KR101483597B1 - Method and system for controlling equipment using user motion - Google Patents

Abstract

The present invention relates to a control apparatus for a vehicle, comprising: a sensor mounted on a front surface of the apparatus, for calculating a distance between the apparatus and a user; a central control unit for instructing movement of the apparatus so as to maintain the calculated reference distance, And a motion control unit for controlling the motion of the device.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a device control system and a control method using user movement,

The present invention relates to a method for controlling a device in accordance with a movement of a user.

In general, women or novice drivers suffer considerable difficulty during parking and, in some cases, contact accidents. Therefore, parking problems can give psychological pressure to many drivers who are inexperienced, and even avoid driving.

As a solution to this problem, a camera is mounted on the rear of the vehicle so that the driver can check the images photographed by the camera on the monitor during the parking process. By providing images that the driver can not see directly, it helps the driver to recognize the parking process, such as the distance between the cars and the wall, thereby improving convenience and preventing accidents.

However, although rearview cameras have the advantage of being able to grasp more of the situation behind the room mirror, the basic principle is similar to the room mirror in that the driver grasps all situations, There is a problem.

In order to solve such a problem, a system has been developed which recognizes three-dimensional information of a parked vehicle and recognizes an empty space as a parking position. However, although operation in a bright place where image quality is secured is assured, there is a problem that accurate and reliable operation can not be guaranteed in a dark place such as an underground parking lot.

One embodiment of the present invention is a device using user movement, which can easily control the device according to the relationship between the user and the device by advancing or retracting the device so that the distance between the device and the user maintains a reference distance A control system and method are provided.

One embodiment of the present invention is a method for adjusting a user's movement, which can adjust the driving direction of the device according to the movement of the user by turning the device right or left according to the movement such as raising the left arm, raising the right arm, A device control system and method using the same are provided.

One embodiment of the present invention is a method and apparatus for controlling a user who is able to park the device while watching the distance or surrounding conditions between the device and the other device directly from the outside, A device control system and method using the device.

One embodiment of the present invention provides a method and apparatus for controlling movement of a user by moving the device forward and backward so that the distance between the device and the user maintains a reference distance, A device control system and method using the device.

An embodiment of the present invention controls the apparatus to move upward, downward, leftward and rightward according to an operation of raising or lowering an arm or moving a shoulder to left and right, The present invention also provides a device control system and method using user movement,

A device control system using user movement according to an embodiment of the present invention includes a sensor mounted on a front surface of a device for calculating a distance between the device and a user, a sensor for calculating a distance between the device and a user, A central control unit for commanding movement, and a motion control unit for controlling the movement of the device in accordance with the command.

The central control may command the device to advance if the distance is less than the reference distance, or command the device to advance if the distance exceeds the reference distance.

Wherein the apparatus control system using the user's action further comprises: a gear manipulation device for changing the gear of the device to a forward gear or a reverse gear in accordance with the instruction; and, when the forward gear is changed by the gear manipulation device, And an active cruise control unit for, when the gear is changed to the reverse gear by the gear manipulation device, to reverse the device.

A device control system using user movement according to another embodiment of the present invention includes a sensor mounted on a front surface of a device and calculating a motion angle of a user located within a reference distance, a sensor based on whether the calculated motion angle exceeds a reference angle And a motion controller for controlling the driving direction of the apparatus to the left or right according to the command.

The sensor calculates an angle between the head of the user and the left elbow or an angle between the head and the right elbow, and the central control unit causes the apparatus to make a right turn when the angle between the head and the left elbow exceeds the reference angle Or if the angle between the head and the right elbow exceeds the reference angle, instruct the device to turn left.

The device control system using the user movement may further include a steering operation device that changes the driving direction of the device to the right or left direction and makes the device turn right or left.

A device control system using user movement according to another embodiment of the present invention includes a sensor mounted on an apparatus for calculating a distance between the apparatus and a user, a sensor for calculating a distance between the calculated distance and the user, A motion control unit for controlling the movement of the device in accordance with the instruction; and a control unit for operating the device to move backward when the distance is less than the reference distance, or when the distance exceeds the reference distance, And an operation portion for operating the device to move forward.

Wherein the sensor calculates an angle between the shoulder and the arm of the user and the central control unit instructs the apparatus to move up when the angle between the shoulder and the arm exceeds the reference angle, If it is less than the reference angle, commands the device to move down.

