KR20230069381A - Transfer trolley and collision aviodance assist device for the transfer trolley based on the internet of things - Google Patents

Abstract

According to an embodiment of the present invention, a collision prevention assistant apparatus for a transfer cart based on the Internet of things (IoT) comprises: a distance measuring unit measuring distance data from a surrounding object based on one or more distance sensors; a display unit outputting a graphic image based on the measured distance data; a speaker outputting audio data based on the distance data; a braking unit controlling the operation of one or more wheels moving the transfer cart based on one or more of a control signal of a control unit based on the distance data and a user input; an input unit acquiring the user input for the braking unit; and a control unit determining a real-time warning section based on a remaining distance from the surrounding object in accordance with the distance data, and outputting a warning lamp in a preset type for the determined real-time warning section by controlling the display unit, and outputting a warning alarm in a preset type for the determined real-time warning section by controlling the speaker, and controlling the braking unit by generating the control signal in accordance with the determined real-time warning section. Therefore, accidents can be prevented.

Description

IoT-based anti-collision assist device for transportation bogie and transportation bogie including the same

The present invention relates to an IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. More specifically, it relates to an IoT-based anti-collision assist device for a transport bogie that controls a braking force for the transport bogie based on the Internet of Things and at least one distance sensor, and a transport bogie including the same.

In general, industrial fields such as construction, manufacturing, and logistics are traditionally classified as industries with many accidents because they always contain the risk of safety accidents occurring at work sites.

In particular, according to the industrial accident statistics or industrial accident occurrence status provided by the Korea Occupational Safety and Health Agency, the increase rate of industrial accidents in the logistics industry is very high compared to other industries.

In order to cope with these industrial accidents, large companies have already introduced or are introducing a system that assists in automating the work.

However, in the case of most small and medium-sized enterprises, they are still exposed to the risk of safety accidents, such as moving logistics using equipment such as forklifts or having to transport logistics directly by workers.

Specifically, there are many cases in which a transport cart loaded with logistics must be manually transported and moved by a worker. In this case, accidents such as a contact accident or a body part getting caught due to a lack of visibility of the worker frequently occur.

On the other hand, if there is difficulty in the corresponding logistics work, such as various types of products, irregular product specifications, handling of chemical products, or handling of products with expiration dates, find the desired logistics, transport, The amount of time required for storage and/or loading is also significant, which limits implementation of an efficient work process.

Therefore, it is necessary to develop and introduce new technologies to solve the above various problems.

In this situation, Internet of Things (IoT) technology, which has recently been attracting attention, is rapidly developing.

Here, the Internet of Things (IoT) refers to a technology that connects various objects to the Internet by incorporating sensors and communication functions into various objects, and refers to a technology that connects various objects through wireless data communication.

Therefore, it is intended to develop and provide a new technology to solve the problems described above by utilizing the latest Internet of Things technology.

KR 10-1519253 B1

The present invention has been made to solve the above-described problems, and includes an IoT-based anti-collision assist device for a transport bogie that controls a braking force for a transport bogie based on the Internet of Things and at least one distance sensor. We want to provide a transportation vehicle that

In detail, the present invention measures distance data with surrounding objects based on the distance sensor disposed on the transport bogie, and provides a predetermined notification based on the measured distance data. It is intended to implement a prevention assist device and a transportation cart including the same.

In addition, the present invention provides an Internet of Things based collision avoidance assist device for a transport bogie that provides an automatic braking process for controlling the braking force to apply a predetermined restriction to the movement of the transport bogie based on the measured distance data, and the same It is intended to implement a transportation vehicle that includes

In addition, the present invention is an Internet of Things-based collision avoidance assist device for transport bogies that acquires location data of at least one transport bogie based on the Internet of Things and provides a customized automatic braking process according to the acquired location data. And it is intended to implement a transport truck including the same.

However, the technical problems to be achieved by the present invention and the embodiments of the present invention are not limited to the technical problems described above, and other technical problems may exist.

According to an embodiment of the present invention, an IoT-based assist device for preventing collision for a transport bogie and a transport bogie including the same include a distance measurement unit that measures distance data with surrounding objects based on at least one distance sensor; a display unit outputting a graphic image based on the measured distance data; a speaker outputting audio data based on the distance data; a braking unit controlling operation of at least one wheel for moving the transport cart based on at least one of a control signal from the control unit based on the distance data and a user input; an input unit that obtains the user input for the braking unit; and determining a real-time warning section based on the remaining distance to the surrounding object according to the distance data, controlling and outputting a warning light in a preset form for the determined real-time warning section, and a control unit configured to output a warning alarm in a preset form by controlling the speaker, and to control the braking unit by generating the control signal according to the determined real-time warning interval.

At this time, the controller determines a warning section for a reference distance corresponding to the distance data as the real-time warning section among a plurality of preset warning sections based on a plurality of reference distances.

Also, the control unit controls the display unit to output the warning light satisfying at least one of a predetermined color, an output interval, and an output format according to the real-time warning section.

Also, the controller controls and outputs at least one of a distance measurement value according to the distance data and the real-time warning section information.

In addition, the control unit controls the speaker to output the warning alarm that meets at least one of a predetermined period and a decibel (dB) according to the real-time warning section.

In addition, the brake unit, a solenoid actuator that is turned on or off based on at least one of the control signal and the user input, and the wheel as the solenoid actuator is activated (on) or deactivated (off) and a brake lever that transmits a predetermined braking force to

In addition, the braking unit transmits a predetermined pressure to the brake lever when the solenoid actuator is activated, transmits a predetermined braking force to the wheel by rotating the brake lever based on the transmitted pressure, and transmits a predetermined braking force to the wheel. Based on the braking force, the rotational motion of the wheel is reduced or stopped.

In addition, the braking unit releases a predetermined pressure on the brake lever when the solenoid actuator is deactivated.

In addition, the control unit tracks the location of the transportation cart based on the Internet of Things (IoT), generates the control signal according to the tracked location, and controls the braking unit.

On the other hand, according to an embodiment of the present invention, an IoT-based anti-collision assist device for a transport bogie and a transport bogie including the same are separated from a distance sensor for measuring distance data with surrounding objects and the distance sensor while being connected to the main body. a distance measurement unit including a sensor location changer that supports position change; a display unit outputting a graphic image based on the measured distance data; a speaker outputting audio data based on the distance data; a braking unit controlling operation of at least one wheel for moving the transport cart based on at least one of a control signal from the control unit based on the distance data and a user input; an input unit that obtains a user input for at least one of the distance measuring unit and the braking unit; and controlling the distance measurement unit based on the user input to locate the distance sensor on an outermost area of the transport cart including a predetermined load, and based on the remaining distance to the surrounding object according to the distance data. and a controller configured to determine a real-time warning section and generate preset warning lights, warning alarms, and control signals for the determined real-time warning section.

At this time, the sensor position changing unit includes a cable connecting the distance measuring unit body and the distance sensor, a cable accommodating unit winding or unwinding the cable to adjust the length, and attaching and detaching the distance sensor to a predetermined position. Includes an attachment pad.

Also, the control unit controls the cable accommodating unit based on the user input to adjust the length of the cable, thereby supporting the position change of the distance sensor.

The sensor position changer may further include a guide shaft for moving a position of at least one of the plurality of distance sensors based on a multi-stage shaft having a predetermined bar shape when the number of distance sensors is plural.

In addition, the guide shaft includes a first shaft on which a first distance sensor is installed and a second shaft on which a second distance sensor is installed.

Further, the control unit executes a linear motion for at least one of the first shaft and the second shaft based on the user input, and the first distance sensor and the second distance sensor according to the executed linear motion. move at least one of them.

