KR20180067467A - Electric moving vehicle - Google Patents

Abstract

The present invention discloses an electric moving bogie. The present invention comprises: a body portion; a first handle portion connected to the body portion, capable of being gripped by a user, and receiving a first driving signal from the user; a second handle portion arranged to face the first handle portion so as to be connected to the body portion, capable of being gripped by the user, and receiving a second driving signal from the user; and a wheel portion connected to the body portion, and driving the body portion based on at least one of the first driving signal and the second driving signal, wherein the wheel portion is able to drive the body portion based on one of the first driving signal or the second driving signal if the first driving signal and the second driving signal are inputted at the same time.

Description

[0001] The present invention relates to an electric moving vehicle,

The present invention relates to an apparatus, and more particularly, to an electric moving truck.

The electric moving truck can be moved in various directions according to the operation of the user. Such an electric moving truck may be operated by using a remote control, but it is also possible for the user to directly apply force to the handle and measure the force to operate based on the force. At this time, the user can apply various directions of force to the handle portion, and the electric moving vehicle can travel in various directions and at various speeds based on the forces in various directions applied to the handle portion.

In such a case, regardless of the intention of the user, if the electric moving vehicle moves forward or backward, it can not control the moving direction of the motorized moving vehicle, which can damage the safety of the user or threaten the safety of the other person.

In the case of the conventional electric moving vehicle, when the user inputs driving signals in a plurality of directions at one time, the electric moving vehicle may repeatedly perform forward and backward movements, or may run the vehicle at different directions and speeds than anticipated, .

Disclosure of Invention Technical Problem [8] Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide an electric moving vehicle capable of traveling on one traveling signal. However, these problems are exemplary and do not limit the scope of the present invention.

According to an aspect of the present invention, there is provided a portable terminal including a body, a first handle coupled to the body, the first handle being able to be grasped by a user and receiving a first running signal from a user, A second grip portion connected to the body portion and capable of being grasped by a user and receiving a second travel signal from a user; and a second grip portion connected to the body portion, the second grip portion being connected to at least one of the first travel signal and the second travel signal, Wherein the wheel unit travels the body unit based on one of the first travel signal and the second travel signal when the first travel signal and the second travel signal are input at the same time, Thereby providing an electric moving truck.

Also, the wheel unit may stop operation when the other of the first travel signal or the second travel signal is input for a predetermined time.

In addition, the wheel unit may stop operation when the other one of the first travel signal or the second travel signal is input by a predetermined force.

In addition, at least one of the first handle and the second handle may sense the force and direction of the force applied in the running direction.

At least one of the first handle and the second handle may be fixed to the body of the end portion and the other end of the end may be a free end and may be fixed to the other end of the sensor portion , And a travel control unit that can be grasped by the user.

The body part may include a fixing part having one end fixed to one end of the sensor part and a main body part coupled with the fixing part.

The sensor unit may include a first force detection sensor unit fixed to the body unit and a second force detection sensor unit arranged to face the first force detection sensor unit and fixed to the body unit.

The travel control unit may be connected to a free end of the first force sensing unit and a free end of the second force sensing unit.

At least one of the first handle and the second handle may include a connection bracket fixed to the body, a handle inserted into the connection bracket, a handle gripable by the user, And a sensor unit for sensing a force applied to the handle.

In addition, the sensor unit may include a forward sensing sensor unit disposed to be inserted into the connection bracket and sensing a force applied to the handle in a first direction that is the forward direction of the running direction of the body unit, And a reverse detection sensor unit for sensing a force applied to the handle in a second direction that is a backward direction of the running direction of the body unit.

The connection bracket may include a connection bracket body portion to which the sensor portion is partially opened to be inserted or withdrawn and on which the sensor portion is seated and into which the handle is inserted, And a connection bracket cover for shielding the opened portion of the bracket.

In addition, the sensor unit may be disposed perpendicular to a direction of a force applied to the handle.

The first driving signal and the second driving signal include a force intensity and a direction of a force to which a force is exerted, and the wheel unit is configured to change the direction of the force of the first driving signal and the force of the second driving signal The operation can be controlled based on one of the first running signal and the second running signal.

The embodiments of the present invention can control the travel based on the force applied in one direction when forces in different directions are applied.

The embodiments of the present invention can control the running so as to correspond to the intention of the user by controlling the running by measuring the force applied to the handle in the running direction.

1 is a conceptual view showing an electric moving truck according to an embodiment of the present invention.
FIG. 2 is a perspective view showing an embodiment of the first handle shown in FIG. 1. FIG.
3 is a cross-sectional view showing a first handle portion taken along the line III-III in FIG.
4 is a cross-sectional view showing another embodiment of the first handle shown in Fig.
FIG. 5 is a cross-sectional view showing another embodiment of the first handle shown in FIG. 1. FIG.
FIG. 6 is a perspective view showing the second handle shown in FIG. 1. FIG.
FIG. 7 is a configuration diagram showing the electric moving truck shown in FIG. 1. FIG.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that the terms "comprises" and / or "comprising" used in the specification are intended to be inclusive in a manner similar to the components, steps, operations, and / Or additions. The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by terms. Terms are used only for the purpose of distinguishing one component from another.

1 is a conceptual view showing an electric moving truck according to an embodiment of the present invention.

Referring to FIG. 1, the electric moving carriage 100 may include a body 110, a first handle 120, a second handle 130, and a wheel 140.

The body part 110 may be formed to load or store objects. For example, the body part 110 may be formed in a plate shape so as to be able to load objects. In another embodiment, the body 110 may have a space therein, similar to a box, basket, or the like, so as to accommodate objects. Hereinafter, for the sake of convenience of explanation, a case will be described in which a space is formed inside the body 110 so as to accommodate objects.

The body 110 includes a main body 111 having a space in which the object can be stored and a fixing part 112 disposed on the main body 111 to fix the second handle 130 thereon can do.

