KR20220097809A - Display for road cleaning electric vehicle - Google Patents

Display for road cleaning electric vehicle Download PDF

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Publication number
KR20220097809A
KR20220097809A KR1020200189581A KR20200189581A KR20220097809A KR 20220097809 A KR20220097809 A KR 20220097809A KR 1020200189581 A KR1020200189581 A KR 1020200189581A KR 20200189581 A KR20200189581 A KR 20200189581A KR 20220097809 A KR20220097809 A KR 20220097809A
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South Korea
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cleaning
control unit
motor
vehicle
display
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KR1020200189581A
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Korean (ko)
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정상기
김진호
정민관
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(주) 코스텍
주식회사 에이엠 특장
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Publication of KR20220097809A publication Critical patent/KR20220097809A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
    • E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
    • E01H1/0836—Apparatus dislodging all of the dirt by suction ; Suction nozzles
    • E01H1/0845—Apparatus dislodging all of the dirt by suction ; Suction nozzles with mechanical loosening or feeding instruments for the dirt to be sucked- up, e.g. brushes, scrapers
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
    • E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
    • E01H1/0854—Apparatus in which the mechanically dislodged dirt is partially sucked-off, e.g. dislodging- sweeping apparatus with dirt collector in brush housing or dirt container
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H3/00—Applying liquids to roads or like surfaces, e.g. for dust control; Stationary flushing devices
    • E01H3/02—Mobile apparatus, e.g. watering-vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • B60Y2200/144—Garbage trucks, e.g. refuse trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/90—Vehicles comprising electric prime movers
    • B60Y2200/91—Electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention relates to a display system of an electric road cleaning vehicle, wherein a driving control unit which controls a motor controller and an air pressure control valve according to operation of an acceleration pedal and deceleration pedal, and a cleaning control unit which operates a blower motor and a brush motor if a cleaning operation is set through an input unit are provided on one substrate. The display system further comprises a display unit which displays detection or control information of each of the driving control unit and cleaning control unit. The display system controls road cleaning function by using a vehicle controller and displays information of both driving and cleaning.

Description

노면 전기 청소차의 디스플레이 시스템{Display for road cleaning electric vehicle}Display system of a road surface cleaning vehicle {Display for road cleaning electric vehicle}

본 발명은 노면 전기 청소차의 디스플레이 시스템에 관한 것으로, 더 상세하게는 차량 제어 유닛을 이용하여 주행 제어뿐만 아니라 청소 모듈의 제어가 가능하도록하여, 하나의 디스플레이에 주행 정보 및 청소 정보를 표시할 수 있는 노면 전기 청소차의 디스플레이 시스템에 관한 것이다.The present invention relates to a display system for an electric road sweeper, and more particularly, to enable driving control as well as control of a cleaning module using a vehicle control unit, so that driving information and cleaning information can be displayed on one display. It relates to a display system for an electric road sweeper.

최근 환경오염에 대한 관심이 급증하고 있고 이에 부응하기 위하여 친환경차량(HEV, EV, PHEV)들이 등장하게 되었다. 이러한 친환경차량들은 모터 또는 엔진이 동력원으로 동작하며, 모터를 구동하기 위하여 외부전원에 의해 충전되는 배터리를 구비한 차량을 말한다.Recently, interest in environmental pollution is rapidly increasing, and eco-friendly vehicles (HEV, EV, PHEV) have emerged to respond to this. These eco-friendly vehicles refer to a vehicle in which a motor or an engine operates as a power source and has a battery charged by an external power source to drive the motor.

또한, 플러그인 하이브리드 차량은 동력원으로서의 내연 기관인 엔진과, 다른 동력원으로서의 모터를 구비한다. 엔진은 연료로서 가솔린 등을 사용하여 가솔린의 연소에 따라서 동작된다. 모터는 배터리에 접속되어 배터리에 충전되는 전력을 이용하여 동작된다. Further, the plug-in hybrid vehicle includes an engine as an internal combustion engine as a power source, and a motor as another power source. The engine is operated according to the combustion of gasoline using gasoline or the like as fuel. The motor is connected to the battery and operated using electric power charged in the battery.

