KR20120090402A - Unmanned auto moving system for vehicle of crematory using of a razer - Google Patents

Abstract

PURPOSE: An unmanned moving system of a vehicle for crematory using a laser is provided to accurately recognize the position of a vehicle by calculating the number of reflectors. CONSTITUTION: An unmanned moving system of a vehicle for crematory using a laser comprises a laser receiving unit(54), a display unit(62), a memory, and a control unit(78). The laser receiving unit receives lasers reflected from reflectors attached on a wall. The display unit displays information of a dead body. The memory receives destination information and data from a traveling control terminal and stores the received information. The control unit controls a vehicle for crematory by generating a control signal based on the stored information.

Description

UNMANNED AUTO MOVING SYSTEM FOR VEHICLE OF CREMATORY USING OF A RAZER}

The present invention relates to an unmanned transportation system of a crematorium vehicle using a laser. More specifically, the number of reflectors is divided into a variable driving section and a regular driving section for a path from a crematorium entrance to a specific front room and a path from the front room to the bone chamber. The present invention relates to an unmanned transportation system for a crematory vehicle using a laser that enables a user to recognize a location by performing a fast path information input and accurate location recognition.

As is well known, the conventional crematorium system cremates a corpse to make it into the ashes, and then pulverizes the ashes in the bone chamber to collect the ashes in a powdered state. Equipped with a system to

More specifically, the crematorium system is a system that can handle a series of processes from the transportation of a carcass to the remains of a bereaved family, and the crematorium system is used to transfer a carcass from a bus to a crematory. A transportation vehicle; It is configured to move the coffin or the bogie to a desired position by using a bogie truck that moves the crematory bogie to the bone chamber.

However, in the conventional crematory system, the driver manually drives the transportation truck, and when the driver enters the front chamber hall through the transportation truck, the operator who drives the transportation truck is very hot due to the flame or heat of the toilet. There was a problem that it was not possible to operate for a long time, and the worker who drives the truck carrier also had to perform the operation of moving the truck truck to the bony room from loading the high-temperature furnace truck into the loading box of the truck truck. There is a problem that not only do not operate for a long time because it is directly exposed, the work efficiency is also sharply lowered.

Recently, the crematory construction site has become more difficult to find due to the deterioration of local public opinion. Therefore, the crematory which is built on a small scale needs more cremation work than in the past, and the driving of vehicles to carry corpses or trucks In addition, the situation is inevitably increased, and the crematory management company has a problem in that it is necessary to pass on the expenses due to the increase in labor costs of workers to survivors.

Therefore, recently, a rail type unmanned transfer system has been introduced that attaches a rail to the floor of a corridor including a front chamber hall and moves a truck within a designated limit area. However, such a rail type unmanned transfer system was difficult to be viewed as an automated system due to the limited transfer range of the rail. In other words, there is a problem that the unmanned and automatic transfer to the area off the rail is impossible, and because the rail is provided on the floor, there is a problem that there is no solemn atmosphere and feel of the factory.

In addition, an unmanned transport system that has solved this problem somewhat has been released, which is an unmanned transport system through position recognition using an electromagnetic induction device. When the electromagnetic induction device is applied to the crematory, the electromagnetic induction device is attached to the floor or the ceiling, and the vehicle is driven along the electromagnetic induction device. The system construction cost is high, and the electromagnetic induction device is attached to the floor. In some cases, errors in position recognition are often caused by obstacles caused by floor damage or dust.In the case of an electronic induction device attached to the ceiling, the detection distance from the vehicle is long. There was a problem that the cost is increased and there is a very high risk of misunderstanding.

The present invention has been made in view of the above-described prior art, and is divided into a variable driving section and a regular driving section for a specific front room and a path from the front room to the bone chamber to calculate the number of reflectors. It is an object of the present invention to provide an unmanned transportation system for a cosmetic vehicle using a laser that enables a user to quickly recognize the location and perform accurate location recognition.

In order to achieve the above object, according to a preferred embodiment of the present invention is a reflector attached to the inner wall of the cremator at regular intervals to reflect the laser light; An unmanned transport vehicle that receives driving information from the driving control terminal and travels by generating a laser in a plurality of directions and detecting the reflected light reflected from the reflector to recognize the position and compare the driving information with the driving information; A crematory control unit performing control including opening of a crematory system, controlling a blower, and controlling flames of a crematory and transmitting a door opening signal and cremation information to a traveling control terminal; Allocate a cooling chamber to each driverless vehicle, extract driving route information of each driverless vehicle, transmit the driver information to each driverless vehicle, receive makeup information from the toilet control unit, and communicate with each driverless vehicle. Provided is an unmanned transportation system for a crematorium vehicle using a laser, characterized in that the driving control terminal is configured to monitor driving conditions.

