KR101811230B1 - Universal driving apparatus mountable to moving apparatus having wheel - Google Patents

Abstract

A universal driving apparatus comprises a support member, a rotation member, a motor, and a control unit. The support member is coupled to a frame of a moving apparatus, and the rotation member is in contact with a wheel of the moving apparatus while the universal driving apparatus is coupled to the frame. As the control unit drives the motor, a driving force of the motor is transmitted to the wheel through the rotation member that is in contact with the wheel. Without changing design of the moving apparatus, the universal driving apparatus is detachably mounted in the moving apparatus to transmit a driving force to the wheel of the moving apparatus. Therefore, the universal driving apparatus can be used for various types of moving apparatuses.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a universal driving apparatus mounted on a moving apparatus having wheels,

The present invention relates generally to a universal drive device mounted on a mobile device having one or more wheels so that a person can be moved by pushing or pulling them with a human force. In particular, the universal drive device is mounted to various mobile devices having wheels, And more particularly, to a general-purpose driving apparatus having a structure for assisting a function of a motor.

A moving device having a frame including various materials such as metal or plastic and a structure having one or more wheels attached to the frame is applied to various fields required by a person. In some cases, the mobile device has its own driving system, but it is often arranged to be movable by a human force. For example, the mobile device may include a walking aid device for assisting the elderly in walking, a wheelchair for a disabled person or a disabled person, a stroller for carrying an infant, a cart or a cart for carrying a heavy load, and the like. Such a mobile device is based on a simple structure, which may vary in detail but is generally of one or more wheels on the frame.

However, there is a case in which it is difficult to simply move the mobile device to which the basic frame and the wheel are applied by the attraction force. For example, even though elderly people can easily move on the flat ground while pushing the walking aid, it may not be easy to push and move the walking aid when climbing the ramp. Further, when a worker loads and carries a load, even if a load larger than a predetermined weight is loaded on the cart, it may not be easy to move while pushing the cart. Particularly, a moving device on a slope in terms of structure, which is pulled or pushed by a person, may cause a safety problem.

Of course, a driving system such as a motor may be installed in the mobile device in the manufacturing step of the mobile device. However, due to various reasons such as an increase in manufacturing cost and complicated structure, it is practically difficult to include an independent driving system in all mobile devices. Further, if the moving device includes the driving system from the beginning, there is a problem that the weight of the driving system itself is added to the moving device even when the power of the driving system is unnecessary. In consideration of this point, it is preferable that the mobile device can be provided with power capable of assisting the movement of the mobile device when the mobile device is not easily moved by the human force, even if no additional structure is added at the stage of manufacturing the mobile device will be.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a universal drive device that is capable of providing driving force to wheels of a mobile device by being detachably mounted to a mobile device by a simple structure.

According to an aspect of the present invention, there is provided a universal driving apparatus mounted on a moving apparatus having a frame and a wheel, the universal driving apparatus including: a housing; A support member for coupling the frame of the housing and the moving device to each other; A rotating member installed in the housing, at least one of the rotating member being in contact with the wheel of the moving device while the housing is coupled to the frame; A motor for rotating the rotating member in contact with the wheel so that a driving force is transmitted to the wheel through the rotating member; And a control unit for controlling driving of the motor. Thus, the universal drive device can provide a driving force for movement of the mobile device without changing the initial design of the mobile device, and can be universally used in mobile devices having various types and shapes.

Here, the universal driving apparatus further includes a sensing section for tracking the user. The controller may drive the motor to move the mobile device toward a position of the user sensed by the sensing unit. Thereby, the universal drive system allows the mobile device to move automatically along the user, even if the user does not push or pull the mobile device with a human force.

In addition, the general purpose drive further includes a sensing unit for sensing the speed of the driving unit. The controller may drive the motor such that the rotating member rotates in a direction opposite to the moving direction of the driving device when the speed of the driving device sensed by the sensing part is greater than a predetermined value. As a result, the general-purpose driving device can limit the movement of the mobile device in the event that the mobile device accelerates from the inclined plane or the like.