An IoT-based anti-collision assist device for a transport bogie and a transport bogie including the same according to an embodiment of the present invention controls the braking force of the transport bogie based on the Internet of Things and at least one distance sensor, thereby introducing an automation system. Even in these difficult small and medium-sized enterprises, it is possible to introduce a safety system that can prevent various industrial accidents in advance with relatively little capital, and at the same time, there is an effect of increasing work efficiency.

In addition, according to an embodiment of the present invention, the IoT-based anti-collision assist device for a transport bogie and a transport bogie including the same measure distance data with surrounding objects based on the distance sensor disposed on the transport bogie, By outputting a predetermined visual and/or audible notification, there is an effect of providing an intuitive warning notification that induces prevention of safety accidents due to lack of securing of the operator's vision.

In addition, according to an embodiment of the present invention, the IoT-based anti-collision assist device for a transport bogie and the transport bogie including the same can apply the braking force to apply a predetermined restriction to the movement of the transport bogie based on the measured distance data. By implementing an automatic braking process that controls, there is an effect of providing an electronic brake service that improves safety by automatically preventing unexpected situations such as contact accidents.

In addition, according to an embodiment of the present invention, the IoT-based anti-collision assist device for transport bogies and the transport bogie including the same acquires at least one location data of the transport bogie based on the Internet of Things, and obtains the obtained location data. By providing a customized automatic braking process according to location data, in a specific space (location), such as a place where work must be performed in a state where transport bogies are closely located, follow the automatic braking process customized according to the characteristics of the specific space It has the effect of assisting the transportation bogie to decelerate or stop.

However, the effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood from the description below.

1 is an internal block diagram of a transport bogie according to an embodiment of the present invention.
2 is an example of a diagram showing the appearance of a transport cart according to an embodiment of the present invention.
3 is an example of a drawing for explaining a braking unit according to an embodiment of the present invention.
4 and 5 are examples of drawings for explaining an automatic braking process according to an embodiment of the present invention.
6 is an example of a cross-sectional view of a sensor position changing unit according to an embodiment of the present invention.
7 is an example of a diagram for explaining a method of changing a position of a distance sensor based on a sensor position changing unit according to an embodiment of the present invention.
8 is an example of a drawing for explaining a method of changing a position of a distance sensor based on a guide shaft according to an embodiment of the present invention.
9 is an example of a diagram for explaining an automatic braking process based on the Internet of Things according to an embodiment of the present invention.

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. Effects and features of the present invention, and methods for achieving them will become clear with reference to the embodiments described later in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various forms. In the following embodiments, terms such as first and second are used for the purpose of distinguishing one component from another component without limiting meaning. Also, expressions in the singular number include plural expressions unless the context clearly dictates otherwise. In addition, terms such as include or have mean that features or elements described in the specification exist, and do not preclude the possibility that one or more other features or elements may be added. In addition, in the drawings, the size of components may be exaggerated or reduced for convenience of explanation. For example, since the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of description, the present invention is not necessarily limited to the illustrated bar.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and when describing with reference to the drawings, the same or corresponding components are assigned the same reference numerals, and overlapping descriptions thereof will be omitted. .

- Transport trolley (100: Transport trolley)

1 is an internal block diagram of a transport bogie according to an embodiment of the present invention.

Referring to FIG. 1, a transport cart 100 according to an embodiment of the present invention includes at least one brake unit 120, a display unit 130, a speaker 140, an input unit 150, and a distance measurement from a functional point of view. It may include a unit 160 , a storage unit 115 and a control unit 110 .

In detail, the braking unit 120 according to an embodiment of the present invention applies a predetermined braking force (in the embodiment, the corresponding braking force to reduce and/or stop the rotational motion of the wheel, etc.) can be applied.

In the embodiment, the braking unit 120 is a user input to the brake lever of the braking unit 120 (ie, user's on / off input to the brake lever in the embodiment), on to the brake lever User input to the solenoid actuator that executes /off input based on electromechanical force (ie, user's on/off input to the solenoid actuator in the embodiment) and/or sensing obtained by the distance measuring unit 160 Based on at least one of the control signals of the control unit 110 providing an on / off input signal to the solenoid actuator based on data (in the embodiment, data measuring distances to surrounding objects), the transport cart 100 ) It is possible to apply a predetermined braking force to the motion of the wheel that moves the wheel.

In addition, the display unit 130 according to the embodiment of the present invention may output various types of information related to the collision avoidance service of the transportation bogie 100 according to the embodiment of the present invention in various graphic images.

In an embodiment, the display unit 130 may display distance value data measured with respect to a predetermined surrounding object (an obstacle object in the embodiment), warning section information according to the measured distance value data, and/or transport cart 100 ) may output a warning light indicating that a predetermined obstacle object has been detected on the moving path.

In detail, in the embodiment, the warning light is displayed on the display unit 130 based on a predetermined color, output interval and/or output format (eg, a format output based on the background area of the display unit 130). can be output through

In the embodiment of the present invention, it has been described that the warning light display is provided based on the display unit 130, but this is only an example and is not limited thereto, and depending on the embodiment, it may be output based on a separate warning light output device Various embodiments may also be possible.

In this case, the warning light display may be implemented in different colors, output intervals, and/or output formats according to a plurality of warning sections based on the distance to the corresponding obstacle object.

In detail, in the embodiment, the warning section is a first warning section activated when an obstacle object exists within a first predetermined distance, and when an obstacle object exists within a second distance closer than the first distance by a predetermined distance or more. A second warning section that is activated and/or a third warning section that is activated when an obstacle object exists within a third distance closer than a predetermined distance or more than the second distance may be included.

In addition, the warning light display may be output based on different colors, output intervals, and/or output formats according to the types of activated warning sections as described above.

For example, the warning light display may be implemented in a first color, a first interval, and a first shape when the first warning interval is activated and output through the display unit 130, etc., and the second warning interval is activated. is implemented in a second color, a second interval, and a first shape, and can be output through the display unit 130, etc., and is implemented in a third color, a third interval, and a first shape when the third warning section is activated. It may be output through the display unit 130 or the like.

In an embodiment, the display unit 130 may include a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode, It may include at least one of an OLED), a flexible display, a 3D display, and an e-ink display.

Also, the display unit 130 may include a display that outputs a predetermined graphic image and a touch sensor that detects a user's touch input.

For example, the display unit 130 may be implemented as a touch screen by forming a mutual layer structure or integrally with the touch sensor.

Such a touch screen may function as a user input unit 150 providing a user input interface and function as an output unit displaying a predetermined graphic image.

In addition, the speaker 140 according to an embodiment of the present invention can output various audio data related to the collision avoidance service of the transportation bogie 100 according to the embodiment of the present invention.

In an embodiment, the speaker 140 may output a warning alarm or the like to audibly notify that a predetermined obstacle object is detected on the moving path of the transport cart 100.

At this time, in the embodiment, the warning alarm may be output at different cycles according to a plurality of warning sections based on the distance to the corresponding obstacle object.

In an embodiment, the warning alarm is a first cycle (eg, 1.5 second interval, etc.) when the first warning interval is activated, and a second warning interval when the second warning interval is activated, according to the type of the activated warning interval as described above. It may be output at a period (eg, 1.0 second interval, etc.) and a third period (eg, 0.4 second interval, etc.) when the third warning interval is activated.

In addition, illustratively, the warning alarm may be output at a level greater than a predetermined decibel (eg, 80 dB, etc.) in consideration of noise in a corresponding work site.

In addition, the input unit 150 according to an embodiment of the present invention receives a user's input (eg, gesture, voice command, button operation or different types of input).

In detail, in an embodiment, the input unit 150 may include a predetermined button, a touch sensor, and/or an image sensor that receives a user motion input.

In addition, the input unit 150 may be connected to an external controller through a predetermined interface module to receive a user's input.