The sensor senses whether the sensor is parallel to the shoulder of the user, and the central control unit may instruct the device to move left and right so as to be parallel to the shoulder of the user.

A method for controlling a device using user movement according to an exemplary embodiment of the present invention includes calculating a distance between the device and a user using a sensor mounted on the device, controlling the device to move backward when the distance is less than a reference distance Controlling the apparatus to advance when the distance exceeds the reference distance, and controlling the angle between the head of the user and the left elbow, or the angle between the head and the right elbow, And when the angle between the head and the left elbow exceeds the reference angle, the apparatus is turned to the right by using the steering operation device, and when the angle between the head and the right elbow exceeds the reference angle , The apparatus is turned to the left by using the steering operation device, And adjusting a driving direction for the tooth.

A method of controlling a device using user movement according to another embodiment of the present invention includes calculating a distance between the device and a user using a sensor mounted on the device, Calculating an angle between the shoulder and the arm of the user located within the reference distance by the control, and when the angle between the shoulder and the arm exceeds the reference angle, Or controlling the apparatus to move downward when the angle between the shoulder and the arm is less than the reference angle.

According to one embodiment of the present invention, the apparatus can be easily controlled according to the relationship between the user and the apparatus by moving the apparatus forward or backward so that the distance between the apparatus and the user maintains the reference distance.

According to an embodiment of the present invention, the driving direction of the apparatus can be adjusted according to the movement of the user by turning the apparatus right or left according to the movement of the user such as raising the left arm, raising the right arm, or the like.

According to an embodiment of the present invention, a user located outside the apparatus can easily control the apparatus so that the user can park the apparatus while observing the distance or surrounding conditions between the apparatus and the other apparatus directly from the outside.

According to an embodiment of the present invention, by controlling the device to move forward and backward so that the distance between the device and the user maintains the reference distance, it is possible to easily control the device according to the relationship between the user and the device.

According to an embodiment of the present invention, by controlling the user to move the device up, down, left, or right according to the operation of raising or lowering the arm, or moving the shoulder to the left or right, Can be easily operated.

1 is a block diagram illustrating a configuration of a vehicle control system using user movement according to an embodiment of the present invention.
2 is a diagram illustrating an example of advancing or retracting an automobile according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating an example of turning the vehicle clockwise or counterclockwise according to an embodiment of the present invention.
4 is a block diagram illustrating a configuration of a heavy equipment control system using user movement according to an embodiment of the present invention.
5 is a view illustrating an example of attaching a sensor to a heavy equipment according to an embodiment of the present invention.
6 is a view illustrating an example of moving a crane up and down according to an embodiment of the present invention.
7 is a view showing an example of moving a crane forward and backward according to an embodiment of the present invention.
8 is a view illustrating an example of moving the crane left and right according to an embodiment of the present invention.
9 is a view showing an example of moving the crane left and right according to another embodiment of the present invention.
10 is a view illustrating an example of controlling a clamp of a crane according to an embodiment of the present invention.
11 is a flowchart illustrating a procedure of a device control method using user movement according to an embodiment of the present invention.
12 is a flowchart illustrating a procedure of a device control method using user movement according to another embodiment of the present invention.

Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings and accompanying drawings, but the present invention is not limited to or limited by the embodiments.

1 is a block diagram illustrating a configuration of a device control system using user movement according to an embodiment of the present invention.

Referring to FIG. 1, a device control system 100 using a user's motion includes a sensor 110, a central control unit 120, a motion control unit 130, a gear control unit 140, An active cruise control unit 150, and a steering operation device 160. [

In the present invention, the apparatus may include heavy equipment such as a moving large machine or construction equipment used for automobiles and civil engineering or construction. Hereinafter, for convenience of understanding, the case where the apparatus is an "automobile" is described as an example, but the apparatus is not limited to an automobile by the drawings.

First, the first Examples  Explain.

The sensor 110 recognizes the movement of the user and is mounted on the apparatus. In general, the sensor 110 may be installed at the front of the apparatus, although the positions where the sensors 110 are attached may be different according to each vehicle or heavy equipment. For example, if the device is an automobile, the sensor 110 may be installed in the vicinity of a room mirror inside a windshield of a vehicle. Alternatively, when the apparatus is a " heavy equipment ", it will be described later with reference to FIG. 4 and FIG.