일반적인 플러그인 하이브리드 차량의 구조를 살펴보면, 상기 엔진과 모터는 각각의 출력축이 동력분할기구에 접속되어 있고, 이러한 엔진, 모터, 동력분할기구의 동작은 ECU에 의해 제어된다. 모터는 배터리에 충전된 전력에 의해 동작되는데, 배터리에는 외부전원으로부터 공급되는 전력이 충전된다. Looking at the structure of a typical plug-in hybrid vehicle, each output shaft of the engine and the motor is connected to a power split mechanism, and the operations of the engine, the motor, and the power split mechanism are controlled by the ECU. The motor is operated by power charged in the battery, and the battery is charged with power supplied from an external power source.

이때, ECU는 배터리의 전압, 전류 또는 온도 조건에 따라 외부전원으로부터 배터리로 충전되는 동작을 제어한다.At this time, the ECU controls the operation of charging the battery from an external power source according to the voltage, current, or temperature condition of the battery.

친환경 차량에는 저전압 직류변환장치(LDC, Low voltage DC-DC Converter)가 구비되는데, 하이브리드 차량에서 고전압 배터리의 전기에너지를 강압(Step-Down)하여 저전압(보조) 배터리를 충전하고, 차량 내 각종 전장품의 동작 전원을 공급하는 기능을 담당한다.Eco-friendly vehicles are equipped with a low voltage DC-DC converter (LDC). In hybrid vehicles, the electric energy of the high-voltage battery is step-down to charge the low-voltage (auxiliary) battery, and various electronic components in the vehicle. It is responsible for supplying the operating power of

이러한 친환경 자동차의 일례인 하이브리드 자동차(hybrid vehicle)는 내연기관 엔진(internal combustion engine)과 배터리 전원을 함께 사용한다. 즉, 하이브리드 자동차는 내연기관 엔진의 동력과 모터의 동력을 효율적으로 조합하여 사용한다.A hybrid vehicle, which is an example of such an eco-friendly vehicle, uses an internal combustion engine and battery power together. That is, the hybrid vehicle efficiently combines and uses the power of the internal combustion engine engine and the power of the motor.

하이브리드 자동차는, 엔진, 모터, 엔진과 모터 사이에서 동력을 단속하는 엔진 클러치, 변속기, 차동기어장치, 배터리, 상기 엔진을 시동하거나 엔진의 출력에 의해 발전을 하는 시동 발전기, 및 차륜으로 구성될 수 있다.A hybrid vehicle may be composed of an engine, a motor, an engine clutch that controls power between the engine and the motor, a transmission, a differential gear device, a battery, a starter generator that starts the engine or generates power by the output of the engine, and wheels have.

또한, 하이브리드 자동차는, 하이브리드 자동차의 전체 동작을 제어하는 하이브리드 제어기(hybrid control unit), 엔진의 동작을 제어하는 엔진 제어기(engine control unit), 모터의 동작을 제어하는 모터 제어기(motor control unit), 변속기의 동작을 제어하는 변속 제어기(transmission control unit), 및 배터리를 제어하고 관리하는 배터리 제어기(battery control unit)로 구성될 수 있다.In addition, the hybrid vehicle includes a hybrid control unit for controlling the overall operation of the hybrid vehicle, an engine control unit for controlling the operation of the engine, a motor control unit for controlling the operation of the motor, It may be composed of a transmission control unit that controls the operation of the transmission, and a battery control unit that controls and manages the battery.

이처럼 기능에 친환경 자동차들에는 다양한 제어기들이 포함되어 있으며, 제어기들마다 특징적인 개발이 필요하다.In this way, various controllers are included in eco-friendly cars with a function, and characteristic development is required for each controller.

또한, 최근 중국발 미세먼지의 증가 함께 도로 면의 재비산먼지의 인체 유해성에도 관심이 증가하고 있으며, 도로의 먼지를 제거하기 위한 도로청소 차량을 운행하고 있다.In addition, with the recent increase in fine dust from China, interest in the human health of re-scattering dust on the road surface is also increasing, and a road cleaning vehicle is being operated to remove dust from the road.

종래의 도로청소 차량의 경우 디젤엔진을 사용하며, 디젤엔진 차량이 미세먼지 증가의 원인으로 꼽히고 있는 지금에는 도로청소 차량을 친환경 차량으로 대체할 수 있는 기술 개발이 요구되고 있다.In the case of a conventional road cleaning vehicle, a diesel engine is used, and now that diesel engine vehicles are considered a cause of an increase in fine dust, the development of a technology capable of replacing the road cleaning vehicle with an eco-friendly vehicle is required.