In an embodiment, the input unit 150 performs an on/off input to the solenoid actuator, an on/off input to an automatic braking process based on the solenoid actuator, and/or a control input to a guide shaft described later. User input can be obtained.

At this time, the input unit 150 may be disposed at any position on the transport cart 100 as long as it is a position where it is easy to perform user input as described above. However, in view of the convenience and effectiveness of the user input as described above, it would be the most preferable embodiment to be disposed on the braking unit 120 and/or the gripping unit of the transport cart 100. In the following embodiments, the input unit 150 will be described based on being disposed on the holding unit, but is not limited thereto.

In addition, depending on the embodiment, the input unit 150 may be included in the above-described display unit 130 and may be implemented in various embodiments. Hereinafter, the input unit 150 and the display unit 130 are described. Separately described as a separate device, but is not limited thereto.

Also, the distance measuring unit 160 according to an embodiment of the present invention may measure a distance to a predetermined surrounding object and provide the measured distance to the controller 110 .

In detail, in the embodiment, the distance measuring unit 160 includes at least one distance sensor capable of measuring a distance to a predetermined surrounding object and/or at least one sensor position changing unit capable of changing the location of the distance sensor. It can be implemented including at least one.

At this time, in the embodiment, the sensor location changing unit may be formed for each of the distance sensors to change the location of each of the distance sensors.

Also, in an embodiment, the distance sensor may include an infrared sensor for sensing a distance value to the surrounding object.

In the embodiment, such a distance measuring unit 160 is mounted on at least one outer circumferential surface of the transport cart 100 and is a predetermined object existing on the mounted side, that is, the movement of the transport cart 100 in the embodiment. It is possible to detect and provide the distance to an obstacle object obstructing the

Meanwhile, according to an embodiment, the distance sensor of the distance measuring unit 160 may preset a sensing area accommodated by the corresponding distance sensor according to the control of the control unit 110 in a process.

In detail, according to the embodiment, the control unit 110 may obtain standard data (eg, standard width, length, and height data of the corresponding load) preset for each load.

Also, the controller 110 may set a sensing area for each distance sensor based on the obtained standard specification data.

In more detail, the control unit 110 may determine whether all of the corresponding loads are accommodated within the cargo loading unit of the transport cart 100 based on the standard specification data.

For example, the control unit 110 mutually compares first standard specification data including width, length, and height data of a predetermined first load with length data of a lower frame, a side frame, and a vertical frame of the cargo load unit. Thus, it is possible to determine whether the first load protrudes beyond the transport cart 100.

In addition, the control unit 110 may change the sensing area of the distance sensor based on the standard data when it is determined that the load exceeds the cargo loading area of the transport cart 100 .

As an embodiment, the controller 110 may change the sensing area of the distance sensor to be larger than the existing one based on the standard data.

That is, the control unit 110 automatically adjusts the sensing range of the distance sensor according to the standard specifications of the cargo loaded on the transport bogie 100, so that when the cargo protrudes from the transport bogie 100 and is loaded. It is possible to more accurately obtain distance measurement data for collision prevention between the cargo and transport cart 100 and an external obstacle object, thereby more reliably preventing industrial accidents at the work site and improving safety at the same time. there is.

In addition, the storage unit 115 according to an embodiment of the present invention includes an operating system (OS), various application programs, data and / or instructions for providing the transportation bogie 100 anti-collision service according to the embodiment of the present invention Any one or more of them may be stored.

Also, the storage unit 115 may include a program area and a data area.

Here, the program area according to the embodiment may be linked between an Operating System (OS) and functional elements that boot the transport cart 100 including the collision avoidance assist device for the transport cart 100, and data In the area, data generated according to the use of the server may be stored.

In an embodiment, the storage unit 115 may be various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, etc., and a web server that performs the storage function of the storage unit 115 on the Internet. It may also be web storage.

In addition, the storage unit 115 may be a recording medium detachable from the transport cart 100 .

In addition, the control unit 110 according to an embodiment of the present invention may control the overall operation of each unit described above in order to implement the collision avoidance service of the transportation cart 100 according to the embodiment of the present invention. .

The control unit 110 may be a system-on-a-chip (SOC) suitable for a server including a central processing unit (CPU) and/or a graphics processing unit (GPU), and the operating system stored in the above-described storage unit 115 ( OS) and/or application programs, etc., and can control each component mounted on the transport cart 100.

In addition, the control unit 110 may communicate internally with each component through a system bus, and may include one or more predetermined bus structures including a local bus.

In addition, the controller 110 may include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers ), micro-controllers, microprocessors, and electrical units for performing other functions.

2 is an example of a diagram showing the appearance of a transport cart 100 according to an embodiment of the present invention.

Meanwhile, referring to FIG. 2 , the transport cart 100 according to an embodiment of the present invention has a cargo loading unit 170, a moving unit 180, a braking unit 120, and a gripping unit 190 from a mechanical point of view. , an input unit 150, a speaker 140, a display unit 130, and a distance measurement unit 160 may be included.

In detail, the cargo loading unit 170 according to an embodiment of the present invention may form a space in which a predetermined cargo can be stored and/or loaded.

In an embodiment, the cargo loading unit 170 may have an open top surface to load a predetermined cargo.

In addition, the cargo loading unit 170 forms a lower surface of the cargo loading unit 170 and supports a predetermined cargo loaded on the cargo loading unit 170, a lower frame perpendicular to the outline of the lower frame. At least one side frame extending in the direction and forming a side portion of the cargo loading unit 170 and connected from the lower frame and/or the lower end of the side frame to extend in the floor direction and the moving unit 180 It may include a vertical frame coupled with.

Subsequently, the moving unit 180 combined with the cargo loading unit 170 based on the aforementioned vertical frame may move the body of the transport cart 100 according to the user's control.

In the embodiment, the moving unit 180 may include a plurality of wheels formed on the lower side of the above-described cargo loading unit 170, and the plurality of wheels may rotate with the vertical frame by a predetermined rotation axis. It may include front and rear wheels that are connected to each other and installed at the front and rear of the cargo loading unit 170, respectively, to move the transport cart 100.

These plurality of wheels can be rotated based on the user's control to realize direction change and location movement accordingly.

Also, in the embodiment, the moving unit 180 may be integrally connected to the braking unit 120 based on a pivot axis extending from the central axis of at least some of the plurality of wheels.

3 is an example of a drawing for explaining the braking unit 120 according to an embodiment of the present invention.

Referring to FIG. 3 , the braking unit 120 according to an embodiment of the present invention applies a predetermined braking force to the plurality of wheels 181 according to a user input and/or a control signal from the controller 110 (example In , a braking force for reducing and/or stopping the rotational motion of the corresponding wheel 181, etc.) may be applied.

In detail, in the embodiment, the braking unit 120 may include a solenoid actuator 121 and a brake lever 122 .

Here, the solenoid actuator 121 according to the embodiment may refer to a device that controls an internal mechanism by receiving energy based on a solenoid that generates power using electromechanical force according to the action of an electromagnet and generating power. .

In detail, in the embodiment, the solenoid actuator 121 may be implemented by including a solenoid 121-1, a pressure spring 121-2, and a stem 121-3.

In more detail, the solenoid actuator 121 may generate an electromagnetic field by obtaining current by operating like a relay according to the action of the electromagnet described above. When the solenoid 121-1 is charged in this way, the magnetic force generated as described above can be transmitted to the pressure spring 121-2 having a predetermined elastic force.

At this time, the pressure spring 121-2 of the braking unit 120 is applied to the pressure spring 121-2 depending on whether or not the above-described magnetic force is transmitted (ie, on/off of the solenoid actuator 121). The stem 121-3 having a rectangular rod shape connected to one end may be moved.

In detail, the pressure spring 121-2 moves the stem 121-3 toward the brake lever 122 on the same line as the moving direction in which the elastic force of the pressure spring 121-2 acts. Either an upward movement or a downward movement toward the opposite side of the brake lever 122 may be implemented.