The main body portion 111 may be formed in various shapes such that a space is formed therein. In an embodiment, the main body part 111 may include a plurality of frames 111a, and the plurality of frames 111a may be connected to form a box-like shape. The main body portion 111 may include an outer plate 111b connected to the plurality of frames 111a to shield the inner space. The article can be stored in the space inside the main body portion 111. [ At this time, the objects stored in the space inside the main body part 111 may be various. For example, the article may include various forms such as vegetables, articles of commerce, books, parts necessary for the manufacture of articles, and the like. In another embodiment, the main body portion 111 includes a plurality of frames (or bars), and a plurality of frames may be connected to each other in a lattice form to form an inner space. Hereinafter, for convenience of explanation, the main body unit 111 will be described in detail with reference to a case where the main body unit 111 includes a plurality of frames 111a and an outer plate 111b.

The fixing part 112 may be fixed to the main body part 111. [ Particularly, the fixing portion 112 may be disposed at the center of the main body portion 111. At this time, the second grip portion 130 may be coupled to the fixing portion 112 and fixed.

At least one of the first handle 120 and the second handle 130 may be one of the shapes shown in Figs. 2 to 6 described below. At this time, the first handle 120 and the second handle 130 may be formed identically or differently from each other. For example, the first handle 120 and the second handle 130 may all be of one of the shapes shown in Figs. 3-6, described below. In another embodiment, the first handle 120 may be one of the shapes shown in FIGS. 3 through 5 to be described later, and the second handle 130 may be one of the shapes shown in FIG. 6 . In another embodiment, both the first handle 120 and the second handle 130 may be of the type shown in FIG. 6, described below. Hereinafter, for convenience of explanation, the first handle 120 is a shape shown in one of FIGS. 3 to 5 to be described later, and the second handle 130 is a shape shown in FIG. 6 Will be described in detail.

The first handle 120 and the second handle 130 may be connected to the body 110. At this time, the first handle 120 can receive the first travel signal, and the second handle 130 can receive the second travel signal. The first travel signal and the second travel signal may include the intensity of the force applied to the first handle 120 and the direction of the force when the force is applied. At this time, the first grip portion 120 and the second grip portion 130 can measure only the force applied in the running direction of the body portion 110. That is, the first grip portion 120 and the second grip portion 130 can measure only the force applied parallel to the ground surface (or the bottom surface of the body portion 110).

The wheel 140 may be disposed on the body 110 and may contact the ground (or a floor or the like such as a building). At this time, a plurality of wheel units 140 may be provided, and some of the plurality of wheel units 140 may be automatically operated according to an external signal. In addition, another part of the plurality of wheel parts 140 may be manually moved in accordance with the operation of the other wheel part 140. In another embodiment, the plurality of wheel units 140 may be all operated automatically according to an external signal. Hereinafter, for the sake of convenience, some of the plurality of wheel units 140 are automatically operated and the other of the plurality of wheel units 140 is manually operated.

Of the plurality of wheel units 140, the automatically operating wheel unit 140 may include a wheel (not shown) and an in-wheel motor (not shown) disposed inside the wheel (not shown). As another embodiment, the automatically operating wheel 140 may include a driving shaft (not shown) connected to the wheel and the wheel, and a motor (not shown) connected to the driving shaft. Hereinafter, for convenience of explanation, the wheel unit 140 that is automatically operated will be described in detail with reference to a case including the wheel and the in-wheel motor.

The electric moving carriage 100 may include a battery (not shown) that stores energy and supplies energy to the wheel 140 in addition to the above configuration. In this case, the battery may include a rechargeable secondary battery. The electric mobile truck 100 includes a control unit (not shown) connected to the battery and receiving signals from the first handle 120 and the second handle 130 to control the wheel 140 . The electric moving carriage 100 may include a sensing sensor (not shown) disposed on the body 110 to sense the surroundings. At this time, the detection sensor may include a hall sensor, a laser sensor, an ultrasonic sensor, and a lidar. In this case, the detection sensor may include any sensor capable of detecting an obstacle or the like disposed in the running direction of the body 110 when the body 110 is traveling. Hereinafter, for the sake of convenience of explanation, the case where the detection sensor is not provided will be described in detail.

Hereinafter, the first handle 120 will be described in detail.

FIG. 2 is a perspective view showing an embodiment of the first handle shown in FIG. 1. FIG. 3 is a sectional view showing the first handle shown in Fig.

2 and 3, the first handle 120 may include a first handle 121, a first handle connection bracket 122, and a first sensor unit 123.

The first handle connection bracket 122 may be disposed on at least one of the opposite ends of the first handle 121. In this case, the first handle connection bracket 122 may include a first connection bracket 122A and a second connection bracket 122B arranged so as to face each other with respect to the first handle 121. Both ends of the first handle 121 can be individually inserted and fixed to the first connection bracket 122A and the second connection bracket 122B. The first connection bracket 122A and the second connection bracket 122B may be the same or similar to each other. Therefore, the first connection bracket 122A will be described in detail below for convenience of explanation.

The first connection bracket 122A is connected to the first connection bracket body 122A-1, the first connection bracket protrusion 122A-2, and the first connection bracket body 122A- (122A-3).

The first insertion hole 122A-1A may be formed in the first connection bracket body 122A-1 so that the first handle 121 is inserted. In addition, the first connection bracket body 122A-1 may be formed to open at one side thereof, and the first sensor unit 123 may be inserted. The first connection bracket body 122A-1 may be provided with first guide grooves 122A-1B so that the first sensor portion 123 slides in a sliding manner. The first guide grooves 122A-1B may be formed on the bottom surface and the top surface of the first connection bracket body 122A-1, respectively. The first guide grooves 122A-1B can guide the movement path of the first sensor unit 123 when the first sensor unit 123 slides on the first connection bracket body 122A-1 . In addition, the first guide grooves 122A-1B can prevent the first sensor portion 123 from being detached due to vibration when an electric moving carriage (not shown) travels after the first sensor portion 123 is engaged have.