Further, the rotating member may include: a first gear connected to the motor; A plurality of second gears adapted to rotate in engagement with the first gear; A plurality of rotors respectively connected to the plurality of second gears; And a caterpillar disposed to surround the plurality of rotors so as to be in contact with the wheels.

Further, the universal drive apparatus further includes a communication section for communicating with the external apparatus. The control unit may drive the motor in response to a signal received from the external device through the communication unit. As a result, the universal drive device provides the user with control over the universal drive device remotely.

According to the present invention, the universal drive apparatus can be detachably mounted on the frame of the mobile device, and by transmitting the driving force to the wheels of the mobile device, it is possible to provide an auxiliary power for movement to the mobile device having no drive system. Further, since the universal driving apparatus can be separated from the moving apparatus when the auxiliary driving force is unnecessary, the universal driving apparatus can prevent unnecessary increase in the weight of the moving apparatus.

Further, since one general-purpose drive device can be mounted on various kinds and types of mobile devices, the general-purpose drive device can improve usability and economy.

1 is a perspective view of a general-purpose driving apparatus according to an embodiment of the present invention.
2 is a block diagram of the configuration of a driving apparatus according to an embodiment of the present invention.
3 is a perspective view showing a state before the driving apparatus according to the embodiment of the present invention is mounted on the moving apparatus and a state in which the driving apparatus is mounted on the moving apparatus.
4 is a perspective view showing a state in which a driving apparatus according to an embodiment of the present invention is mounted on a moving apparatus.
5 is a perspective view showing an internal structure of a rotating member of a driving device according to an embodiment of the present invention.
Fig. 6 is a flowchart showing a control method of the drive apparatus according to the embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. In the following embodiments, only configurations directly related to the concept of the present invention will be described, and description of other configurations will be omitted. However, it is to be understood that, in the implementation of the apparatus or system to which the spirit of the present invention is applied, it is not meant that the configuration omitted from the description is unnecessary. It should be understood that terms such as " comprise "or" have "in the embodiments are intended to specify that there is a feature, number, step, operation, , ≪ / RTI > an operation, an element, or a combination thereof.

In addition, the embodiments described with reference to the drawings are not mutually exclusive unless otherwise specified, and a plurality of embodiments may be selectively implemented in one apparatus. The combination of the plurality of embodiments may be arbitrarily selected and applied in implementing the spirit of the present invention by those skilled in the art.

1 is a perspective view of a general-purpose driving apparatus according to an embodiment of the present invention.

As shown in FIG. 1, the driving apparatus 100 according to the present embodiment is a module independent of a moving apparatus (not shown) for mounting the driving apparatus 100. The driving apparatus 100 is used in a state in which it is mounted on the mobile device, and is detachable from the mobile device by the user.

The driving apparatus 100 includes a housing 110, a supporting member 120 installed on one side of the housing 110, a rotating member 130 provided on the other side of the housing 110, A motor 140, and a processing board 150 accommodated in the housing 110. Further, the driving apparatus 100 has a power switch 160 that turns on or off the power of the driving apparatus 100 manually. The components of the driving apparatus 100 described above are only those directly related to the spirit of the present invention, and not all elements necessary for actual implementation of the driving apparatus 100 are mentioned. For example, the drive system 100 may have additional components such as a motor 140 and a power supply (not shown) that supplies power to the process board 150 and the like.

The housing 110 has a receiving space therein and houses some components of the driving apparatus 100 such as the motor 140 and the processing board 150 and the like. The housing 110 includes a box containing a material such as metal or plastic. The size, material, and shape of the housing 110 are not limited, and various modifications are possible during the designing stage. Although the housing 110 in this embodiment has a shape in which one corner is recessed in a box of a rectangular parallelepiped, it is noted that this is only one design example in consideration of the arrangement of the support member 120 and the rotary member 130. [

The support member 120 is installed in one area outside the housing 110. The support member 120 is coupled to one side of the mobile device, thereby coupling the drive device 100 to the mobile device. More specifically, the support member 120 is coupled to a frame (not shown) of the mobile device, thereby coupling the housing 110 and the frame together. The support member 120 has various fastening structures, such as a bolt and nut coupling structure, so as to maintain the engagement position with respect to the frame. Through engagement and disengagement of this fastening structure, the support member 120 can be fixedly coupled to, or detached from, the supported position while being supported by the frame of the mobile device.