In more detail, the pressure spring 121-2 activated by receiving the magnetic force and supplying power (ie, the solenoid actuator 121 is turned on) moves the stem 121-3 upward toward the brake lever 122 can make it

Here, in the upwardly moved stem 121-3, the other end opposite to one end connected to the pressure spring 121-2 contacts and pushes one end of the brake lever 122 according to the upward movement. A certain amount of pressure can be applied.

Specifically, the upwardly moved stem 121-3 transfers the upward movement energy induced by the elastic force of the pressure spring 121-2 to the brake pad 122-3 disposed at one end of the brake lever 122. 1) can be passed on.

Here, the brake lever 122 may include the brake pad 122-1 forming an area capable of receiving a predetermined pressure at one end, and a predetermined pressure applied to the brake pad 122-1. When this is applied, a rotational motion may be performed around the above-described rotation axis 182 .

In addition, the brake lever 122 may transmit a braking force according to a predetermined method to the wheel 181 connected to the brake lever 122 through the rotation shaft 182 according to the rotational motion performed. .

Illustratively, the brake lever 122 may further include a friction part contacting or spaced apart from an outer surface of the wheel 181 connected through the pivot shaft 182 and generating a predetermined frictional force.

In addition, in this example, the brake lever 122 may contact the friction part with the outer surface of the wheel 181 as the above-described rotational motion is performed, and the wheel 181 is moved by the frictional force generated accordingly. braking force can be transmitted to

That is, the brake lever 122 can rotate by the pressure applied to the brake pad 122-1, and as the rotation is performed, the rotational motion of the wheel 181 connected to the brake lever 122 is reduced. You can control it.

Returning back, that is, the upwardly moved stem 121-3 applies a predetermined pressure to the brake pad 122-1 as above to rotate the brake lever 122, thereby rotating the brake lever 122 connected to the brake lever 122. Rotational motion of the wheel 181 may be reduced or braked.

At this time, according to the embodiment, the brake lever 122 may gradually decelerate the rotational motion of the wheel 181 connected to the brake lever 122 .

That is, according to the embodiment, as the brake lever 122 rotates by the pressure applied to the brake pad 122-1, the rotational speed of the wheel 181 connected to the brake lever 122 is gradually reduced. can

Illustratively, the brake lever 122 may further include the friction part, and as the rotational motion is performed, the friction part causes a friction force between the outer surface of the wheel 181 and a predetermined intensity or less. can be brought into contact with each other. Thus, in this example, the brake lever 122 may gradually reduce the rotational speed of the wheel 181 according to the frictional force generated within the above range.

Therefore, the brake lever 122 can cause the wheels 181 coupled with the corresponding brake lever 122 to drive with a gradual deceleration without suddenly braking and stopping. By doing so, it is possible to significantly reduce the risk of causing a safety accident due to a sudden stop.

Conversely, the pressure spring 121-2 deactivated by releasing the magnetic force transfer (i.e., the solenoid actuator 121 is off) moves the stem 121-3 downward to the opposite side of the brake lever 122 there is.

In addition, the lowered stem 121-3 may be separated from the brake pad 122-1 to release the pressure applied to the brake lever 122 and return to the initial position.

At this time, the brake lever 122 may also return to an initial position before pressure is applied by the stem 121-3.

In detail, in the embodiment, the brake lever 122 may further include a rotational spring for realizing reverse rotation of the rotational shaft 182 based on a predetermined elastic force.

In addition, the brake lever 122 reverses the brake lever 122 about the rotation axis 182 when the pressure applied from the stem 121-3 is released based on the elastic force of the rotation spring. It is possible to perform a reverse rotation movement that rotates.

Subsequently, the brake lever 122 releases a predetermined braking force transmitted to the wheel 181 connected to the brake lever 122 through the rotational shaft 182 according to the reverse rotation motion performed. can

That is, the brake lever 122 recovers the braking force applied to the wheel 181 connected to the brake lever 122 as the reverse rotation is performed, and the wheel 181 performs the original rotation again, It can be reactivated so that it can be moved.

Illustratively, the brake lever 122 may further include the above-described friction part, and by performing the reverse rotation movement, the friction part is separated from the outer surface of the wheel 181 to the wheel 181. The applied frictional force can be released. Thus, in this example, the brake lever 122 can operate the wheel 181, which is stopped or decelerated by the frictional force, back to its original state.

Meanwhile, the solenoid actuator 121 as described above in the embodiment may be turned on/off according to the control signal of the control unit 110 described above.

That is, in the embodiment, the solenoid actuator 121 is based on the sensing data obtained by the distance measuring unit 160, of the control unit 110 providing an on/off input signal to the solenoid actuator 121. Based on the control signal, the magnetic force may be transmitted (on) or released (off) to the above-described pressure spring (121-2).

Alternatively, according to embodiments, the solenoid actuator 121 may be turned on/off according to a predetermined user input.

In detail, in the embodiment, the solenoid actuator 121, according to a predetermined user input obtained on the basis of the input unit 150 capable of performing on / off input to the solenoid actuator 121, the above-described pressing Magnetic force may be transmitted (on) or released (off) to the spring 121-2.

On the other hand, according to embodiments, the brake lever 122 as described above may be turned on/off based on a predetermined user input.

In detail, the brake lever 122 receives a user input for applying a predetermined pressure to the brake pad 122-1 described above (eg, the brake pad 122-1 by stepping on the brake pad 122-1 with a foot). (e.g., a user input that applies a predetermined pressure).

Then, the brake lever 122 may perform a rotational movement centered on the rotation shaft 182 according to the pressure applied by the user input.

In addition, the brake lever 122 may transmit braking force according to a predetermined method (eg, frictional force induction) to the wheel 181 connected to the brake lever 122 through the pivot shaft 182.

At this time, depending on the embodiment, the brake lever 122 may not include the above-described rotational spring, and accordingly, a separate user input (in the embodiment, applying a predetermined pressure to reverse the brake lever 122) The braking force for the wheel 181 may be maintained until a user input, etc.) is obtained.

In addition, the gripping unit 190 according to an embodiment of the present invention can be gripped by a user to obtain user control for controlling the above-described moving unit 180 .

Such a gripping unit 190 can be placed anywhere on the transport cart 100 as long as it can move the body of the transport cart 100 by controlling the moving unit 180, and can be implemented in any form. It will be clear to those skilled in the art that it can be.

That is, for example, the gripping unit 190 may be implemented based on at least a part (eg, the side frame, etc.) of the above-described cargo loading unit 170, and the cargo loading unit 170 includes It may be implemented as a handle formed at the top of the side frame in a shape that is easy for the user to grip (eg, 'c' shape, etc.).

However, it may be the most preferred embodiment that the gripping part 190 is implemented in the form of the handle, which is advantageous in terms of usability. In the following embodiments, the gripping part 190 is described based on the handle, but is limited thereto. it is not going to be

Meanwhile, on the gripping part 190 as above, the input unit 150 according to an embodiment of the present invention may be disposed.

In detail, in an embodiment, the input unit 150 provides an on/off input to the solenoid actuator 121, an on/off input to an automatic braking process based on the solenoid actuator 121, and/or a guide shaft to be described later. It is possible to obtain a user input for performing a control input, etc., and it can be installed on one surface facing the user side on the gripping part 190 .

That is, the input unit 150 may be disposed on a location where the user can easily perform the above-described user input and obtain a corresponding user input.

In addition, the speaker 140 according to an embodiment of the present invention can output various types of audio data related to the collision avoidance service of the transport cart 100 described above.

In an embodiment, the speaker 140 may output a warning alarm or the like to audibly notify that a predetermined obstacle object is detected on the moving path of the transport cart 100.