The first connection bracket protrusion 122A-2 may be formed to protrude from the first connection bracket body 122A-1. At this time, the first connection bracket protrusion 122A-2 can form a certain angle with one surface of the first connection bracket body 122A-1. For example, the first connection bracket protrusion 122A-2 may be perpendicular to one surface of the first connection bracket body 122A-1. The first connection bracket protrusion 122A-2 may be inclined from one surface of the first connection bracket body 122A-1. Hereinafter, for convenience of explanation, the first connection bracket protrusion 122A-2 protrudes from one side of the first connection bracket body 122A-1 in a vertical direction (for example, the Y-axis direction in FIG. 3) Will be described in detail. The first sensor unit 123 may be disposed inside the first handle connection bracket 122.

The first connection bracket cover 122A-3 can be coupled to the first connection bracket body 122A-1 to shield the opening formed in the first connection bracket body 122A-1. At this time, a groove may be formed in the first connection bracket body 122A-1, and a part of the first connection bracket cover 122A-3 may be inserted into the groove. The first connection bracket cover 122A-3 can be detached from the first connection bracket body 122A-1 as necessary so that the first connection bracket cover 122A- It is possible to easily repair or replace the first sensor unit 123 in the event of a failure. The first connection bracket cover 122A-3 and the first connection bracket body portion 122A-1 can be coupled in various ways. For example, one of the first connection bracket cover 122A-3 or the first connection bracket body portion 122A-1 has a hook, and the first connection bracket cover 122A-3 or the first connection bracket body 122A- The other one of the portions 122A-1 may be formed with a coupling groove (or a coupling hole) in which the hook is received. As another embodiment, the first and second connection bracket covers 122A-3 and 122A-1 may be arranged so that the coupling hooks are opposed to each other and are coupled to each other. At this time, the connection method of the first connection bracket cover 122A-3 and the first connection bracket body part 122A-1 is not limited to the above, and may include various structures and various schemes.

The first sensor unit 123 may be disposed on at least one of the first connection bracket 122A and the second connection bracket 122B. The first sensor unit 123 may include an advancement sensor unit 123A and a reverse sensor unit 123B. At this time, the advancement sensor portion 123A can measure the force applied in the advancing direction (first direction) of the traveling direction of the electric moving carriage 100. [ In addition, the reverse detection sensor unit 123B can measure the force applied in the backward direction (second direction) of the traveling direction of the electric moving carriage 100. [

The forward detection sensor unit 123A may be disposed inside at least one of the first connection bracket 122A and the second connection bracket 122B. In addition, the reverse detection sensor unit 123B may be disposed on at least one of the first connection bracket 122A and the second connection bracket 122B. Hereinafter, for the sake of convenience of explanation, it will be described in detail about the case where both of the forward detection sensor unit 123A and the reverse detection sensor unit 123B are disposed in the first connection bracket 122A and the second connection bracket 122B .

The forward detection sensor unit 123A includes a first forward detection sensor unit 123A-1 disposed in the first connection bracket 122A and a second forward detection sensor unit 123A-2 disposed in the second connection bracket 122B. ). The reverse detection sensor unit 123B includes a first reverse detection sensor unit 123B-1 disposed in the first connection bracket 122A and a second reverse detection sensor unit 123B-1 disposed in the second connection bracket 122B. -2). ≪ / RTI > At this time, the first advancement sensor portion 123A-1 and the first reverse detection sensor portion 123B-1 may be arranged to face each other. In addition, the second advancement sensor portion 123A-2 and the second reverse detection sensor portion 123B-2 may be arranged to face each other. In this case, the first forward detection sensor unit 123A-1, the second forward detection sensor unit 123A-2, the first reverse detection sensor unit 123B-1, and the second reverse detection sensor unit 123B- The first advancement sensor unit 123A-1 will be described in detail.

The first advance sensor unit 123A-1 is disposed to be spaced apart from the first handle 121 and is disposed so as to be in contact with or spaced from the first handle 121, And measuring the force applied to the sensor 121, for example. In one embodiment, the first advancement sensor portion 123A-1 may include a contact-type sensor. For example, the first advancement sensor portion 123A-1 may include a load cell. In another embodiment, the first advancement sensor portion 123A-1 may include a non-contact sensor. For example, the first advancement sensor unit 123A-1 may include a laser sensor, an ultrasonic sensor, and the like. At this time, the first advancement sensor unit 123A-1 measures the speed and the distance at which the first handle 121 approaches or departs and measures the direction of the force and the direction of the force applied to the first handle 121 . Hereinafter, for convenience of explanation, the first advancement sensor unit 123A-1 will be described in detail with reference to a case including a load cell.

The first advancement sensor portion 123A-1 can measure only the force applied in the traveling direction of the electric moving vehicle. Specifically, the first advancement sensor portion 123A-1 is disposed perpendicularly to the running direction (for example, the Y-axis direction in FIG. 3) of the electric moving carriage 100 so that the moving direction of the electric moving carriage 100 The force applied to the first handle 121 can be measured by contacting the first handle 121 with the first advancement sensor portion 123A-1 when a force applied to the first handle 121 is applied to the first handle 121 . On the other hand, when a force is applied to the first knob 121 in the load direction (e.g., the Z-axis direction in Fig. 3), the first knob 121 does not contact the first advancement sensor portion 123A-1 The first advancement sensor portion 123A-1 may not measure the force applied to the first handle 121 in the load direction.

Hereinafter, the traveling of the electric moving truck will be described in detail.