Preferably, the reflectors are attached at intervals of 2 meters, and since the driving of the unmanned vehicle must reflect the laser light, the unmanned transportation system of the cremator vehicle using a laser, characterized in that the reflection surface is inclined at a 45 degree angle with the wall This is provided.

Preferably, the driving route information of each unmanned vehicle is variable driving route information that is different for each unmanned vehicle according to the assignment position of the farewell room and the front room, and the regular driving route that must travel regardless of the position of the assigned farewell room and the front room Provided is an unmanned transportation system for a cosmetic vehicle using a laser, characterized in that the information.

Preferably, the unmanned transportation vehicle is provided with an unmanned transportation system of a cosmetic vehicle using a laser, characterized in that for detecting the current position by the number of reflectors received the reflected light.

Preferably, the unmanned transport vehicle and the pipe transport vehicle for transporting the tube to the cooling chamber; Provided is an unmanned transportation system for a crematory vehicle using a laser, characterized in that the vehicle is a bogie truck for transporting the bogie truck from the cooling chamber to the bone chamber.

Preferably, the unmanned vehicle includes a communication module for transmitting and receiving wireless data to the driving control terminal; A laser generator for generating laser light to the wall of the crematorium; A laser generation driver for driving the laser generation unit; A laser receiver for receiving laser light reflected through a reflector attached to a wall of the crematory; A mode selection unit for selecting an automatic mode or a manual mode; A display unit for displaying the dead body information including the name of the deceased and the cooling chamber or bone bone information as a driving destination; A display driver for driving the display unit; A memory for receiving and storing driving destination information and driving data from the driving control terminal; A driving control module for controlling the motor to drive the vehicle; Receives a mode selection signal and performs mode conversion, receives driving destination information and driving data from the driving control terminal, stores them in a memory, generates a control signal to the driving motor, and proceeds with the driving data. Provided is an unmanned transportation system for a cosmetic vehicle using a laser, characterized in that it comprises a control unit for checking the driving state by comparing the position information recognized through the reception of the reflected light.

The unmanned transportation system of the crematorium vehicle using the laser according to the present invention can construct an unmanned transportation system at a low construction cost, and can accurately recognize the current location, easily construct the system, and maintain almost no damage or damage. The cost is small and economical, and the system variable design according to the expansion of the crematorium is easy.

1 is a plan view showing the structure of the crematory equipped with an unmanned transfer system of the crematorium vehicle using a laser according to an embodiment of the present invention,
2 is a view illustrating a position recognition principle of a cremator vehicle applied to an unmanned transportation system of a cremator vehicle using a laser according to an embodiment of the present invention;
3 is a schematic diagram showing a schematic configuration of an unmanned transportation system of a crematory vehicle using a laser according to an embodiment of the present invention;
4 is a block diagram showing a configuration of an unmanned transport vehicle to which an unmanned transport system of a cosmetic vehicle using a laser according to an embodiment of the present invention is applied;
FIG. 5 is a diagram illustrating a driving data table constructed in an unmanned transportation system of a cosmetic vehicle using a laser according to an embodiment of the present invention.

EMBODIMENT OF THE INVENTION Hereinafter, this invention is demonstrated in detail with reference to drawings.

1 is a plan view showing the structure of the cremator provided with an unmanned transfer system of the crematorium vehicle using a laser according to an embodiment of the present invention, Figure 2 is an unmanned transfer system of a crematorium vehicle using a laser according to an embodiment of the present invention Figure 3 is a view showing the position recognition principle of the crematorium vehicle applied to, Figure 3 is a schematic diagram showing a schematic configuration of an unmanned transfer system of a crematorium vehicle using a laser according to an embodiment of the present invention.

Referring to this, the unmanned transportation system of a crematory vehicle using a laser according to an embodiment of the present invention is divided into a variable driving section and a regular driving section for a path from a crematory entrance to a specific front room and the front room to the bone chamber. By calculating the number of reflectors, the system recognizes the location so that it is possible to quickly input route information and perform accurate location recognition.

In more detail, the structure of the crematorium 2 to which the unmanned transportation system of the crematorium vehicle using the laser according to the embodiment of the present invention is applied is shown in FIG. 1, the plurality of parting rooms 12 in the interior of the crematorium building. These are provided in parallel, and a farewell square 14 connected to the farewell chamber 12 is formed.

An automatic door 16 is formed in the parting square 14.

