image size corresponding to 5 frames per second.
The method according to claim 6,
Step 3) intelligent cart control method characterized in that the cart to register the color of the tracking target by placing the color of the target to be tracked in the rectangle in the image.
The method according to claim 6,
In the step 4), the intelligent cart control method characterized in that the Cb, Cr value of the color registered in step 3 to extract the center point by finding the color within the range of +5 to -5.

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