The user can travel the electric moving truck in the running direction (e.g., the Y-axis direction in Fig. 3) through the first handle 121. [ Specifically, the user can drive the motorized truck by applying a force to the first handle 121 after grasping the first handle 121. When the user applies a force to the first handle 121, the force of the first handle 121 causes the first handle 121 to move to the first forward detection sensor unit 123A-1 or the first reverse detection sensor unit 123B- ) Side. Also, the first handle 121 can be moved toward the second advancement sensor portion 123A-2 or the second reverse detection sensor portion 123B-2 by the force described above. At this time, the force applied to the first handle 121 may be a first running signal received from the first handle 120.

The first handle 121 is moved as described above and the first forward detection sensor unit 123A-1, the second forward detection sensor unit 123A-2, the first reverse detection sensor unit 123B-1, And may be in contact with at least one of the reverse detection sensor units 123B-2. At this time, the control unit (not shown) includes a first advancement sensor unit 123A-1, a second advancement sensor unit 123A-2, a first reverse detection sensor unit 123B- (Not shown) on the basis of a result detected by at least one of the plurality of sensors 123B-2.

For example, in an embodiment, when the first handle 121 contacts the first advancement sensor portion 123A-1 and the second advancement sensor portion 123A-2 and exerts a force on the first advancement sensor portion 123A-1 and the second advancement sensor portion 123A- (100) can move forward or backward while moving forward. Specifically, when the first handle 121 has the same force as that applied to the first advancement sensor portion 123A-1 and the second advancement sensor portion 123A-2, the electric moving carriage 100 is straight You can advance. On the other hand, when the first handle 121 has different intensities of force applied to the first advancement sensor portion 123A-1 and the second advancement sensor portion 123A-2, It is possible to make a turning motion. In this case, the controller calculates the difference in the strengths of the forces measured by the first advancement sensor unit 123A-1 and the second advancement sensor unit 123A-2 to determine the turning direction of the electric moving vehicle have. At this time, the control unit can determine the running direction of the electric moving vehicle using the speed difference of each wheel unit (not shown) of the wheel unit. For example, when the intensity of the force applied from the first handle 121 of the first advancement sensor portion 123A-1 and the second advancement sensor portion 123A-2 is large, the electric- .

In another embodiment, when the first handle 121 is in contact with the first reverse detection sensor portion 123B-1 and the second reverse detection sensor portion 123B-2 to apply a force, the electric moving carriage may be straightened backward You can move backwards while reversing. At this time, the method of backwarding is similar to the forwarding method described above, and thus a detailed description thereof will be omitted.

In another embodiment, when the first handle 121 is in contact with the first advancement sensor portion 123A-1 and the second reverse detection sensor portion 123B-2 to apply a force, or when the second advancement sensor portion 123B- 123A-2 and the first reverse detection sensor unit 123B-1 are in contact with each other to apply a force, the electric moving carriage 100 can perform swirling motion. That is, in the above-described case, the electric moving carriage 100 may rotate clockwise or counterclockwise in place, or circularly move clockwise or counterclockwise.

The wheel part can move the body part (not shown) by various paths in addition to the path according to the force applied to the first knob 121. At this time, the wheel unit includes a first forward detection sensor unit 123A-1, a second forward detection sensor unit 123A-2, a first reverse detection sensor unit 123B-1, and a second reverse detection sensor unit 123B- 2), the direction of the force, and the direction of the force.

As described above, the first forward detection sensor unit 123A-1, the second forward detection sensor unit 123A-2, the first reverse detection sensor unit 123B-1, and the second reverse detection sensor unit 123B- 2) can measure the force applied in the running direction of the body portion (for example, the forward direction of the body portion or the backward direction of the body portion, the Y-axis direction of FIG. 3).

At least one of the first forward detection sensor unit 123A-1, the second forward detection sensor unit 123A-2, the first reverse detection sensor unit 123B-1 and the second reverse detection sensor unit 123B- The user may not measure the force applied to the first handle 121 in the load direction.

Specifically, when the user applies a force to the first handle 121 in the load direction (for example, in a direction perpendicular to the paper surface or in a direction from the first handle 121 to the wheel side, The first handle 121 can apply the first handle connecting bracket 122 in the load direction. In this case, when a force is applied to the first handle 121 in the load direction, the first forward detection sensor unit 123A-1, the second forward detection sensor unit 123A-2, the first reverse detection sensor unit 123B- At least one of the first forward detection sensor unit 123A-1 and the second reverse detection sensor unit 123B-2 does not contact the first handle 121 or the first forward detection sensor unit 123A- , The distance between at least one of the first reverse detection sensor unit 123B-1 and the second reverse detection sensor unit 123B-2 and the first handle 121 may not be different from the initial value. In this case, the first advancement sensor portion 123A-1, the second advancement sensor portion 123A-2, the first reverse detection sensor portion 123B-1, and the second reverse detection sensor portion 123B- The force may not be detected separately. At this time, the control unit may control the wheel unit so that the wheel unit does not operate. Therefore, the first detection sensor unit 123A-1, the second detection sensor unit 123A-2, the first reverse detection sensor unit 123B-1, and the second reverse detection sensor unit 123B- It is possible to measure only the force applied to the first handle 121 in the traveling direction of the electric moving carriage 100. [ Particularly, the first detection sensor portion 123A-1 and the second detection sensor portion 123A-2 can measure the force applied in the forward direction of the body portion 110, and the first reverse detection sensor portion 123B-1 and the second reverse detection sensor unit 123B-2 can measure the force applied in the backward direction of the body part 110. [ In this case, the first detection sensor unit 123A-1, the second detection sensor unit 123A-2, the first reverse detection sensor unit 123B-1, and the second reverse detection sensor unit 123B- And may be disposed perpendicular to the direction of the force applied to the first handle 121.

4 is a cross-sectional view showing another embodiment of the first handle shown in Fig.