It will be clear to those skilled in the art that such a speaker 140 can be placed anywhere on the transport cart 100 as long as it can output the audio signal and can be implemented in any form.

However, it will be the most preferable embodiment to be disposed on the gripping part 190 in terms of the transmission power of the audio data. It is described based on what is arranged in, but is not limited thereto.

In addition, the display unit 130 according to an embodiment of the present invention can output various types of information related to the above-described collision avoidance service of the transportation cart 100 as various graphic images.

In an embodiment, the display unit 130 may display distance value data measured with respect to the obstacle object, warning section information according to the measured distance value data, and/or a predetermined obstacle on the moving path of the transport cart 100. A warning light indicating that an object has been detected can be output.

It will be clear to those skilled in the art that the display unit 130 can be placed anywhere on the transport cart 100 and implemented in any form as long as the graphic image can be output.

However, it will be the most preferred embodiment in that it is disposed on the gripping unit 190, which is advantageous for the user to easily recognize the graphic image output from the display unit 130. In the following embodiments, the display unit 130 is used as the It will be described based on being disposed on one surface facing the user on the gripping part 190, but is not limited thereto.

Also, the distance measuring unit 160 according to an embodiment of the present invention may measure a distance to a predetermined surrounding object and provide the measured distance to the controller 110 .

In detail, in the embodiment, the distance measuring unit 160 includes at least one distance sensor capable of measuring a distance to a predetermined surrounding object and/or at least one sensor position changing unit capable of changing the position of the distance sensor. It can be implemented including at least one.

In the embodiment, such a distance measuring unit 160 is mounted on at least one outer circumferential surface of the transport cart 100 and is a predetermined object existing on the mounted side, that is, the movement of the transport cart 100 in the embodiment. It is possible to detect and provide a distance to an obstacle object that may interfere with the

In an embodiment, the distance measuring unit 160 includes a first distance measuring unit 160 installed on the front side of the transport cart 100, a second distance measuring unit 160 installed on the upper side, and a left side. It may be implemented by including at least one of the third distance measuring unit 160 installed on the upper side and the fourth distance measuring unit 160 installed on the right side.

Thus, the distance measuring unit 160 is selected from among the first distance measuring unit 160, the second distance measuring unit 160, the third distance measuring unit 160 and the fourth distance measuring unit 160. The distance to the obstacle object may be sensed by performing distance measurement over an omnidirectional area based on the transport cart 100 based on at least one distance measuring unit 160 .

In the following embodiment, for effective description, the distance measurement unit 160 will be described based on including the first distance measurement unit 160 installed on the front of the transport cart 100, but this is only an example. It is not limited thereto.

More specifically, the distance sensor according to the embodiment may be implemented based on an infrared sensor capable of measuring a distance to the surrounding object.

At this time, depending on the embodiment, the distance sensor may be implemented in a singular number (ie, one) or in plurality on at least one outer circumferential surface of the transport cart 100 .

Here, the control unit 110 according to an embodiment of the present invention, based on the sensing data (in the embodiment, data measuring the distance to the surrounding object, etc.) obtained based on the distance sensor as above, The east part 120 can be controlled.

4 and 5 are examples of drawings for explaining an automatic braking process according to an embodiment of the present invention.

Specifically, referring to FIG. 4 , in the embodiment, the control unit 110, 1) when the distance sensor is singular (ie, one), uses the one distance sensor 161 to determine the predetermined value. A distance to a surrounding object (hereinafter referred to as distance data) may be measured.

At this time, the one distance sensor 161 is installed at a predetermined position on the front side of the transport cart 100 and is a predetermined object (an obstacle object in the embodiment) existing in the omnidirectional area of the transport cart 100. It is possible to sense the distance data with.

In addition, the controller 110 may determine a warning section (hereinafter, a real-time warning section) corresponding to a current time point among the plurality of warning sections described above based on the measured distance data.

In detail, again with reference to FIG. 4 , in the embodiment, the warning section is a first warning section activated when an obstacle object exists within a predetermined first distance d1, a predetermined distance greater than the first distance d1. A second warning section activated when an obstacle object exists within a second distance d2 closer than the distance of and/or an obstacle object within a third distance d3 closer than the predetermined distance or more than the second distance d2 may include a third warning interval that is activated when there exists.

In an embodiment, the controller 110 may detect a warning section corresponding to the measured distance data among a plurality of preset warning sections.

In an embodiment, the controller 110 sets a warning section (eg, a third warning section) for the predetermined reference distance when the measured distance data is included within a predetermined reference distance (eg, the third distance). It may be detected as a warning section corresponding to the distance data.

Also, the controller 110 may determine the detected warning interval as the real-time warning interval.

For example, the controller 110 may determine the real-time warning section as the first warning section when the distance data is within the first distance d1 (eg, 5 m, etc.). As another example, the controller 110 may determine the real-time warning section as the second warning section when the distance data is within the second distance d2 (eg, 2 m, etc.). As another example, the controller 110 may determine the real-time warning section as the third warning section when the distance data is within the third distance d3 (eg, 0.5 m, etc.).

In addition, the control unit 110 may output the above-described warning light display and/or warning alarm based on the determined real-time warning interval.

In detail, in an embodiment, the controller 110 may output a warning light display corresponding to the real-time warning section by controlling the display unit 130 .

In more detail, the control unit 110 is implemented in different colors, output intervals, and/or output formats according to the determined real-time warning section to visually indicate that a predetermined obstacle object is detected on the moving path of the transport cart 100. The indication of the warning light may be output by controlling the display unit 130 .

For example, if the determined real-time warning interval is the first warning interval, the control unit 110 matches the corresponding first warning interval and outputs a warning light display of a first color, a first interval, and a first type that is set in advance. can provide

Also, in an embodiment, the controller 110 may control the speaker 140 to output a warning alarm corresponding to the real-time warning section.

In detail, the control unit 110 provides an audio signal output at different cycles (intervals) according to the determined real-time warning section so as to hear that a predetermined obstacle object has been detected on the moving path of the transport cart 100. The notification alarm may be output by controlling the speaker 140 .

For example, if the determined real-time warning section is the first warning section, the controller 110 sends a warning alarm that matches the corresponding first warning section and outputs an audio signal at a preset first periodic interval through the speaker 140. ) can be output and provided based on

In this way, the control unit 110 provides a predetermined visual and/or audible notification based on the distance data to the surrounding object measured by the distance sensor 161 described above, so that the operator's field of view is insufficient. Intuitive warning notifications can be provided to induce prevention of safety accidents caused by

At this time, in the embodiment, the control unit 110, the shortest distance warning section (eg, the third warning section) activated when an obstacle object exists within the shortest distance (eg, the third distance (d3)) of the plurality of warning sections section), when the real-time warning section is determined, the above-described solenoid actuator 121 may be operated (on).

In detail, the control unit 110 may generate an on control signal for the solenoid actuator 121 when the real-time warning interval is the shortest distance warning interval.

In addition, the control unit 110 transmits the generated on control signal to the solenoid actuator 121 to control the solenoid actuator 121 to transmit (turn on) magnetic force to the above-described pressing spring 121-2 can do.

Thus, the control unit 110 may operate the solenoid actuator 121 when the distance data obtained by the distance measurement unit 160 is within the shortest distance, and accordingly, the above-described moving unit 180 By reducing or stopping the rotational motion of the wheels 181, the transportation cart 100 can be driven at a reduced speed or stopped.

That is, the control unit 110 automatically decelerates or stops the transport cart 100 when an obstacle object is detected within a predetermined distance, which may occur while the transport cart 100 is moving due to a lack of human cognitive judgment. Unexpected situations such as unexpected contact accidents can be prevented in advance through an automated process, and through this, safety at the work site can be further improved.