등록특허 10-1669932호(수거통의 호환 장착이 가능한 친환경 전기 노면청소차, 2016년 10월 21일 등록)에는 도로를 주행하면서 노면 청소를 수행할 수 있는 전기차가 기재되어 있다.Registered Patent No. 10-1669932 (an eco-friendly electric street cleaning vehicle that can be installed compatible with a dumpster, registered on October 21, 2016) describes an electric vehicle that can clean the road while driving on the road.

이러한 종래 노면 전기 청소차들은 주행 제어를 위한 제어기와 노면 청소를 위한 모터를 제어하는 제어기가 별도로 제작되어 있다.In these conventional electric road cleaning vehicles, a controller for driving control and a controller for controlling a motor for cleaning the road are separately manufactured.

이처럼 주행을 위한 제어기와 청소 기능을 제어하는 제어기가 별도로 마련되어 있는 경우, 회로의 설계 및 PCB에 구현하는 것이 더 복잡하게 되며, 단일한 PCB가 아닌 별도의 PCB에 구현되는 경우, 각 PCB의 성능 평가와 시험이 필요하며, 장착되는 면적도 많이 필요하게 된다.If the controller for driving and the controller for controlling the cleaning function are separately provided, the circuit design and implementation on the PCB becomes more complicated, and when implemented on a separate PCB instead of a single PCB, the performance evaluation of each PCB and tests are required, and a lot of mounting area is required.

또한, 노면 전기 청소차의 내에 설치되는 디스플레이에 차량의 운행관련 정보 뿐만 아니라 노면 청소를 위한 제어기 및 동작상태의 정보를 표시해야 하지만, 제어기가 분리되어 있어 하나의 디스플레이에 모든 정보를 표시하는 것이 용이하지 않은 문제점이 있었다.In addition, it is necessary to display the information of the vehicle operation related information as well as the controller and operation status information for road cleaning on the display installed inside the electric road sweeper, but it is not easy to display all information on one display because the controller is separated. There were no problems.

상기와 같은 문제점을 감안한 본 발명이 해결하고자 하는 과제는, 노면 전기 청소차의 주행을 제어하는 차량제어기를 이용하여 노면청소 기능을 제어할 수 있도록 하고, 하나의 디스플레이 장치를 이용하여 운행에 관한 정보와 청소에 관한 정보를 모두 표시할 수 있는 노면 전기 청소차의 디스플레이 시스템을 제공함에 있다.The problem to be solved by the present invention in consideration of the above problems is to control the road cleaning function by using a vehicle controller that controls the running of the electric road sweeper, and to use a single display device to display information about the operation and An object of the present invention is to provide a display system for a road electric vacuum cleaner capable of displaying all cleaning-related information.

상기와 같은 기술적 과제를 해결하기 위한 본 발명 노면 전기 청소차의 디스플레이 시스템은, 가속 페달과 감속 페달의 조작에 따라 모터 제어기와 공기압 조절밸브를 제어하는 운행 제어부와, 입력부를 통해 청소 동작이 설정된 경우 블로워 모터와 브러시 모터를 구동하는 청소 제어부가 하나의 기판 상에 마련되고, 상기 운행 제어부와 상기 청소 제어부 각각의 검출 또는 제어정보를 표시하는 디스플레이부를 더 포함할 수 있다.In order to solve the above technical problems, the display system of the present invention for a road electric cleaning vehicle includes a driving control unit that controls a motor controller and an air pressure control valve according to the operation of an accelerator pedal and a deceleration pedal, and a blower when a cleaning operation is set through the input unit The cleaning control unit for driving the motor and the brush motor is provided on one substrate, and may further include a display unit for displaying detection or control information of each of the operation control unit and the cleaning control unit.

본 발명의 실시예에서, 상기 디스플레이부는 상기 운행 제어부로부터 차량의 속도 정보와 모터 상태 정보 및 배터리 충전 상태 정보를 수신하여 표시할 수 있다.In an embodiment of the present invention, the display unit may receive and display vehicle speed information, motor state information, and battery charge state information from the driving control unit.

본 발명의 실시예에서, 상기 디스플레이부는 상기 청소 제어부로부터 상기 블로워 모터와 상기 브러시 모터의 상태 정보를 수신하여 표시할 수 있다.In an embodiment of the present invention, the display unit may receive and display status information of the blower motor and the brush motor from the cleaning control unit.