In addition, when the automatic door 16 of the farewell plaza 14 is opened and enters, the front chamber hole 20 is configured, and the cooling chamber 22 and the pipe network chamber face each other in the front chamber hole 20. It is composed. A crematory 24 is formed inside the front chamber hole 20, and the vehicle waiting room 26 and the bone chamber 28 are located on opposite sides of the farewell plaza 14 facing the automatic door 16. It is made up.

The above configuration is also a structure of a general makeup salon.

Therefore, the unmanned transportation vehicles 6 and 10, which are automatically transferred in the unmanned state by applying the unmanned transportation system of the crematory vehicle using the laser according to the embodiment of the present invention, have a farewell square along the corridor connected to the farewell room 12. Move to (14), through the automatic door 16 of the farewell plaza 14 is moved to the front chamber hole 20 to move to the entrance of the cooling chamber 22, after the cremation is completed bone chamber 28 Moving to and finally the automatic transfer is made to the copper wire moving to the vehicle waiting room (26).

At this time, the unmanned vehicle 6, 10 applied to the unmanned transport system of the crematorium vehicle using a laser according to an embodiment of the present invention is a vehicle that needs to travel by receiving a driving command signal, for driving in such an unmanned state Determination of the current position is important, in the unmanned transport system of the crematorium vehicle using a laser according to an embodiment of the present invention performs the unmanned driving by the position recognition method using a laser, the unmanned transport system using the laser is Suitable for unattended transfer.

To this end, the crematorium (2) to which the unmanned transportation system of the crematorium vehicle using the laser according to an embodiment of the present invention is applied constitutes a driving path along the corridor connected to the farewell room 12 and the corridor of the front room hall 20. The reflector 80 is attached to a wall at regular intervals.

The reflector 80 is attached to the inner wall of the cremator at regular intervals to reflect the laser light, and the unmanned vehicle 6, 10 receives the reflected light of the reflector 80 and calculates the number of the received reflected light. You can recognize the current location.

Preferably, the reflector 80 is attached at intervals of 2 meters, and the reflecting surface is inclined at a 45 degree angle with the wall because the reflector 80 should reflect the laser light when the unmanned vehicle 6, 10 runs.

At this time, the unmanned transport vehicle (6, 10) and the pipe transport vehicle (6) for transporting the carcass pipe (4) to the cooling chamber; It is a bogie truck 10 for transporting the bogie truck 8 from the cooling chamber 22 to the bone chamber 28, and in the present invention, both the transport truck 6 and the bogie truck 10 are automatically unmanned. It is named as an unmanned transport vehicle because it is transported by.

Meanwhile, when the unmanned transportation system of the crematorium vehicle using the laser according to the embodiment of the present invention is described schematically, the driving control terminal 40 is used in the unmanned transportation system of the cosmetic vehicle using the laser according to the embodiment of the present invention. An unmanned transport vehicle 6, 10 which receives driving information from the vehicle and travels automatically by generating lasers in a plurality of directions and detecting reflected light reflected from the reflector 80 to recognize the position and compare with the driving information; The crematorium control unit 50 performs control including a door opening and a blower control of a crematory system, and flame control of a cremation furnace, and transmits a door opening signal and cremation information to a travel control terminal.

In addition, in the unmanned transportation system of the crematory vehicle using the laser according to an embodiment of the present invention, the cooling chamber 22 is arbitrarily assigned to each unmanned transportation vehicle 6, 10, and each of the unmanned transportation vehicles 6,10 is used. Extract driving route information and transmit the driving route information to each unmanned vehicle 6, 10, receive makeup information from the crematory control unit 50, and communicate with each unmanned vehicle 6, 10 to perform the driving state. Travel control terminal 40 for monitoring is included.

The travel control terminal 40 is provided in the central control room 30.

At this time, the driving route information of each of the unmanned vehicle 6, 10 transmitted from the driving control terminal 40 to each of the unmanned vehicle 6, 10 is unmanned vehicle (6) in accordance with the assigned position of the parting room and all rooms (6) 10 is variable driving route information that varies with each other, and is always driving route information that should be driven irrespective of the positions of the farewell room 12 and the front room 22 assigned thereto.

Therefore, the unmanned transportation system of the crematory vehicle using the laser according to the embodiment of the present invention moves to the precooling chamber 22 of the dead body 4, and the furnace bogie from the precooling chamber 22 to the bone chamber 28 ( The movement of 8) can be handled automatically.

More specifically, when the carcass pipe 4 arrives at the entrance of the crematorium via the Ungu bus, the pipe transporter 6 is mounted in the carcass pipe 4 and moves to the farewell room 12 to undergo a simple funeral procedure. The surviving family and the deceased have a farewell ceremony. At this time, the transportation vehicle 6 is switched to the manual mode so that the driver drives the car to the farewell room 12 and the farewell square 14.