Referring to FIG. 4, the first handle 220 may include a first handle 221, a first handle connection bracket 222, and a first sensor unit 223. At this time, since the first handle 221 and the first handle connection bracket 222 are the same as or similar to those described with reference to FIGS. 2 to 3, detailed description thereof will be omitted.

The first sensor unit 223 may include a forward detection sensor unit 223A and a reverse detection sensor unit 223B disposed inside one of the first connection bracket 222A or the second connection bracket 222B . In this case, the forward detection sensor unit 223A and the reverse detection sensor unit 223B are the same as or similar to those described above, and thus a detailed description thereof will be omitted.

In such a case, the traveling of the electric moving truck may be performed only in a linear motion. Specifically, when a user applies a force to the first handle 221, the first handle 221 is in contact with the forward-detecting sensor unit 223A or the reverse-detecting sensor unit 223B to apply a force to the forward-detecting sensor unit 223A ) Or the backward detection sensor unit 223B side. At this time, the strength of the force sensed by the advancement sensor unit 223A or the reverse sensor unit 223B, or between one of the advance sensor unit 223A or the reverse sensor unit 223B and the first handle 221 The traveling speed acceleration or traveling direction of the electric moving vehicle can be adjusted based on the distance.

In such a case, the advancement sensor portion 223A and the reverse detection sensor portion 223B are arranged vertically with respect to the running direction of the electric moving truck, The force applied to the knob 221 may not be measured.

FIG. 5 is a cross-sectional view showing another embodiment of the first handle shown in FIG. 1. FIG.

Referring to FIG. 5, the first handle 320 may include a first handle 321, a first handle connection bracket 322, and a first sensor portion 323. At this time, the first handle 321 and the first handle connection bracket 322 are the same as or similar to those described above with reference to FIGS. 2 to 3, and thus a detailed description thereof will be omitted.

The first sensor unit 323 may include a forward detection sensor unit 323A and a reverse detection sensor unit 323B. At this time, the advancement sensor portion 323A may be disposed in one of the first connection bracket 322A or the second connection bracket 322B. In addition, the reverse detection sensor portion 323B may be disposed on the other of the first connection bracket 322A or the second connection bracket 322B.

The forward detection sensor unit 323A may be in contact with the first handle 321 or in proximity to the first handle 321 when the first handle 321 is advanced, The first handle 321 may be in contact with the first handle 321 or in the vicinity of the first handle 321 when the first handle 321 is retracted.

Specifically, when the first handle 321 contacts or approaches the advancement sensor portion 323A during the advancement of the first handle 321, the electric moving carriage can advance. On the other hand, when the first handle 321 contacts or approaches the reverse detection sensor 323B when the first handle 321 is retracted, the electric moving truck can be reversed.

It is also possible for the electric moving truck to pivot when the advance detection sensor unit 323A and the reverse detection sensor unit 323B sense the distance from the first handle 321. In this case, the forward detection sensor unit 323A and the reverse detection sensor unit 323B can determine the turning direction of the electric moving truck by sensing the distance, speed, and acceleration of the first handle 321 near or away from each other.

The electric moving truck may not move when a force is applied to the first handle 321 in the load direction (for example, the Z-axis direction in FIG. 5). Specifically, when a force is applied to the first handle 321 in the load direction, the first handle 321 does not contact the advancement sensor portion 323A and the reverse detection sensor portion 323B, And the backward detection sensor unit 323B and the first handle 321 may not be variable. The control unit (not shown) of the motorized trolley judges that no signal is input from outside and may not control the wheel unit (not shown).

FIG. 6 is a perspective view showing the second handle shown in FIG. 1. FIG.

Referring to FIG. 6, the second handle 130 may include a second sensor unit 131 and a travel control unit 132.

The second sensor unit 131 may have one end fixed to the fixing unit 112 connected to the main body unit (not shown). The fixing part 112 includes a coupling part 112A coupled to the main body part and a fixing protrusion 112B protruded from the coupling part 112A and one end of the end of the second sensor part 131 is fixed. And a supporting portion 112C connected to the engaging portion 112A and the fixing protrusion 112B and supporting the fixing protrusion 112B. The fixing protrusion 112B protrudes from the engaging portion 112A to the inner surface side of the main body portion and the second sensor portion 131 is protruded from the inner surface of the main body portion. One side can be covered partially. The width of the fixing protrusion 112B is larger than the width of the second sensor unit 131 so that the second sensor unit 131 can be prevented from being twisted when a force is applied to the second sensor unit 131. [ At this time, the width of the fixing protrusion 112B can be measured from the wheel portion 140 in the direction of the top surface (or the load direction) of the body portion (not shown). Two fixing protrusions 112B may be provided so as to be opposed to each other around the engaging portion 112A. At this time, the two fixing protrusions 112B may be fixed to the second sensor unit 131 by being coupled thereto. The supporting portion 112C is disposed between the two fixing protrusions 112B so as to maintain the distance between the two fixing protrusions 112B and to maintain the distance in the longitudinal direction of the supporting portion 112C (for example, in the X- It is possible to support the force applied to each of the fixing projections 112B.

The second sensor unit 131 may include a fixed end fixed to the fixing protrusion 112B and a free end fixed to the travel adjusting unit 132. [ At this time, the fixed end of the second sensor unit 131 can be coupled (or fixed) to the fixing protrusion 112B, and the free end of the second sensor unit 131 is connected to the travel control unit 132 It is possible to freely move according to the movement of the travel regulator 132.