본 발명은 노면 전기 청소차의 운행을 제어하는 차량제어기에 청소 기능을 제어하는 모듈을 포함시켜, 하나의 제어기로 운행과 청소 기능을 함께 수행할 수 있도록 함으로써, 하나의 디스플레이 장치를 이용하여 운행과 청소에 관련된 정보를 모두 표시할 수 있는 효과가 있다.The present invention includes a module for controlling the cleaning function in the vehicle controller that controls the operation of the electric road sweeper, so that the operation and cleaning function can be performed together with one controller, so that the operation and cleaning using a single display device It has the effect of displaying all related information.

도 1은 본 발명의 바람직한 실시예에 따른 노면 전기 청소차 제어장치의 블록 구성도이다.
도 2는 본 발명에 적용된 디스플레이부의 화면 예시도이다.1 is a block diagram of an apparatus for controlling a road surface electric cleaning vehicle according to a preferred embodiment of the present invention.
2 is an exemplary view of a screen of the display unit applied to the present invention.

본 발명의 구성 및 효과를 충분히 이해하기 위하여, 첨부한 도면을 참조하여 본 발명의 바람직한 실시예들을 설명한다. 그러나 본 발명은 이하에서 개시되는 실시예에 한정되는 것이 아니라, 여러가지 형태로 구현될 수 있고 다양한 변경을 가할 수 있다. 단지, 본 실시예에 대한 설명은 본 발명의 개시가 완전하도록 하며, 본 발명이 속하는 기술분야의 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위하여 제공되는 것이다. 첨부된 도면에서 구성요소는 설명의 편의를 위하여 그 크기를 실제보다 확대하여 도시한 것이며, 각 구성요소의 비율은 과장되거나 축소될 수 있다.In order to fully understand the configuration and effect of the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and may be embodied in various forms and various modifications may be made. However, the description of the present embodiment is provided so that the disclosure of the present invention is complete, and to fully inform those of ordinary skill in the art to which the present invention belongs, the scope of the invention. In the accompanying drawings, components are enlarged in size from reality for convenience of description, and ratios of each component may be exaggerated or reduced.

'제1', '제2' 등의 용어는 다양한 구성요소를 설명하는데 사용될 수 있지만, 상기 구성요소는 위 용어에 의해 한정되어서는 안 된다. 위 용어는 하나의 구성요소를 다른 구성요소로부터 구별하는 목적으로만 사용될 수 있다. 예를 들어, 본 발명의 권리범위를 벗어나지 않으면서 '제1구성요소'는 '제2구성요소'로 명명될 수 있고, 유사하게 '제2구성요소'도 '제1구성요소'로 명명될 수 있다. 또한, 단수의 표현은 문맥상 명백하게 다르게 표현하지 않는 한, 복수의 표현을 포함한다. 본 발명의 실시예에서 사용되는 용어는 다르게 정의되지 않는 한, 해당 기술분야에서 통상의 지식을 가진 자에게 통상적으로 알려진 의미로 해석될 수 있다.Terms such as 'first' and 'second' may be used to describe various elements, but the elements should not be limited by the above terms. The above term may be used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a 'first component' may be termed a 'second component', and similarly, a 'second component' may also be termed a 'first component'. can Also, the singular expression includes the plural expression unless the context clearly dictates otherwise. Unless otherwise defined, terms used in the embodiments of the present invention may be interpreted as meanings commonly known to those of ordinary skill in the art.

이하에서는, 도면을 참조하여 본 발명의 일실시예에 따른 노면 전기 청소차의 디스플레이 시스템에 대하여 상세히 설명한다.Hereinafter, a display system for a road electric cleaner according to an embodiment of the present invention will be described in detail with reference to the drawings.

도 1은 본 발명의 바람직한 실시예에 따른 노면 전기 청소차의 디스플레이 시스템 블록 구성도이다.1 is a block diagram of a display system of a road electric cleaning vehicle according to a preferred embodiment of the present invention.