Subsequently, in the embodiment, the control unit 110, after the solenoid actuator 121 is operated (on), if an obstacle object does not exist within the shortest distance (eg, the corresponding obstacle object moves and within the shortest distance disappearing from the area, etc.), the solenoid actuator 121 can be turned off.

In detail, when the control unit 110 detects that an obstacle object does not exist within the shortest distance based on the above-described distance data after the solenoid actuator 121 is operated (on), the solenoid actuator 121 It is possible to generate an off control signal for

In addition, the control unit 110 sends the generated off control signal to the solenoid actuator 121 to release (off) the magnetic force that the solenoid actuator 121 is transmitting to the above-described pressing spring 121-2 can be controlled to

That is, when the real-time warning section is changed from the shortest distance warning section to another warning section while the solenoid actuator 121 is in operation, the control unit 110 stops (off) the operation of the solenoid actuator 121 Accordingly, the above-described rotational motion of the wheels 181 of the moving unit 180 can be resumed in its original state so that the transport cart 100 can operate in its original state.

Accordingly, the control unit 110 can implement an automatic braking process that adaptively operates according to the distance from a surrounding object and controls the movement of the transport cart 100.

At this time, according to the embodiment, the controller 110 may measure the distance data using the plurality of distance sensors 161 when 2) the distance sensors 161 are plural.

Here, the plurality of distance sensors 161 may include at least two or more distance sensors 161, and the following embodiments will be described based on including a first distance sensor and a second distance sensor, but limited thereto. it is not going to be

In detail, referring to FIG. 5, in the embodiment, the first distance sensor 161-1 may be installed on the outer left side of the front of the transport cart 100, and the second distance sensor 161-1 2) may be installed on the right outer region in the front of the transport cart 100.

In addition, the first distance sensor 161-1 and the second distance sensor 161-2 provide distance data with a predetermined object (an obstacle object in the embodiment) existing in the omnidirectional area of the transport cart 100. can sense.

That is, the control unit 110 can detect an obstacle object in a more expanded area by obtaining the distance data based on the plurality of distance sensors 161 installed at both front ends of the transport cart 100, , Through this, it is possible to more reliably prevent collisions between the transport cart 100 and surrounding objects, and at the same time, safety at the work site can be further improved.

Hereinafter, descriptions overlapping with the above may be summarized or omitted.

Also, the controller 110 may determine a real-time warning section, which is a warning section corresponding to a current time point, among the plurality of warning sections described above based on the measured distance data.

In addition, the control unit 110 may output the above-described warning light display and/or warning alarm based on the determined real-time warning interval.

At this time, in the embodiment, the control unit 110, when the shortest distance warning section activated when an obstacle object exists within the shortest distance among the plurality of warning sections is determined as the real-time warning section, the above-described solenoid actuator 121 It can be operated (on), and through this, the rotational motion of the wheels 181 of the moving unit 180 described above can be reduced or stopped so that the transport cart 100 can operate at a reduced speed or stop.

In addition, in the embodiment, the control unit 110, after the solenoid actuator 121 is operated (on), if an obstacle object does not exist within the shortest distance (eg, the corresponding obstacle object moves and the area within the shortest distance etc.), the solenoid actuator 121 can be turned off, and through this, the rotational motion of the wheels 181 of the moving unit 180 is resumed as it is, so that the transport cart 100 You can make it work in its original state.

6 is an example of a cross-sectional view of a sensor position changing unit according to an embodiment of the present invention.

Meanwhile, referring to FIG. 6 , the distance measuring unit 160 may further include the sensor position changing unit 163 according to an embodiment.

Here, the sensor location changing unit 163 according to the embodiment may position the distance sensor 161 at a distance from the distance measuring unit 160 .

In detail, in the embodiment, the sensor position changing unit 163 includes a cable accommodating unit 163-1, a cable 163-2, and an attachment pad 163-3 formed for each of the distance sensors 161. can include

In more detail, in the embodiment, the cable accommodating part 163-1 is such that the length of the cable 163-2 (cable) connecting the body of the distance measuring part 160 and the distance sensor 161 is adjusted. The cable 163-2 may be unwound or wound.

As an example, the cable accommodating portion 163-1 may be implemented in the shape of a cylindrical rod, but is not limited thereto, and may have any shape as long as it can accommodate the cable 163-2 and wind or unwind the cable 163-2. can also be implemented.

At this time, according to the embodiment, the cable accommodating part 163-1 may wind or unwind the cable 163-2 by operating a predetermined motor by the controller 110 described above according to a user input, or The cable 163-2 may be wound or unwound by tension according to the user input.

In addition, here, the cable 163-2 may have one end connected to the cable accommodating part 163-1 and the other end connected to the distance sensor 161 and/or the attachment pad 163-3, As the cable receiving portion 163-1 is wound or unwound, its length may be shortened or extended.

In addition, in the embodiment, the attachment pad 163-3 has a predetermined adhesive force that supports the distance sensor 161 to be detached from other objects (eg, cargo loaded on the transport cart 100). As a pad, it may be implemented as an integral type attached to at least a part of the distance sensor 161.

That is, in the embodiment, the sensor position changing unit 163 is spaced apart from the body of the distance measuring unit 160 as the cable 163-2 connected to the distance sensor 161 is unwound. and can be detached, and can be easily detached from a predetermined position on the transport cart 100 (eg, the surface of cargo loaded on the transport cart 100, etc.) through the attachment pad 163-3. .

In detail, in an embodiment of the present invention, the control unit 110 may measure the distance data based on at least one or more distance sensors that further include the sensor position changing unit 163 as described above.

7 is an example of a diagram for explaining a method of changing the position of the distance sensor 161 based on the sensor position changing unit 163 according to an embodiment of the present invention.

In more detail, referring to FIG. 7 , in the embodiment, the distance sensor 161 is transported including a predetermined cargo (1: hereafter, cargo) based on a user input based on the sensor position changing unit 163. It may be installed on the outermost area of the bogie 100.

In an embodiment, the user of the transport cart 100 performs a user input of gripping and pulling the distance sensor 161 to set the cable 163-2 wound around the cable accommodating part 163-1 to a predetermined level. It can be wound up as long as it is.

In addition, the user may use the distance sensor 161 connected to one end of the unwound cable 163-2 by using the attachment pad 163-3 attached to the distance sensor 161, By positioning and fixing on the outermost area of 100, the distance sensor 161 can be installed on the outermost area.

Then, the control unit 110 may measure the above-described distance data using the distance sensor 161 installed on the outermost area.

That is, in the embodiment, the control unit 110 determines the distance based on the distance sensor 161 installed by changing the location to the outermost area of the entire load 1 of the transport cart 100 and the transport cart 100. By measuring the data, the outermost area of the transport trolley 100 including the predetermined load 1, such as when the corresponding load 1 protrudes beyond the outermost surface of the transport trolley 100. If a change occurs, the distance to a predetermined obstacle object can be measured based on the changed outermost area (eg, the outer surface of the load 1 protruding beyond the outer surface of the transport cart 100) in consideration of this change. Through this, the remaining distance until colliding with the corresponding obstacle object can be more accurately calculated.

Also, the controller 110 may determine a real-time warning section, which is a warning section corresponding to a current time point, among the plurality of warning sections described above based on the measured distance data.

In addition, the control unit 110 may output the above-described warning light display and/or warning alarm based on the determined real-time warning interval.

At this time, in the embodiment, the control unit 110 is activated when an obstacle object exists within the shortest distance (eg, the third distance d3) among the plurality of warning sections (eg, the third warning section). section) is determined as the real-time warning section, the above-described solenoid actuator 121 may be operated (on).

Thus, the control unit 110 may operate the solenoid actuator 121 when the distance data obtained by the distance measurement unit 160 is within the shortest distance, and accordingly, the above-described moving unit 180 By reducing or stopping the rotational motion of the wheels 181, the transportation cart 100 can be operated at a reduced speed or stopped.