The second sensor unit 131 may include a first force detection sensor unit 131A and a second force detection sensor unit 131B. At this time, the first force sensing part 131A and the second force sensing part 131B may be arranged to face each other with respect to the fixing part 112. [ Particularly, the fixed end of the first force sensing part 131A and the fixed end of the second force sensing part 131B can be constrained to the fixed part 112, respectively, and the free end of the first force sensing part 131A And the free ends of the first and second force detection sensor portions 131B may be arranged to be symmetrical with respect to each other with respect to the fixed portion 112. That is, the first force sensing part 131A and the second force sensing part 131B may be arranged to be symmetrical with respect to the center of the body part. In this case, the first force detection sensor unit 131A and the second force detection sensor unit 131B can independently measure at least one of the magnitude of the force input through the travel adjustment unit 132 and the direction of the force . The first force sensing part 131A and the second force sensing part 131B may include a beam type load cell. That is, the first force sensing part 131A and the second force sensing part 131B may include a beam-shaped load cell body part and a strain gauge attached to the surface of the load cell body part.

Meanwhile, the travel regulator 132 may be connected to the free end of the first force sensing part 131A and the free end of the second force sensing part 131B. The travel adjusting unit 132 is connected to the free end of the first force detecting sensor unit 131A or the moving bracket 132A and the moving bracket 132A connected to the free end of the second force detecting sensor unit 131B A second handle connecting bracket 132B, and a second handle 132C connected to the second handle connecting bracket 132B and capable of being held by the user.

The movable bracket 132A can engage with the free end of the first force sensing part 131A or with the free end of the second force sensing part 131B. At this time, the movable bracket 132A is bent from the latching portion 132A-1 and the latching portion 132A-1 disposed on the upper surface of the main body portion, and the free end of the first force detection sensor portion 131A or the second And a sensor coupling portion 132A-2 that is coupled to the free end of the force detection sensor portion 131B. In this case, the movable bracket 132A may be disposed apart from the upper surface and the inner surface of the body portion so as not to contact the body portion. The lower end of the sensor coupling portion 132A-2 may be disposed at the same position as the lower end of the second sensor portion 131 or may be disposed closer to the bottom of the body portion than the lower end of the second sensor portion 131. [ That is, the lower end of the sensor coupling portion 132A-2 is disposed so as to protrude from the lower end of the second sensor portion 131 without being overlapped with the one surface of the second sensor portion 131, It is possible to prevent the second sensor unit 131 from being twisted. On the other hand, the side end of the sensor coupling portion 132A-2 disposed on the side of the body portion may be disposed so as to overlap with the second sensor portion 131. [ In this case, the sensor engaging portion 132A-2 can completely transmit the force applied by the second handle 132C to the second sensor portion 131. [

The above-described latching part 132A-1 can move only a certain distance when the user presses the second knob 132C with an excessive force. Specifically, when the user exerts excessive force, the latching portion 132A-1 may be lowered by a certain distance, and then may not fall further in contact with the upper surface of the body portion. Accordingly, the second handle 132C is lowered, so that excessive force can be prevented from being applied to the second sensor unit 131 in the load direction.

The second handle 132C may be formed in a bar shape. At this time, the second handle 132C is not limited thereto, and may include any shape that the user can grasp.

The second handle connecting bracket 132B is engaged with the second handle 132C and the second handle 132C can be connected to the moving bracket 132A. At this time, the second handle connection bracket 132B may be disposed on the upper surface of the latching portion 132A-1 and connected to the latching portion 132A-1. Two second handle connection brackets 132B may be provided and each second handle connection bracket 132B may be disposed at each end of the second handle 132C. The second handle connection bracket 132B may be formed in various shapes. For example, in one embodiment, the second handle connection bracket 132B may be formed in a straight line shape. At this time, the second handle connecting bracket 132B is formed in a direction perpendicular to the longitudinal direction (for example, the X-axis direction in FIG. 6) of the second handle 132C (for example, . In another embodiment, the second handle connection bracket 132B may be formed so that at least a portion thereof is bent. At this time, a part of the second handle connecting bracket 132B is formed in a direction perpendicular to the longitudinal direction of the second handle 132C, and the other part of the second handle connecting bracket 132B is formed in the second handle connecting bracket 132B. So as to form a certain angle with a part of the outer circumferential surface. In another embodiment, the second handle connection bracket 132B may be formed in a curved shape. The second handle connection bracket 132B is not limited to the above but may be formed in various shapes in consideration of the convenience of the user and the transmission of the force of the user. Hereinafter, for convenience of explanation, the second handle connecting bracket 132B will be described in detail with reference to a case where at least a part thereof is bent.

On the other hand, the user can drive the electric moving vehicle (not shown) through the second handle 132C. At this time, the user can input the second traveling signal to the second handle 130. The second travel signal may include the force and the direction of the force applied to the second handle 130. Specifically, the user can apply the force to the second handle 132C after grasping the second handle 132C. When the user applies a force to the second knob 132C, the force of the second knob 132C can be transmitted to the second knob connection bracket 132B and the movement bracket 132A. The movable bracket 132A is disposed to be spaced apart from the body part and can freely move by the force of the user. When the movable bracket 132A moves, at least one of the free end of the first force detection sensor part 131A and the free end of the second force detection sensor part 131B moves together with the movement bracket 132A, Direction (e.g., the Y-axis direction in Fig. 6). In this case, the fixed end of the first force detection sensor part 131A and the fixed end of the second force detection sensor part 131B are fixed to the body part, so that the free end of the first force detection sensor part 131A has a first force The free end of the second force sensing part 131B can be rotated about the fixed end of the second force sensing part 131B have.

When the first force detection sensor unit 131A and the second force detection sensor unit 131B rotate as described above, the first force detection sensor unit 131A and the second force detection sensor unit 131B generate a compression force And the first force detection sensor part 131A and the second force detection sensor part 131B measure at least one of the compressive force and the tensile force so that the strength and direction of the force applied to the second handle 132C And so on. At this time, depending on the force applied by the user to the second handle 132C, the force applied to the free end of the first force sensing portion 131A and the force applied to the free end of the second force sensing portion 131B May be the same or different.