도 1을 참조하면 본 발명의 바람직한 실시예에 따른 노면 전기 청소차 디스플레이 시스템은, 증속시 선택되는 가속 페달(30)과 감속시 선택되는 감속 페달(40)의 작동 정도에 따라 모터 제어기(50)를 제어하여 증속 또는 감속을 제어함과 아울러 입력부(20)를 통해 입력되는 청소 기능 제어 명령에 따라 블로워 모터(60)와 브러시 모터(70)의 구동을 제어하는 차량제어기(10)와, 상기 차량제어기(10)로부터 차량의 운행에 관한 정보 및 청소 기능에 대한 정보를 수신하여 표시하는 디스플레이부(80)로 이루어진다.Referring to FIG. 1 , the display system for a road surface electric cleaner according to a preferred embodiment of the present invention controls the motor controller 50 according to the operation degree of the accelerator pedal 30 selected for increasing the speed and the deceleration pedal 40 selected for decelerating the vehicle. The vehicle controller 10, which controls the speed increase or deceleration by controlling, and controls the driving of the blower motor 60 and the brush motor 70 according to the cleaning function control command input through the input unit 20, and the vehicle controller It consists of a display unit 80 that receives and displays information on the operation of the vehicle and information on the cleaning function from (10).

이하, 상기와 같이 구성되는 본 발명 노면 전기 청소차 디스플레이 시스템의 구성과 작용에 대하여 상세히 설명한다.Hereinafter, the configuration and operation of the display system for the electric road cleaning vehicle of the present invention configured as described above will be described in detail.

먼저, 증속시 운전자가 가속 페달(30)을 조작하면 가속 페달(30)의 눌림 정도에 따라 가속 페달(30) 센서에서 0 ~ 5V의 아날로그 전압값을 출력하며, 이는 차량제어기(10, VCU, vehicle control unit)에 인가된다.First, when the driver operates the accelerator pedal 30 during acceleration, an analog voltage value of 0 to 5 V is output from the accelerator pedal 30 sensor according to the degree of pressing of the accelerator pedal 30, which is the vehicle controller 10, VCU, applied to the vehicle control unit).

차량제어기(10)는 노면 전기 청소차의 가속 상태를 고려하여 모터 제어기(50, MCU, Motor Control Unit)에 토크 및 속도 명령을 전달하고, 모터 제어기(50)는 차량의 구동용 모터와 감속기를 통해 휠에 동력을 전달한다.The vehicle controller 10 transmits torque and speed commands to the motor controller 50 (MCU, Motor Control Unit) in consideration of the acceleration state of the road electric cleaning vehicle, and the motor controller 50 uses the driving motor of the vehicle and the speed reducer. transmit power to the wheels.

이와 다르게 감속시 운전자가 감속 페달(40)을 조작하면, 감속 페달(40)의 각도를 검출하는 각도 센서의 각도 값에 따른 전압이 차량제어기(10)에 입력되고, 차량제어기(10)는 브레이크 라인의 공기압 조절밸브(PCV)를 제어하여 공기 압력을 전기적으로 제어한다.On the other hand, when the driver operates the deceleration pedal 40 during deceleration, a voltage according to the angle value of the angle sensor that detects the angle of the deceleration pedal 40 is input to the vehicle controller 10, and the vehicle controller 10 activates the brake The air pressure is electrically controlled by controlling the line air pressure control valve (PCV).

즉, 각도센서에 감속 페달량이 전송되면 차량제어기(10)는 공기압, 차속, 회생제동량의 입력값을 고려하여 제동 토크를 계산하고 PCV(Pressure Control Value)를 작동하여 공기압력을 조절하여 감속 페달의 페달량에 부합하는 감속을 실시한다.That is, when the deceleration pedal amount is transmitted to the angle sensor, the vehicle controller 10 calculates the braking torque in consideration of the input values of air pressure, vehicle speed, and regenerative braking amount and operates PCV (Pressure Control Value) to adjust the air pressure to adjust the air pressure to the deceleration pedal Decelerate according to the pedal amount.

또한, 입력부(20)는 운전자 또는 동승자가 청소 기능을 수행하도록 조작하는 조작 패널일 수 있다.In addition, the input unit 20 may be a manipulation panel that a driver or a passenger manipulates to perform a cleaning function.

즉, 주행 중 또는 정차 중 청소 기능을 입력부(20)를 통해 입력하면, 차량제어기(10)는 블로워 모터(60)와 브러시 모터(70)를 설정된 값으로 구동하는 구동제어신호를 출력하며 브러시 모터(70)에 의해 노면의 먼지를 털고, 바람직하게는 브러시 모터(70)의 중앙부에 위치하는 흡입관을 통해 블로워 모터(60)에 의해 형성되는 진공 압력에 의해 먼지를 유입하여 제거한다.That is, when a cleaning function is inputted through the input unit 20 while driving or stopping, the vehicle controller 10 outputs a driving control signal for driving the blower motor 60 and the brush motor 70 to set values, and the brush motor Dust on the road surface is dusted off by 70, and dust is introduced and removed by vacuum pressure formed by the blower motor 60 through a suction pipe located at the center of the brush motor 70, preferably.