In addition, the sensor 110 may be a motion-recognizable sensor such as a mono camera and a stereo camera for motion recognition, and a camera combined with a laser and other methods, and may recognize a direction other than the front side of the apparatus. According to an embodiment, the sensor 110 may recognize not only the front mounted on the device but also the motion of objects that are within a certain angle (within 90 degrees or 180 degrees). The sensor 110 calculates the distance d _t1 between the device and the user.

The central control unit 120 commands the movement of the apparatus so that the calculated distance d _t1 maintains the predetermined reference distance d _c . For example, the central control unit 120 may select the reference distance d _c in advance. The reference distance may be selected in consideration of the length of the bonnet in front of the apparatus. That is, if the length of the front bonnet is long, the central control unit 120 may select the reference distance to be long, and if the length of the front bonnet is short, the reference distance may be short. Or vice versa. This is to ensure that the distance maintains the reference distance while securing a safety distance between the device and the user.

Accordingly, the central control unit 120 can instruct the apparatus to advance when the distance is less than the reference distance, or to command the apparatus to advance when the distance exceeds the reference distance.

The motion controller 130 controls the motion of the apparatus according to the command. In an embodiment, the gear control apparatus 140 can change the gear of the apparatus to a drive gear or a reverse gear by the motion control unit 130. [ The active cruise control unit 150 advances the apparatus when the apparatus is changed to the forward gear by the gear operating apparatus 140 and when the apparatus is changed to the reverse gear by the gear operating apparatus 140, It can be backward.

The active cruise control unit 150 may perform the accelerating and braking as necessary.

2 is a diagram illustrating an example of advancing or retracting an automobile according to an embodiment of the present invention.

Referring to FIG. 2, the sensor 110 calculates the distance between the user (a) and the device (b) (200).

The central control unit 120 may instruct the vehicle to move backward when the distance d _t1 is less than the reference distance d _c . For example, the reference distance is selected as "3m ", and the distance between users from the windshield of the apparatus can be calculated as" 2m ". In this case, when the distance is less than the reference distance ( _dc - _dt1 > 0), the central control unit 120 instructs the vehicle to backward so that the distance 2m is maintained at the reference distance 3m can do.

Alternatively, the central control unit 120 may command the vehicle to advance (220) if the distance d _t1 exceeds the reference distance d _c . For example, the reference distance is selected as "3m &quot;, and the distance between the users from the windshield of the apparatus can be calculated as" 3.5m &quot;. In this case, since the distance exceeds the reference distance ( _dc - _dt1 <0), the central control unit 120 instructs the automobile to advance so that the distance (3.5 m) . &Lt; / RTI &gt;

Therefore, in the present invention, the vehicle can be easily controlled according to the relationship between the user and the apparatus by moving the apparatus forward or backward so that the distance between the vehicle and the user maintains the reference distance.

Hereinafter, the second Examples  Explain.

The sensor 110 calculates the movement angle of the user located within the reference distance d _c . For example, the sensor 110 may calculate an angle a _l between the head of the user and the left elbow or an angle a _r between the head and the right elbow.

In the present invention, judging the movement using the angle between the head and the elbow is related to the human skeleton. The skeleton of a human being can be largely divided into a head, a trunk, an arm, and a leg. Among them, the movement angle is calculated by using the movement of the arm which is most active and the determination of the left and right is most intuitive, .

The central control unit 120 commands the driving direction adjustment to the device based on whether the calculated motion angle a _r or a _l exceeds the reference angle a _c . For example, the central control unit 120 may select the reference angle in advance. The reference angle may be selected in consideration of the angle between the head and each elbow while the user is clear.

In other words, the central control unit 120 can instruct the user to raise the left arm so that the apparatus turns to the right when the angle a ₁ between the head and the left elbow exceeds the reference angle a _c . Alternatively, the central control unit 120 may instruct the user to raise the right arm so that the apparatus turns left when the angle a _r between the head and the right elbow exceeds the reference angle a _c .

The motion control unit 130 controls the driving direction of the apparatus to the left or right according to the command. In an embodiment, the steering control device 160 may change the driving direction of the device to the right or left direction by the motion control part 130, thereby turning the device right or left. That is, the steering operation device 160 changes the driving direction of the device to " right turn "in the case of a right turn instruction, and changes the driving direction of the device to" left turn " Can be changed.

The steering operation device 160 is a device designed to turn a steering wheel by adding a steering operation device using MDPS (Motor Driven Power Steering) or other actuators.