In other words, the path ⓐ, which is the path from the cloud bus to the hallway of the farewell room 12, is a regular path, and the traveling data is set to travel by a predetermined length. In addition, the ⓑ path from the corridor of the farewell room 12 to the specific farewell room 12 is a variable path. That is, the route to which the entire vehicle must travel depends on which parting room 12 the unmanned vehicle 6, 10 is assigned.

If the third farewell room 12 is assigned, the unmanned vehicle 6 and 10 will travel ⓑ path. As described above, the driving data is determined in cooperation with the cremation control unit 50 for controlling the progress of makeup in the traveling control terminal 40 and the information input unit 41 for inputting the information of the receptionist and the dead. do.

In this case, the unmanned vehicle 6, 10 can be switched to the manual mode and automatic mode, so that the driverless vehicle 6, 10 can be switched to the automatic mode while driving to a specific point, The unmanned vehicle 6 and 10 can perform unmanned driving in communication with the traveling control terminal 40.

Then, the driving control terminal 40 arbitrarily allocates all the cooling chambers 22 to which the unmanned transportation vehicle, for example, the transportation vehicle 6 should travel, extracts the driving data to the corresponding cooling chambers 22, and carries out the transportation vehicle. (6) wireless transmission. Then, the pipe transport vehicle 6 is automatically moved to the corresponding cooling chamber 22.

That is, if it is to be transferred to the cooling chamber 22, the third, the ⓓ the driving light from the center of the farewell plaza 14 after the driving of the path is emitted to the laser light reflected by the total reflector 80 The pipe transport vehicle 6 travels to the point where it is received.

If the pipe transport vehicle 6 has traveled to the point where the reflected light for the three reflectors 80 is received, the cooling chamber 22 is provided through the normal driving route data traveling from the corresponding position to the cooling chamber 22. Drive to the entrance of

Such driving is a driving that rotates while varying the steering angle, and steering angle information is stored in advance in the driving information.

In addition, when a make-up complete signal is generated from the crematory control unit 50, the traveling control terminal 40 transmits driving information to any waiting truck 10 waiting in the waiting room 26, in the same manner. It moves to the said cooling chamber 22, mounts the furnace bogie 8, and makes it move unattended to the bone chamber 28. As shown in FIG.

At this time, reference numeral 29 is a bone chamber monitor.

4 is a block diagram illustrating a configuration of an unmanned transport vehicle to which an unmanned transport system of a cosmetic vehicle using a laser according to an embodiment of the present invention is applied.

Referring to this, the unmanned transport vehicles 6 and 10 to which the unmanned transport system of the cremator vehicle using the laser according to the embodiment of the present invention are applied are a communication module for transmitting and receiving wireless data to the driving control terminal 40. 52); A laser generator 56 for generating a laser beam to the cremation wall; A laser generation driver 58 for driving the laser generator 56; And a laser receiver 54 for receiving the laser light reflected through the reflector 80 attached to the wall of the crematory.

In addition, the unmanned transport vehicle (6, 10) and a mode selection unit 60 for selecting an automatic mode or a manual mode therein; A display unit 62 for displaying the dead body information including the name of the dead and the cooling chamber 22 or the bone chamber 12 as the driving destination; A display driver 64 for driving the display unit 62 is included.

The unmanned vehicle 6 and 10 may include a memory 76 configured to receive and store driving destination information and driving data from the driving control terminal 40 therein; A driving control module 66 for controlling the motor to drive the vehicle is included. The motor is divided into a steering motor 72 which provides a driving force corresponding to a steering angle, and a driving motor 74 which provides a driving force for driving. The steering motor driver 68 and the driving motor driver 70 for driving the steering motor 72 and the driving motor 74 are respectively configured.

Meanwhile, the unmanned vehicle 6, 10 receives a mode selection signal therein to perform mode conversion, receives driving destination information and driving data from the driving control terminal 40, and stores the driving destination information and driving data in a memory. The controller 78 generates a control signal to the motor and proceeds with the corresponding driving data, and includes a controller 78 which checks the driving state by comparing the position information recognized through the reception of the reflected light of the laser with the driving data.

FIG. 5 is a diagram illustrating a driving data table constructed in an unmanned transportation system of a cosmetic vehicle using a laser according to an embodiment of the present invention.

Referring to this, the traveling control terminal 40 of the unmanned transportation system of the crematorium vehicle using the laser according to an embodiment of the present invention creates and transmits the traveling table 90 of each unmanned vehicle 6, 10. Normally, the driving data is maintained as long as it is not changed, and only the variable driving information (for example, 94 and 96) is changed to travel inside the crematory.