In addition, in the embodiment, the control unit 110, after the solenoid actuator 121 is operated (on), if an obstacle object does not exist within the shortest distance (eg, the corresponding obstacle object moves and the area within the shortest distance ), the solenoid actuator 121 can be turned off.

That is, when the real-time warning section is changed from the shortest distance warning section to another warning section while the solenoid actuator 121 is in operation, the control unit 110 stops (off) the operation of the solenoid actuator 121 Accordingly, the above-described rotational motion of the wheels 181 of the moving unit 180 can be resumed so that the transport cart 100 can operate as it should.

8 is an example of a drawing for explaining a method of changing a position of a distance sensor 161 based on a guide shaft according to an embodiment of the present invention.

On the other hand, referring to FIG. 8 , in another embodiment, the sensor position changing unit 163, when the distance sensor 161 is plural, that is, the distance sensor 161 is the above-described first distance sensor 161- 1) and the second distance sensor 161-2, a guide shaft 163-4 may be further included, and the first distance sensor 161-1 and the second distance sensor 161 -2) may be installed on the outermost area of the transport cart 100 including a predetermined load 1 based on a user input based on the guide shaft 163-4.

Here, the guide shaft 163-4 according to the embodiment determines the position of the distance sensor 161 installed on the corresponding guide shaft 163-4 based on a rod-shaped multi-stage shaft capable of linear reciprocating motion. can be moved

In detail, the guide shaft 163 - 4 may be formed at both ends of the distance measuring unit 160 in the shape of a rod-shaped multi-stage shaft.

In the embodiment, the guide shaft 163-4 includes a first shaft 163-4-1 formed on the left side of the distance measuring unit 160 and a second shaft formed on the right side of the distance measuring unit 160. It may include two shafts (163-4-2).

At this time, the above-described first distance sensor 161-1 may be installed on the first shaft 163-4-1, and the above-described second distance sensor ( 161-2) may be installed.

Then, the first distance sensor 161-1 and the second distance sensor 161-2, based on the user input based on the guide shaft 163-4, the transport cart including the predetermined load (1) It can be installed on the outermost area of (100).

In an embodiment, the user of the transport cart 100 performs a user input of gripping and pulling at least one of the first shaft 163-4-1 and/or the second shaft 163-4-2. , the first distance sensor 161-1 and/or the second distance sensor 161 installed on at least one of the first shaft 163-4-1 and/or the second shaft 163-4-2 -2) can be changed.

Illustratively, the user determines that the first distance sensor 161-1 and the second distance sensor 161-2 are positioned on the outermost extension line of the load 1 protruding from the transport cart 100. The first shaft 163-4-1 and the second shaft 163-4-2 may be linearly moved to

Alternatively, in another embodiment, the user of the transport cart 100 performs a user input based on the above-described input unit 150 to determine the first distance sensor 161-1 and/or the second distance sensor 161-1 on the guide shaft 163-4. A location movement of the distance sensor 161-2 may be performed.

In detail, in this embodiment, the input unit 150 includes a button of the first shaft 163-4-1 capable of controlling linear motion of the first shaft 163-4-1 and the second shaft ( A button may be provided on the second shaft 163-4-2 capable of controlling the linear motion of the 163-4-2.

In addition, the control unit 110 is configured according to a user input based on the first shaft 163-4-1 button and/or the second shaft 163-4-2 button provided based on the input unit 150. Linear motion of the first shaft 163-4-1 and/or the second shaft 163-4-2 may be controlled.

Accordingly, the control unit 110, the first distance sensor 161-1 installed on the first shaft (163-4-1) and / or the second shaft (163-4-2) and / or The position of the second distance sensor 161 - 2 may be moved according to a user input based on the input unit 150 .

Through this, the controller 110 can adjust the positions of the plurality of distance sensors 161 in an easy and intuitive manner.

In addition, in the embodiment, the control unit 110 uses the first distance sensor 161-1 and the second distance sensor 161-2 whose positions are determined based on the guide shaft 163-4 as described above. distance data can be measured.

Also, the controller 110 may determine a real-time warning section, which is a warning section corresponding to a current time point, among the plurality of warning sections described above based on the measured distance data.

In addition, the control unit 110 may output the above-described warning light display and/or warning alarm based on the determined real-time warning interval.

At this time, in the embodiment, the control unit 110, when the shortest distance warning section activated when an obstacle object exists within the shortest distance among the plurality of warning sections is determined as the real-time warning section, the above-described solenoid actuator 121 It can be operated (on), and through this, the rotational motion of the wheels 181 of the moving unit 180 described above can be reduced or stopped so that the transport cart 100 can operate at a reduced speed or stop.

In addition, in the embodiment, the control unit 110, after the solenoid actuator 121 is operated (on), if an obstacle object does not exist within the shortest distance (eg, the corresponding obstacle object moves and the area within the shortest distance etc.), the operation of the solenoid actuator 121 can be stopped (off), and through this, the rotational motion of the wheels 181 of the moving unit 180 described above is resumed so that the transport cart 100 remains in its original state. ) can make it work.

9 is an example of a diagram for explaining an automatic braking process based on the Internet of Things according to an embodiment of the present invention.

On the other hand, referring to FIG. 9 , according to an embodiment, the control unit 110 interlocks with a well-known Internet of Things (IoT)-based location tracking equipment for each of at least one transport cart 100. Real-time location information can be obtained.

In the embodiment of the present invention, the IoT-based location tracking device itself is not limited or limited, and any method capable of performing location tracking of the transportation cart 100 based on the Internet of Things using various disclosed algorithms It is obvious that the process of the present embodiment can be implemented in any way.

In addition, the control unit 110 may activate or deactivate the above-described automatic braking process based on the solenoid actuator 121 (hereinafter referred to as an automatic braking process) based on the obtained location information.

That is, the control unit 110 may activate or deactivate the automatic braking process according to the obtained distance data depending on where the transport cart 100 is located.

In detail, the control unit 110 deactivates the automatic braking process when it is determined that the transport cart 100 is located within a preset first area (SA: for example, a load storage area, etc.) based on the location information. can do.

Conversely, the control unit 110 can activate the automatic braking process when it is determined that the corresponding transport cart 100 is located outside the preset first area SA based on the location information.

That is, the controller 110 controls the movement of the transport carts 100 according to the distance from surrounding objects in a specific place, such as a load storage area where work must be performed in a state where the transport carts 100 are closely located. It is possible to deactivate the automatic braking process that imposes a predetermined restriction on the automatic braking process, and through this, the automatic braking process that acts adaptively according to the characteristics of the space where the transport bogie 100 is located can be implemented and its usability can be improved.

At this time, according to the embodiment, the automatic braking process may be activated or deactivated according to a user input based on the above-described input unit 150 (in the embodiment, an on/off input for the automatic braking process).

As an example, the input unit 150 may provide an automatic braking control button capable of performing on/off input for the automatic braking process.

Then, the control unit 110 may activate or deactivate the automatic control process according to a user input to the automatic braking control button of the input unit 150.

Accordingly, the control unit 110 may autonomously activate or deactivate the automatic braking process at a time desired by the user according to the user's cognitive judgment.

Meanwhile, according to the embodiment, the control unit 110 may change the reference distance for each of the plurality of warning sections based on the location information obtained as above.

In detail, when the control unit 110 determines that the transport cart 100 is located within a preset first area SA (eg, a load storage area, etc.) based on the location information, the plurality of warning intervals You can decrease the star reference distance.