FIG. 3 is a diagram illustrating an example of turning the vehicle clockwise or counterclockwise according to an embodiment of the present invention.

Referring to FIG. 3, the sensor 110 calculates an angle a _l between the head of the user and the left elbow or an angle a _r between the head and the right elbow.

The central control unit 120 may command the vehicle to turn left when the angle a _r between the head and the right elbow exceeds the reference angle a _c . For example, the reference angle may be selected as "30 DEG &quot;, and the angle between the head and the right elbow may be calculated as" 45 DEG. In this case, when the angle a _r exceeds the reference angle (a _r > a _c ), the central control unit 120 instructs the car to turn left so that the driving direction of the car can be changed to the left.

Alternatively, if in excess of the central control unit 120 is the angle between the head and the left elbow (a _l) is the reference angle (a _c), it can command the car to the right (320). For example, the reference angle is selected as " 30 DEG &quot;, and the angle between the head and the left elbow can be calculated as "50 DEG. In this case, the central control unit 120 can change the driving direction of the apparatus to the right by instructing the car to make a right turn when the angle (a _l ) exceeds the reference angle (a _l > a _c ).

Accordingly, in the present invention, the user can adjust the operation direction of the apparatus according to the movement of the user by turning the apparatus right or left according to the movement of raising the left arm, raising the right arm, or the like.

4 is a block diagram illustrating a configuration of a heavy equipment control system using user movement according to an embodiment of the present invention.

Referring to FIG. 4, a device control system 400 using a user's motion includes a sensor 410, a central control unit 420, a motion control unit 430, a plurality of operation units 441 To 444).

The sensor 410 is attached to the device as it recognizes the movement of the user. In general, the sensor 410 may be installed at the front portion of the apparatus, although the positions where the sensors 110 are attached may be different according to each vehicle or heavy equipment. For example, if the device is a 'heavy equipment', the sensor 410 may be attached to the inside of the cockpit windshield where objects on the front and right of the device can be recognized. Alternatively, the sensor 410 may be mounted in front of the heavy equipment, or in the outward direction when the apparatus overlaps with the work area.

5 is a view illustrating an example of attaching a sensor to a heavy equipment according to an embodiment of the present invention.

Referring to FIG. 5, when the heavy equipment is a fixed equipment such as a 'crane', a sensor may be mounted under the crane or on a crane ring to operate the equipment by motion, if necessary.

In addition, the sensor 410 may be a motion-recognizable sensor such as a mono camera and a stereo camera for motion recognition, and a camera combined with a laser and other methods, and may recognize a direction other than the front side of the device. According to an embodiment, the sensor 410 may recognize not only the front mounted on the device but also the motion of objects that are within a certain angle (within 90 degrees or 180 degrees). The sensor 410 calculates the distance d _t1 between the device and the user.

The central control unit 420 commands the movement of the apparatus so that the calculated distance d _t1 maintains the predetermined reference distance d _c . For example, the central control unit 420 may select the reference distance d _c in advance. The reference distance may be selected in consideration of the length of the bonnet in front of the apparatus. That is, if the length of the front bonnet is long, the central control unit 420 may select the reference distance to be long, and if the length of the front bonnet is short, the reference distance may be short. Or vice versa. This is to ensure that the distance maintains the reference distance while securing a safety distance between the device and the user.

Accordingly, the central control unit 420 can instruct the apparatus to advance when the distance is less than the reference distance, or to command the apparatus to advance when the distance exceeds the reference distance.

The motion controller 430 controls the motion of the apparatus according to the command. In the case of a crane, it is possible to move the operating portion 1 444 for lifting the load in accordance with the above command to the left or right, to move the operating portion 2 442 forward or backward, 443 to move up or down, or to control the grips of the operating portion N 444.

Hereinafter, an example of controlling the crane will be described with reference to Figs. 6 to 10. Fig.

6 is a view illustrating an example of moving a crane up and down according to an embodiment of the present invention.

Referring to FIG. 6, the sensor 410 may calculate the angle between the shoulder and the arm of the user (610). At 610, the angle can be interpreted as zero degrees when located at the same height as the arm and shoulder. Therefore, the reference angle can be set to 0 degrees.

If the angle between the shoulder and the arm is less than the reference angle, the central control unit 420 may instruct the crane to move down (620). When the arm is lowered and the angle between the shoulder and the arm is an angle, since the reference angle is less than 0 degree, the motion controller 430 can control the crane to move downward.