For example, in an embodiment, when the intensity of the force measured by the first force sensing sensor 131A is equal to the intensity of the force measured by the second force sensing sensor 131B, the first force sensing sensor 131A And the direction of the force measured by the second force sensing sensor 131B are the same, the wheel unit (not shown) is controlled to have a constant acceleration or speed in the same direction, And can linearly move in one direction.

In another embodiment, when the intensity of the force measured by the first force sensing sensor 131A and the intensity of the force measured by the second force sensing sensor 131B are different from each other and measured by the first force sensing sensor 131A When the direction of the force and the direction of the force measured by the second force sensing sensor 131B are the same, the wheel is controlled to have different accelerations or speeds so that the electric moving vehicle moves forward or backward in one direction It can be turned. At this time, the revolving path of the electric moving truck may be determined by comparing the intensity of the force measured by the first force sensing sensor 131A with the intensity of the force measured by the second force sensing sensor 131B, 131A and the direction of the force measured by the second force sensing sensor 131B. In this case, the angular velocity or angular acceleration of each wheel can be controlled by comparing the intensity of the force measured by the first force sensing sensor 131A with the intensity of the force measured by the second force sensing sensor 131B.

As another embodiment, it is possible to compare the intensity of the force measured by the first force detection sensor unit 131A with the intensity of the force measured by the second force detection sensor unit 131B and the intensity of the force measured by the first force detection sensor unit 131A It is also possible for the electric moving truck to rotate in place based on the direction of the force detected by the second force detection sensor unit 131B and the direction of the force measured by the second force detection sensor unit 131B. For example, when the intensity of the force measured by the first force detection sensor unit 131A is equal to the intensity of the force measured by the second force detection sensor unit 131B and the intensity of the force measured by the first force detection sensor unit 131A When the direction of the force and the direction of the force measured by the second force sensing sensor 131B are opposite to each other, it is also possible for the wheel to rotate the body part in place.

The wheel part can move the body part in various ways besides the above-mentioned path. At this time, the wheel unit can drive the body part in various paths based on at least one of the magnitude of the force and the direction of the force measured by the first force detection sensor part 131A and the second force detection sensor part 131B have.

As described above, the first force sensing part 131A and the second force sensing part 131B are arranged in the direction of travel of the body part (for example, the forward direction of the body part or the backward direction of the body part, Y axis direction) can be measured.

At this time, when the user applies a force to the second handle 132C in the load direction (for example, in the direction perpendicular to the paper surface or in the direction from the second handle 132C toward the wheel portion side, the Z axis direction in Fig. 1) The second handle 132C can move the moving bracket 132A in the load direction through the second handle connecting bracket 132B. At this time, the latching portion 132A-1 can move in the load direction and may not descend further by the upper surface of the body portion after descending a certain distance.

The free end of the first force sensing part 131A and the free end of the second force sensing part 131B can be lowered at a certain distance together with the engagement part 132A-1. At this time, the first force detection sensor unit 131A and the second force detection sensor unit 131B may be deformed, respectively, but the magnitude of the force measured due to the deformation in the load direction may be considerably small. For example, the force measured by each of the first force sensing part 131A and the second force sensing part 131B due to the force in the direction of the load is applied to the direction of travel of the body part May be less than about 5% of the force measured at each of the first force sensing portion 131A and the second force sensing portion 131B. Such a measured value is set in an error range in a control unit (not shown), so that when the user applies a force in the load direction, the wheel unit can be prevented from operating so that the body unit can be prevented from traveling. Particularly, since the first force sensing part 131A and the second force sensing part 131B are vertically arranged with respect to the load direction, the user can be insensitive to deformation due to the force applied in the load direction. In such a case, the force to be measured may be small as described above.

FIG. 7 is a configuration diagram showing the electric moving truck shown in FIG. 1. FIG.

Referring to FIG. 7, the electric motor vehicle 100 controls the wheel 140 based on one of the first travel signal and the second travel signal inputted from at least one of the first travel signal and the second travel signal, . For example, the electric moving carriage 100 can receive the first traveling signal from the first handle 120. At this time, as described above, the control unit 150 controls the in-wheel motor 141A based on the first traveling signal to rotate the wheel 141B so that the motorized traveling vehicle 100 can be driven to travel. In this case, the passive wheel 141C rotates in accordance with the movement of the electric moving carriage 100, thereby reducing the frictional force between the ground and the electric moving carriage 100. [ When the second traveling signal is input from the second handle 130, the electric traveling vehicle 100 can travel in the same way as or similar to the case where the first traveling signal is input. In this case, the electric motor vehicle 100 can travel in the Y-axis direction of FIG. 7 according to the first travel signal or the second travel signal.

In addition to the above case, the electric mobile truck 100 receives the first running signal from the first handle 120 and receives the second running signal from the second handle 130.

When the first travel signal and the second travel signal are input, the controller 150 can control the travel of the electric mobile truck 100 based on one of the first travel signal and the second travel signal. At this time, the control unit 150 may select a first driving signal or a second driving signal in a predetermined state. Hereinafter, for convenience of explanation, the control unit 150 controls the traveling of the electric motor vehicle 100 on the basis of the first traveling signal.

When the first driving signal and the second driving signal are inputted simultaneously or the other one of the first driving signal or the second driving signal is input in a state where one of the first driving signal and the second driving signal is maintained The control unit 150 can control the traveling of the electric motor vehicle 100 based on only the first traveling signal. At this time, the first traveling signal may include the intensity of the force input through the first handle 120 and the direction of the force.

When the first traveling signal is input as described above, the traveling of the electric moving vehicle 100 can be controlled as described with reference to FIG. Specifically, among the first detection sensor portion 123A-1, the second detection sensor portion 123A-2, the first reverse detection sensor portion 123B-1, and the second reverse detection sensor portion 123B- Depending on the force input to at least one of them, the electric mobile carriage 100 may perform one of turning, turning, turning while advancing, reversing, and advancing.