For example, when the transport cart 100 is located in the first area SA, the control unit 110 determines the first distance d1 providing the standard for the above-described first warning section as a predetermined standard. (For example, a predetermined ratio, numerical value or value, etc.), and reducing the second distance d2 providing a criterion for the above-described second warning interval according to a predetermined criterion, and reducing the third warning interval described above. The third distance d3 providing a criterion may be decreased according to a predetermined criterion.

That is, when the control unit 110 determines that the transport cart 100 is located within the first area SA, the reference distance for each of the plurality of warning sections (in the embodiment, the first distance d1, By reducing the second distance (d2) and the third distance (d3) according to a predetermined criterion, a specific space, such as a load storage area, etc. In (place), the transportation cart 100 is operated according to the automatic braking process set for the specific space, such as when another object is detected within a closer distance than before so that the automatic braking by the solenoid actuator 121 described above is performed. You can slow down or stop.

Thereafter, when the control unit 110 determines that the corresponding transport cart 100 is located outside the preset first area SA based on the location information, the reduced reference distance for each of the plurality of warning sections is set to the original value. can be returned to

Accordingly, the control unit 110 may support the automatic braking process to smoothly operate according to the original process previously set in a work site other than the specific space as described above.

As described above, the collision avoidance assistance device for the transport cart 100 based on the Internet of Things according to the embodiment of the present invention and the transport cart 100 including the same are based on the Internet of Things and at least one distance sensor 161. By controlling the braking force for (100), a safety system (121-3) is introduced that can prevent various industrial accidents with relatively little capital even in small and medium-sized enterprises where it is difficult to introduce the automation system (121-3). At the same time, it has the effect of increasing work efficiency.

In addition, the collision avoidance assist device for the transport cart 100 based on the Internet of Things according to an embodiment of the present invention and the transport cart 100 including the same include the distance sensor 161 disposed on the transport cart 100 By measuring distance data with surrounding objects based on and outputting a predetermined visual and / or auditory notification, there is an effect of providing an intuitive warning notification that induces the prevention of safety accidents due to the lack of securing the operator's vision. there is.

In addition, the collision avoidance assist device for the transport cart 100 based on the Internet of Things according to an embodiment of the present invention and the transport cart 100 including the same move the transport cart 100 based on the measured distance data. By implementing an automatic braking process for controlling the braking force to apply a predetermined constraint to the brake, there is an effect of providing an electronic brake service that improves safety by automatically preventing the occurrence of an unexpected situation such as a contact accident.

In addition, the collision avoidance assist device for the transport cart 100 based on the Internet of Things according to an embodiment of the present invention and the transport cart 100 including the same, based on the Internet of Things, at least one of the transport cart 100 By obtaining location data and providing a customized automatic braking process according to the acquired location data, in a specific space (location) such as a place where work must be performed in a state where transport bogies 100 are closely located, There is an effect of supporting the transport vehicle 100 to decelerate or stop according to an automatic braking process customized according to characteristics.

On the other hand, the embodiments according to the present invention described above may be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer-readable recording medium. The computer readable recording medium may include program instructions, data files, data structures, etc. alone or in combination. Program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and usable to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floptical disks. medium), and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter or the like as well as machine language codes generated by a compiler. A hardware device may be modified with one or more software modules to perform processing according to the present invention and vice versa.

Specific implementations described in the present invention are examples and do not limit the scope of the present invention in any way. For brevity of the specification, description of conventional electronic components, control systems 121-3, software, and other functional aspects of the systems 121-3 may be omitted. In addition, the connection of lines or connecting members between the components shown in the drawings are examples of functional connections and / or physical or circuit connections, which can be replaced in actual devices or additional various functional connections, physical connection, or circuit connections. In addition, if there is no specific reference such as “essential” or “important”, it may not be a component necessarily required for the application of the present invention.

In addition, the detailed description of the present invention described has been described with reference to preferred embodiments of the present invention, but those skilled in the art or those having ordinary knowledge in the art will find the spirit of the present invention described in the claims to be described later. And it will be understood that the present invention can be variously modified and changed without departing from the technical scope. Therefore, the technical scope of the present invention is not limited to the contents described in the detailed description of the specification, but should be defined by the claims.

Claims (15)

a distance measuring unit that measures distance data with surrounding objects based on at least one distance sensor;
a display unit outputting a graphic image based on the measured distance data;
a speaker outputting audio data based on the distance data;
a braking unit controlling operation of at least one wheel for moving the transport cart based on at least one of a control signal from the control unit based on the distance data and a user input;
an input unit that obtains the user input for the braking unit; and
Determines a real-time warning section based on the remaining distance to the surrounding object according to the distance data, and controls and outputs a warning light in a preset form for the determined real-time warning section by controlling the display unit;
Controlling the speaker to output a warning alarm in a preset form for the determined real-time warning section;
A control unit for generating the control signal according to the determined real-time warning section and controlling the braking unit;
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 1,
The control unit,
Among a plurality of preset warning sections based on a plurality of reference distances, determining a warning section for a reference distance corresponding to the distance data as the real-time warning section
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 2,
The control unit,
Controlling the display unit to output the warning light satisfying at least one of a predetermined color, output interval, and output format according to the real-time warning section
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 1,
The control unit,
Controlling and outputting at least one of a distance measurement value according to the distance data and the real-time warning section information
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 2,
The control unit,
Controlling the speaker to output the warning alarm that meets at least one of a preset period and a decibel (dB) according to the real-time warning interval
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 2,
The braking unit,
A solenoid actuator that is turned on or off based on at least one of the control signal and user input;
A brake lever for transmitting a predetermined braking force to the wheel as the solenoid actuator is activated (on) or deactivated (off)
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 6,
The braking unit,
When the solenoid actuator is activated, a predetermined pressure is transmitted to the brake lever, the brake lever is rotated based on the transmitted pressure, and a predetermined braking force is transmitted to the wheel, and a predetermined braking force is transmitted to the wheel based on the transmitted braking force. reducing or stopping rotational motion
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 6,
The braking unit,
When the solenoid actuator is deactivated, a predetermined pressure on the brake lever is released.
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 1,
The control unit,
Tracking the location of the transportation cart based on the Internet of Things (IoT) and generating the control signal according to the tracked location to control the braking unit
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. a distance measurement unit including a distance sensor for measuring distance data with surrounding objects and a sensor position change unit for supporting a position change for separating the distance sensor while being connected to the main body;
a display unit outputting a graphic image based on the measured distance data;
a speaker outputting audio data based on the distance data;
a braking unit controlling operation of at least one wheel for moving the transport cart based on at least one of a control signal from the control unit based on the distance data and a user input;
an input unit that obtains a user input for at least one of the distance measuring unit and the braking unit; and
Controlling the distance measuring unit based on the user input to position the distance sensor on the outermost area of the transport cart including a predetermined load,
A control unit determining a real-time warning section based on the remaining distance to the surrounding object according to the distance data, and generating a preset warning light, warning alarm, and control signal for the determined real-time warning section.
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 10,
The sensor location change unit,
A cable connecting the body of the distance measuring unit and the distance sensor, a cable accommodating part for adjusting the length by winding or unwinding the cable, and an attachment pad for attaching or detaching the distance sensor to a predetermined position.
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 11,
The control unit,
Supporting the position change of the distance sensor by adjusting the length of the cable by controlling the cable accommodating unit based on the user input
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 11,
The sensor location change unit,
When the distance sensor is plural, further comprising a guide shaft for moving the position of at least one of the plurality of distance sensors based on a multi-stage shaft having a predetermined rod shape
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 13,
The guide shaft,
Including a first shaft on which the first distance sensor is installed and a second shaft on which the second distance sensor is installed
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same. According to claim 14,
The control unit,
Executing a linear motion for at least one of the first shaft and the second shaft based on the user input, and moving at least one of the first distance sensor and the second distance sensor according to the executed linear motion
An IoT-based anti-collision assist device for a transport vehicle and a transport vehicle including the same.

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