도면에는 도시하지 않았으나 필터에 의해 먼지를 거르고, 흡입된 공기를 외부로 배출한다.Although not shown in the drawings, dust is filtered through a filter, and the sucked air is discharged to the outside.

상기 차량제어기(10)는 운행 제어부(11)와 청소 제어부(12)를 포함하여 하나의 구성으로 이루어지며, 동일한 PCB에 실장되는 것으로 한다.The vehicle controller 10 includes a driving control unit 11 and a cleaning control unit 12 in one configuration, and is mounted on the same PCB.

또한, 운행속도 검출부(51)와 농도 검출부(61) 및 압력 검출부(62)를 포함한다.In addition, it includes a traveling speed detection unit 51 , a concentration detection unit 61 , and a pressure detection unit 62 .

운행속도 검출부(51)는 차량제어기(10)의 운행 제어부(11)에서 모터 제어기50)로 가속 또는 감속시 제공되는 제어신호를 검출하고, 제어신호에 따라 정확한 운행속도를 연산하여 검출한다.The driving speed detection unit 51 detects a control signal provided during acceleration or deceleration from the driving control unit 11 of the vehicle controller 10 to the motor controller 50 , and calculates and detects an accurate driving speed according to the control signal.

상기 운행속도 검출부(51)는 청소 제어부(12)로 운행속도 정보를 제공한다.The running speed detection unit 51 provides the running speed information to the cleaning control unit 12 .

차량의 운행속도는 실질적으로 노면청소의 실효성에 중요한 요소가 된다.The operating speed of the vehicle is actually an important factor in the effectiveness of road surface cleaning.

예를 들어 운행속도가 빠르면 노면에 마찰되는 브러시의 마찰 횟수가 현저하게 감소하게 되며, 노면의 먼지를 제거하기 어렵게 된다.For example, if the driving speed is high, the number of frictions between the brushes rubbing against the road surface is remarkably reduced, and it is difficult to remove dust from the road surface.

따라서 운행속도가 기준값 이상이면 차량제어기(10)의 청소 제어부(12)는 입력부(20)에서 스위치나 버튼이 청소를 수행하는 것으로 선택된 경우라도 상기 운행속도 검출부(51)에서 검출된 차량속도가 기준값 이상이면 블로워 모터(60) 및 브러시 모터(70)가 동작하지 않도록 제어할 수 있다.Therefore, if the driving speed is greater than or equal to the reference value, the cleaning control unit 12 of the vehicle controller 10 sets the vehicle speed detected by the driving speed detection unit 51 to the reference value even when a switch or button is selected to perform cleaning in the input unit 20 . In this case, it is possible to control the blower motor 60 and the brush motor 70 not to operate.

이는 청소 효율이 낮은 상태에서 블로워 모터(60)와 브러시 모터(70)의 구동에 의한 배터리 전력 낭비를 막기 위한 것이다.This is to prevent wasting of battery power by driving the blower motor 60 and the brush motor 70 in a state where cleaning efficiency is low.

또한, 다른 제한으로서 농도 검출부(61)의 농도 검출결과에 따른 제어를 할 수 있다.In addition, as another limitation, it is possible to control according to the concentration detection result of the concentration detection unit 61 .

상기 농도 검출부(61)는 블로워에 의해 차량의 먼지 탱크 내부로 유입되는 공기에서 먼지의 농도를 검출하는 것으로 한다.It is assumed that the concentration detecting unit 61 detects the concentration of dust in the air introduced into the dust tank of the vehicle by the blower.

이때 농도 검출부(61)는 광을 이용하여 먼지에 의한 빛의 굴절과 산란에 따라 입자 수를 직접 측정하는 방식을 사용할 수 있다.In this case, the concentration detector 61 may use a method of directly measuring the number of particles according to refraction and scattering of light by dust using light.

농도 검출부(61)에 의해 현재 청소가 이루어지는 노면에서 흡입되는 먼지의 농도가 기준값 이하일 때 상기 입력부(20)를 통해 청소를 수행하는 것으로 입력이 설정된 경우에도 상기 청소 제어부(12)는 블로워 모터(60)와 브러시 모터(70)를 구동하지 않을 수 있다.Even when an input is set to perform cleaning through the input unit 20 when the concentration of dust sucked from the road surface currently being cleaned by the concentration detection unit 61 is less than or equal to the reference value, the cleaning control unit 12 controls the blower motor 60 ) and the brush motor 70 may not be driven.