The central control 420 may command 630 to move the device up if the angle between the shoulder and the arm exceeds the reference angle. When the angle between the shoulder and the arm is increased by raising the arm, the motion control unit 430 controls the crane to move upward because the reference angle is greater than 0 degree.

7 is a view showing an example of moving a crane forward and backward according to an embodiment of the present invention.

Referring to FIG. 7, the sensor 410 calculates the distance between the user a and the crane b (700).

The central control unit 420 may instruct the crane to move back 710 if the distance dt1 is less than the reference distance dc. For example, the reference distance is selected as "3m ", and the distance between the users from the crane can be calculated as" 2m ". In this case, when the distance is less than the reference distance (dc-dt1 > 0), the central control unit 420 instructs the crane to move back so that the distance 2m is maintained at the reference distance 3m .

Alternatively, if the distance dt1 exceeds the reference distance dc, the central control unit 420 may instruct the crane to move forward (720). For example, the reference distance is selected as "3m ", and the distance between the users from the crane can be calculated as" 3.5m ". In this case, since the distance exceeds the reference distance (dc - dt1 <0), the central control unit 420 instructs the crane to move forward so that the distance (3.5 m) .

Therefore, in the present invention, by moving the crane forward and backward so that the distance between the crane and the user maintains the reference distance, the crane can be easily controlled according to the relationship between the user and the crane, like a car.

8 is a view illustrating an example of moving the crane left and right according to an embodiment of the present invention.

Referring to FIG. 8, the sensor 410 can sense whether the sensor 410 is parallel to the user's shoulder (800).

When the left shoulder facing the sensor 410 is moved to the left so as to be parallel with the shoulder of the user, the central control unit 420 commands the crane to move leftward so that the shoulder and the sensor 410 are kept parallel to each other (810). In this case, the motion controller 430 can control the crane to move to the left.

The central control unit 420 instructs the crane to move to the right so that the shoulder and the sensor 410 are kept parallel when the right shoulder facing the sensor 410 is moved to the right so as to be parallel with the user's shoulder (820). In this case, the motion controller 430 can control the crane to move to the right.

9 is a view showing an example of moving the crane left and right according to another embodiment of the present invention.

9, when the sensor 410 senses that the sensor 410 is parallel to the user's shoulder, the central control unit 420 instructs the crane to move left and right along the user moving left and right so as to be parallel to the shoulder of the user can do. In this case, the motion controller 430 can control the crane to move left and right according to the user moving left and right.

10 is a view illustrating an example of controlling a clamp of a crane according to an embodiment of the present invention.

Referring to FIG. 10, the sensor 410 senses the user's upper position, and the user can sense the operation of collecting or widening both arms (10). The central control unit 420 commands to collapse the clamp of the crane 11 when the arms are gathered forward, and instructs the crane to unfold the clamp when the arms are opened.

11 is a flowchart illustrating a procedure of a device control method using user movement according to an embodiment of the present invention.

Referring to FIG. 11, in step S10, a device control method using user movement (hereinafter referred to as a device control method) calculates a distance between the device and a user using a sensor mounted on the front surface of the device. The sensor may be installed near the room mirror inside the windshield of the vehicle.

In step S20, the apparatus control method controls the movement of the apparatus so that the calculated distance maintains the predetermined reference distance. The reference distance may be selected in consideration of the length of the front bonnet of the apparatus. For example, in the apparatus control method, if the length of the front bonnet is long, the reference distance is selected to be long, The reference distance can be shortened.

Thus, the apparatus control method may command the apparatus to advance if the distance is less than the reference distance, or command the apparatus to advance if the distance exceeds the reference distance. The apparatus control method controls the movement of the apparatus in accordance with the instruction. The apparatus control method of Fig. 4 can be performed by the apparatus control system of Fig. Therefore, the apparatus control method can change the gear of the apparatus to a reverse gear or a forward gear by an active cruise control included in the apparatus control system, and can reverse or advance the apparatus.

In step S30, the apparatus control method calculates the motion angle of the user located within the reference distance by the control. In order to calculate the movement angle of the user, the user must be located within a reference distance from the device. Thus, the apparatus control method may cause the user to be positioned within a reference distance from the apparatus by advancing or retracting the apparatus in step S30.

The motion angle may refer to the angle of each arm with respect to the head of the user. That is, when the user raises his left arm, the apparatus control method can calculate the angle between the left elbow and the head with motion. Alternatively, when the user raises his right arm, the device control method may calculate an angle between the right hand elbow and the head.