At this time, in the special case requiring the repair of the vehicle, even the regular driving data may be varied, and the driving table 90 of each unmanned vehicle 6 and 10 in the driving control terminal 40 is managed by an administrator. It is created according to the makeup reception information received through the information input unit 41 and the state of the toilet that has been sent to the cosmetic salon controller 50.

That is, the driving control terminal 40 receives the information that the number of cosmetics that can be currently cremated from the crematorium control unit 50 is 3, and the information that the currently available parting room is number 3 through the information input unit 41. If the vehicle number of the unmanned vehicle 6 and 10 currently available and received is 3, the traveling table 92 of vehicle 3 as shown in FIG. 5 is created, and the traveling table 90 of each vehicle is created. ) Is built in the database 42 of the travel control terminal 40.

Then, the pipe transport vehicle 6 is automatically moved to the corresponding cooling chamber 22.

That is, if it is to be transferred to the third cooling chamber 22, starting from the center of the farewell square 14 after the driving of the path ⓓ shown in Fig. 1 while emitting a laser beam to emit a total of three reflectors (80) The pipe transport vehicle 6 travels to the point where the reflected light with respect to) is received.

If the pipe transport vehicle 6 has traveled to the point where the reflected light for the three reflectors 80 is received, the cooling chamber 22 is provided through the normal driving route data traveling from the corresponding position to the cooling chamber 22. You can travel to the entrance of the).

On the other hand, the unmanned transportation system of the crematorium vehicle using a laser according to an embodiment of the present invention is not limited to the above embodiments, but various modifications can be made without departing from the technical gist of the invention.

6,10: unmanned vehicle, 40: driving control terminal,
41: information input unit, 42: database,
50: make-up controller, 54: laser receiver,
56: laser generating unit, 80: reflector.

Claims (6)

A reflector attached to the inner wall of the cremator at regular intervals to reflect the laser light;
An unmanned transport vehicle that receives driving information from the driving control terminal and travels by generating a laser in a plurality of directions and detecting the reflected light reflected from the reflector to recognize the position and compare the driving information with the driving information;
A crematory control unit performing control including opening of a crematory system, controlling a blower, and controlling flames of a crematory and transmitting a door opening signal and cremation information to a traveling control terminal;
Allocate a cooling chamber to each driverless vehicle, extract driving route information of each driverless vehicle, transmit the driver information to each driverless vehicle, receive makeup information from the toilet control unit, and communicate with each driverless vehicle. The unmanned transportation system of the crematory vehicle using a laser, characterized in that the driving control terminal for monitoring the driving state. The method of claim 1,
The reflector is attached at intervals of 2 meters, and the unmanned transportation system of the crematorium vehicle using a laser, characterized in that the reflection surface is inclined at a 45 degree angle with the wall because it must reflect the laser light when driving the unmanned vehicle. The method of claim 1,
The driving route information of each driverless vehicle is variable driving route information that is different for each driverless vehicle according to the assignment positions of the farewell room and the front room, and the driving route information that is to be driven regardless of the positions of the assigned farewell room and the front room. Unmanned transportation system of a crematorium vehicle using a laser. The method of claim 1,
The unmanned transportation vehicle is an unmanned transportation system of a cosmetic vehicle using a laser, characterized in that to recognize the current position by the number of reflectors received the reflected light. The method of claim 1,
The unmanned transportation vehicle and the tube transport vehicle for transporting the tube to the cooling chamber; An unmanned transportation system for a crematory vehicle using a laser, characterized in that the vehicle is a bogie truck for transporting the bogie truck from the cooling room to the bone chamber. The method of claim 1,
The driverless vehicle includes a communication module for transmitting and receiving wireless data to and from the travel control terminal;
A laser generator for generating laser light to the wall of the crematorium;
A laser generation driver for driving the laser generation unit;
A laser receiver for receiving laser light reflected through a reflector attached to a wall of the crematory;
A mode selection unit for selecting an automatic mode or a manual mode;
A display unit for displaying the dead body information including the name of the deceased and the cooling chamber or bone bone information as a driving destination;
A display driver for driving the display unit;
A memory for receiving and storing driving destination information and driving data from the driving control terminal;
A driving control module for controlling the motor to drive the vehicle;
Receives a mode selection signal and performs mode conversion, receives driving destination information and driving data from the driving control terminal, stores them in a memory, generates a control signal to the driving motor, and proceeds with the driving data. And a control unit which checks the driving state by comparing the position information recognized through the reception of the reflected light with the driving data.

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