이는 노면이 청소가 불필요한 경우를 감지하여 선택적으로 노면 청소가 이루어지도록 할 수 있는 것으로, 청소가 불필요한 깨끗한 노면을 청소하면서 배터리의 전력을 낭비하는 것을 방지할 수 있다.This can detect a case where the road surface is unnecessary to clean and selectively clean the road surface, and it is possible to prevent wasting power of the battery while cleaning a clean road surface that is not cleaned.

노면청소 동작은 브러시 모터(70)에 의해 구동되는 브러시가 노면의 먼지를 비산시키고, 블로워 모터(60)에 의해 구동되는 블로워에 의해 비산된 먼지가 탱크 내부로 흡입되며, 흡입된 먼지는 필터에 의해 탱크에 남고, 유입된 공기는 외부로 배출되는 구성이다.In the road cleaning operation, the brush driven by the brush motor 70 scatters dust on the road surface, the dust scattered by the blower driven by the blower motor 60 is sucked into the tank, and the suctioned dust is applied to the filter. It is a configuration in which the air is left in the tank and the inflow is discharged to the outside.

또한, 압력 검출부(62)는 상기 탱크 내부의 압력을 검출하는 것으로 하며, 검출된 압력은 상기 청소 제어부(12)로 제공된다. In addition, the pressure detection unit 62 is supposed to detect the pressure inside the tank, and the detected pressure is provided to the cleaning control unit 12 .

압력 검출부(62)에서 검출된 탱크의 압력이 설정 압력 이상인 경우 상기 청소 제어부(12)는 블로워 모터(60)와 브러시 모터(70)를 정지시킨다.When the pressure of the tank detected by the pressure detection unit 62 is equal to or greater than the set pressure, the cleaning control unit 12 stops the blower motor 60 and the brush motor 70 .

이는 필터 교체가 필요한 경우이며, 탱크 내의 압력 증가로 블로워의 동작에도 불구하여 먼지의 흡입이 이루어지지 않는 경우, 입력부(20)에서 청소를 수행하는 것으로 설정된 경우에도, 블로워 모터(60)와 브러시 모터(70)를 정지시켜 블로워 모터(60)의 손상을 방지하고, 전력 낭비를 막을 수 있다.This is a case where filter replacement is required, and when dust is not suctioned despite the operation of the blower due to an increase in pressure in the tank, even if it is set to perform cleaning in the input unit 20, the blower motor 60 and the brush motor By stopping the 70, it is possible to prevent damage to the blower motor 60, and to prevent power wastage.

이와 같은 구성에서 운행 제어부(11)와 청소 제어부(12)는 각각 검출된 정보 및 운행 정보를 디스플레이부(80)에 표시할 수 있다.In such a configuration, the operation control unit 11 and the cleaning control unit 12 may display the detected information and the operation information on the display unit 80 , respectively.

상기 디스플레이부(80)는 7인치(inch) 디스플레이이며, 차량의 속도 및 배터리 정보를 표시할 수 있다.The display unit 80 is a 7-inch display, and may display vehicle speed and battery information.

차량의 속도는 운행 속도 검출부(51)에서 검출된 결과를 운행 제어부(11)에서 디스플레이부(80)에 제공하여 표시할 수 있다.The vehicle speed may be displayed by providing a result detected by the driving speed detecting unit 51 to the display unit 80 from the driving control unit 11 .

또한, 청소 제어부(12)는 블로워 모터(60)와 브러시 모터(70)의 동작 상태 정보를 디스플레이부(80)에 제공하여 표시할 수 있다.Also, the cleaning control unit 12 may provide and display operation state information of the blower motor 60 and the brush motor 70 to the display unit 80 .

즉, 디스플레이부(80)는 미터 클러스터(meter cluster)의 역할과 함께 차량의 주요 전장 부품의 상태 정보를 표시할 수 있다.That is, the display unit 80 may display status information of major electronic components of the vehicle along with a role of a meter cluster.

이때 디스플레이부(80)에 표시되는 정보는 사용자 인터페이스의 조작에 따라 선택적으로 표시될 수 있다.In this case, the information displayed on the display unit 80 may be selectively displayed according to the manipulation of the user interface.

도 2는 디스플레이부(80)의 표시상태의 예를 나타낸다.2 shows an example of the display state of the display unit 80 .