In step S40, the device control method adjusts the driving direction for the device based on whether the calculated motion angle exceeds a reference angle. The reference angle may be selected in consideration of the angle between the head and each elbow while the user is clear.

For example, the apparatus control method can turn the apparatus right by using a steering operation device (MDPS) when the angle between the head and the left elbow exceeds the reference angle. Alternatively, the apparatus control method may use the steering operation device to turn the apparatus left when the angle between the head and the right elbow exceeds the reference angle.

Therefore, in the present invention, a user located outside the apparatus can easily control the apparatus, so that the user can park the apparatus while watching the distance or the surrounding situation between the apparatus and the other apparatus directly from the outside.

12 is a flowchart illustrating a procedure of a device control method using user movement according to another embodiment of the present invention.

Referring to FIG. 12, in step S10, the apparatus control method calculates a distance between the apparatus and a user using a sensor mounted on the apparatus. Here, the device is described as a crane, which is one of heavy equipment such as heavy machinery, heavy construction equipment used for civil engineering or construction work.

In step S20, the apparatus control method controls the apparatus to move forward and backward so that the calculated distance maintains the predetermined reference distance. The apparatus control method may control the apparatus to move backward when the distance is less than the reference distance, or to control the apparatus to move forward when the distance exceeds the reference distance.

In step S30, the apparatus control method calculates the angle between the shoulder and the arm of the user located within the reference distance by the control.

In step S40, the apparatus control method controls the apparatus to move upward when the angle between the shoulder and the arm exceeds the reference angle, or when the angle between the shoulder and the arm is less than the reference angle, .

In an embodiment, the device control method may control the device to move left and right so as to be parallel to the shoulder of the user so as to remain parallel to the shoulder of the user.

In another embodiment, the device control method may control the folding and unclamping of the clamps of the crane by bringing both arms forward or apart.

The methods according to embodiments of the present invention may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. This is possible. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents of the claims, as well as the claims.

100: Device control system
110: sensor
120:
130:
140:
150: Active cruise control
160: Steering device

Claims (11)

A sensor mounted on a front side of the vehicle and calculating a distance between the device and the user;
A central control unit for instructing the apparatus to advance when the calculated distance is less than the reference distance or to command the apparatus to advance if the distance exceeds the reference distance;
A motion controller for controlling the motion of the apparatus according to the command;
A gear manipulating device for changing gears of the apparatus into forward gears or reverse gears in accordance with the command; And
An active cruise control unit for advancing the apparatus when the gear is changed to the forward gear by the gear operating apparatus and for reversing the apparatus when the gear is changed to the reverse gear by the gear operating apparatus;
The device control system using user movement.
delete delete delete The method according to claim 1,
The sensor includes:
Calculating an angle between the head of the user and the left elbow or an angle between the head and the right elbow,
The central control unit,
Instructs the apparatus to turn to the right when the angle between the head and the left elbow exceeds a reference angle or instructs the apparatus to turn to the left when the angle between the head and the right elbow exceeds the reference angle, Device control system using user movement.
6. The method of claim 5,
A steering operation device for changing the driving direction of the device to the right or left direction and turning the device to the right or left,
Wherein the device control system further comprises:
delete The method according to claim 1,
The sensor includes:
Calculating an angle between the shoulder and the arm of the user,
The central control unit,
Instructing the device to move up when the angle between the shoulder and the arm exceeds a reference angle or instructing the device to move down when the angle between the shoulder and the arm is less than a reference angle Device control system.
The method according to claim 1,
The sensor includes:
Detects whether it is parallel to the shoulder of the user,
The central control unit,
And instructs the device to move left and right so as to be parallel to the shoulder of the user.
Calculating a distance between the device and a user using a sensor mounted on the device;
Commanding the central controller to command the device to move back if the calculated distance is less than the reference distance, or to command the device to advance if the distance exceeds the reference distance;
Controlling a motion of the apparatus in accordance with the command;
Changing a gear of the apparatus to a forward gear or a reverse gear in accordance with the command; And
When the active cruise control unit advances the apparatus when the gear is changed to the forward gear by the gear manipulation apparatus and the active cruise control unit reverses the gear when the gear is changed to the reverse gear by the gear manipulation apparatus;
Wherein the device control method comprises the steps of: delete

Images