Meanwhile, the second travel signal can be continuously input through the second handle 130 while the electric mobile carriage 100 travels based on the first travel signal, as described above. At this time, the controller 150 may determine whether at least one of the time of input of the second travel signal and the strength of the second travel signal exceeds a predetermined value. Particularly, the control unit 150 determines at least one of a time when the second driving signal is inputted to at least one of the first force detection sensor unit 131A and the second force detection sensor unit 131B and a strength of the force corresponding to the second driving signal It can be judged that the predetermined value is exceeded on the basis of one.

If at least one of the time of input of the second traveling signal and the strength of the second traveling signal exceeds a preset value, the controller 150 cuts off the current supplied to the in-wheel motor 141A from the battery 160 It is possible to stop the in-wheel motor 141A by rotating the in-wheel motor 141A in the reverse direction. In this case, the electric moving carriage 100 may not be stopped or rapidly accelerated.

In such a case, the first travel signal and the second travel signal may be forces in opposite directions. Specifically, when the first traveling signal is a force in a direction in which the electric moving carriage 100 advances, the second traveling signal may be a force in a direction in which the electric traveling carriage 100 moves backward. In this case, the electric moving carriage 100 is not controlled according to the resultant force of the first driving signal and the second driving signal, so that the resultant force of the first driving signal and the second driving signal is varied, May not repeat the forward and backward movements.

The control according to the first travel signal and the second travel signal may be the same or similar to the first travel signal or the second travel signal even when the first travel signal and the second travel signal are forces in opposite directions, The control of the electric mobile carriage 100 can be performed based on one of the signals. In this case, it is possible to prevent the electric moving carriage 100 from being rapidly accelerated in one direction according to the first travel signal and the second travel signal.

Therefore, when the driving signal is simultaneously inputted from the first handle 120 and the second handle 130, the electric motor vehicle 100 is controlled based on one driving signal, so that the driving stability can be enhanced. When the first traveling signal and the second traveling signal are input simultaneously, the motorized traveling carriage 100 does not control the in-wheel motor 141A to correspond to the first traveling signal and the second traveling signal at the same time, It is possible to prevent an excessive load from occurring.

When the first travel signal and the second travel signal are inputted simultaneously, the electric moving truck 100 does not continuously repeat the forward and reverse movements of the electric moving truck 100, thereby ensuring the control stability.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it is possible to make various modifications and variations without departing from the spirit and scope of the invention. Accordingly, it is intended that the appended claims cover all such modifications and variations as fall within the true spirit of the invention.

100: Electric moving truck
110:
112:
120, 220, 320: a first handle
121, 221, 321:
122, 222, 322: first handle connecting bracket
122A, 222A, and 322A: a first connection bracket
122B, 222B, and 322B: a second connection bracket
123, 223, 323:
123A, 223A, and 323A:
123B, 223B, and 323B:
130: second handle portion
131: second sensor unit
132:
140: wheel
150:
160: Battery

Claims (13)

Body part;
A first handle part connected to the body part and capable of being gripped by a user and receiving a first running signal from a user;
A second handle portion which is disposed to face the first handle portion and is connected to the body portion, the second handle portion being receivable by a user and receiving a second travel signal from a user; And
And a wheel unit connected to the body unit and running the body unit based on at least one of the first travel signal and the second travel signal,
Wherein the wheel unit travels the body part based on one of the first travel signal and the second travel signal when the first travel signal and the second travel signal are input at the same time. The method according to claim 1,
Wherein the wheel unit stops operation when another one of the first travel signal or the second travel signal is input for a predetermined time. The method according to claim 1,
Wherein the wheel unit stops operation when the other one of the first travel signal or the second travel signal is input by a predetermined force. The method according to claim 1,
Wherein at least one of the first handle portion and the second handle portion senses an intensity of a force applied in a running direction and a direction of a force. The method according to claim 1,
Wherein at least one of the first handle portion and the second handle portion comprises:
A sensor part fixed to the body part at an end thereof and the other end thereof being a free end; And
And a travel control unit fixed to the other end of the sensor unit and capable of being gripped by a user. 6. The method of claim 5,
The body part
A fixing part having one end fixed to one end of the sensor part; And
And a main body portion to which the fixing portion is coupled. 6. The method of claim 5,
The sensor unit includes:
A first force sensing part fixed to the body part; And
And a second force detection sensor portion disposed to face the first force detection sensor portion and fixed to the body portion. 8. The method of claim 7,
Wherein the travel control unit is connected to the free end of the first force sensing unit and the free end of the second force sensing unit. The method according to claim 1,
Wherein at least one of the first handle portion and the second handle portion comprises:
A connection bracket fixed to the body portion;
A handle inserted into the connection bracket and capable of being held by a user; And
And a sensor disposed inside the connection bracket and sensing a force applied to the handle. 10. The method of claim 9,
The sensor unit includes:
A forward movement detecting sensor disposed to be inserted into the connection bracket and sensing a force applied to the handle in a first direction that is a forward direction of a running direction of the body; And
And a reverse detection sensor unit arranged to be inserted into the connection bracket and sensing a force applied to the handle in a second direction that is a backward direction of a running direction of the body unit. 10. The method of claim 9,
The connection bracket
A connection bracket body part in which the sensor part is partially opened to be inserted or withdrawn, the sensor part is seated, and the handle is inserted; And
And a connection bracket cover detachably coupled to the connection bracket body to shield an opened portion of the connection bracket. 10. The method of claim 9,
Wherein the sensor unit is disposed vertically with respect to a direction of a force applied to the handle. The method according to claim 1,
Wherein the first travel signal and the second travel signal include a force intensity and a direction of a force applied to the force,
Wherein the wheel unit includes an electromotive force control unit that controls operation based on one of the first driving signal and the second driving signal when the direction of the force of the first driving signal and the direction of the force of the second driving signal are opposite to each other, Balance.

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