도 2를 참조하면 그래픽을 통해 모터의 동작 상태, 배터리의 충전 상태를 확인할 수 있으며, 사용자 인터페이스의 메뉴를 이용하여 저전압 직류변환장치(LDC), 온보드 충전기(OBC)의 상태를 확인할 수 있으며, 기타 메뉴에서 청소 관련 장치들의 상태를 확인할 수 있다.Referring to FIG. 2 , the operating state of the motor and the charging state of the battery can be checked through the graphic, and the status of the low-voltage direct current converter (LDC) and the on-board charger (OBC) can be checked using the menu of the user interface, and other You can check the status of cleaning-related devices in the menu.

이처럼 본 발명은 하나의 제어기로 노면 전기 청소차의 운행 및 청소 동작을 제어하고, 청소 관련 부품의 상태 및 차량의 운행 정보를 함께 표시함으로써, 사용자 편의성을 향상시킬 수 있는 효과가 있다.As such, the present invention has the effect of improving user convenience by controlling the operation and cleaning operation of the electric road sweeper with one controller, and displaying the state of cleaning-related parts and operation information of the vehicle together.

이상에서 본 발명에 따른 실시예들이 설명되었으나, 이는 예시적인 것에 불과하며, 당해 분야에서 통상적 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 범위의 실시예가 가능하다는 점을 이해할 것이다. 따라서, 본 발명의 진정한 기술적 보호 범위는 다음의 청구범위에 의해서 정해져야 할 것이다.Although the embodiments according to the present invention have been described above, these are merely exemplary, and those of ordinary skill in the art will understand that various modifications and equivalent ranges of embodiments are possible therefrom. Accordingly, the true technical protection scope of the present invention should be defined by the following claims.

10:차량제어기 11:운행 제어부
12:청소 제어부 20:입력부
30:가속 페달 40:감속 페달
50:모터 제어기 51:운행속도 검출부
60:블로워 모터 61:농도 검출부
62:압력 검출부 70:브러시 모터
80:디스플레이부10: vehicle controller 11: operation control unit
12: cleaning control unit 20: input unit
30: accelerator pedal 40: deceleration pedal
50: motor controller 51: running speed detection unit
60: blower motor 61: concentration detection unit
62: pressure detection unit 70: brush motor
80: display unit

Claims (3)

가속 페달과 감속 페달의 조작에 따라 모터 제어기와 공기압 조절밸브를 제어하는 운행 제어부와,
입력부를 통해 청소 동작이 설정된 경우 블로워 모터와 브러시 모터를 구동하는 청소 제어부가 하나의 기판 상에 마련되고,
상기 운행 제어부와 상기 청소 제어부 각각의 검출 또는 제어정보를 표시하는 디스플레이부를 더 포함하는 노면 전기 청소차의 디스플레이 시스템.an operation control unit for controlling the motor controller and the air pressure control valve according to the operation of the accelerator pedal and the deceleration pedal;
When the cleaning operation is set through the input unit, a cleaning control unit for driving the blower motor and the brush motor is provided on one substrate,
The display system of the electric road cleaning vehicle further comprising a display unit for displaying detection or control information of each of the operation control unit and the cleaning control unit. 제1항에 있어서,
상기 디스플레이부는,
상기 운행 제어부로부터 차량의 속도 정보와 모터 상태 정보 및 배터리 충전 상태 정보를 수신하여 표시하는 노면 전기 청소차의 디스플레이 시스템.According to claim 1,
The display unit,
A display system for a road electric cleaning vehicle that receives and displays vehicle speed information, motor state information, and battery charge state information from the operation control unit. 제2항에 있어서,
상기 디스플레이부는,
상기 청소 제어부로부터 상기 블로워 모터와 상기 브러시 모터의 상태 정보를 수신하여 표시하는 노면 전기 청소차의 디스플레이 시스템.3. The method of claim 2,
The display unit,
A display system for a road electric cleaning vehicle that receives and displays status information of the blower motor and the brush motor from the cleaning control unit.
KR1020200189581A 2020-12-31 2020-12-31 Display for road cleaning electric vehicle KR20220097809A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102488013B1 (en) * 2022-07-29 2023-01-13 리텍 주식회사 Multi-purpose road management vehicle with integrated control technology

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102488013B1 (en) * 2022-07-29 2023-01-13 리텍 주식회사 Multi-purpose road management vehicle with integrated control technology

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