The structure of the support member 120 can be designed in consideration of various frame shapes. For example, the support member 120 has a C-shaped cross section, that is, a circular cross section with one open side. The support member 120 can receive a frame having a circular cross section through an opened side and the support member 120 can be fixed to the frame by tightening an opened side of the support member 120 in which the frame is accommodated with a screw or a rivet, Can be combined.

This structure of the support member 120 allows the support member 120 to be supported on a frame having various diameters. However, the above structure is merely one example in which the support member 120 can be realized, and the structure of the support member 120 is not limited to the specific embodiment.

The rotary member 130 is installed on an outer side of the housing 110 and in a region spaced from the support member 120. The rotary member 130 includes a caterpillar 131 rotated by the driving force of the motor 140 and a rotary member cover 133 covering the caterpillar 131. [ The rotating member 130 has an additional configuration, and the details thereof will be described later.

The caterpillar 131 has a structure in which two adjacent unit plates are rotatably coupled to each other by pins or the like in a state where a plurality of unit plates are arranged in a chain or belt form. The caterpillar 131 includes a material such as a metal. In addition, the caterpillar 131 may be treated to include a highly frictional material, such as rubber, on the surface, or to make the surface rough and rough, in order to increase the surface frictional force.

Although the caterpillar 131 is described as having a triangular belt shape in the present embodiment, this embodiment does not limit the shape of the caterpillar 131. [ The caterpillar 131 may have various belt shapes such as a circle, a rectangle, and an ellipse.

While the support member 120 is fixedly coupled to the frame, the caterpillar 131 is disposed to contact one surface of a wheel (not shown) of the mobile device. That is, the position of the support member 120 and the position of the caterpillar 131 are installed in the housing 110 to enable such an arrangement. For example, the caterpillar 131 is provided on the axis of the extending direction of the support member 120 when viewed from the upper side of the drive device 100 on the drawing. Thereby, the caterpillar 131 can contact the wheel while the support member 120 is supported on the frame.

The structure of the rotating member 130 for transmitting the driving force of the motor 140 to the wheels is different from that of the caterpillar 131 only by the structure of the caterpillar 131 It can not be limited. For example, the rotary member 130 may have various configurations of rotors having a high frictional outer circumferential surface, and the rotary member may transmit a driving force by contacting the wheels. However, from the viewpoint of maximizing the transmission efficiency of the driving force, it is preferable that the caterpillar 131 is applied to the driving apparatus 100 as in the present embodiment.

The rotating member cover 133 covers the remaining area of the caterpillar 131, except for one area of the caterpillar 131 that contacts the wheel. For example, the rotary member cover 133 allows the caterpillar 131 to contact the wheel by opening the lower region, and protects the caterpillar 131 by covering the remaining area.

The motor 140 is connected to the rotary member 130, and generates a driving force to rotate the rotary member 130. The motor 140 generates a driving force in response to a control signal from the processing board 150, and rotates or rotates the rotating member 130 in accordance with an instruction of a control signal.

The processing board 150 generates a control signal indicating whether the motor 140 is rotating and the rotation direction of the motor 140 and controls the driving of the motor 140 by transmitting a control signal to the motor 140. The processing board 150 includes a printed circuit board on which circuits such as chipset, SOC, wiring, and the like are installed.

Hereinafter, a further configuration of the driving apparatus 100 will be described.

2 is a block diagram of the configuration of a driving apparatus according to an embodiment of the present invention.

2, the driving apparatus 200 includes a motor 210, a communication unit 220, a user input unit 230, a sensing unit 240, and a control unit 250. The processing board includes at least a control unit 250 among the above components, and the communication unit 220 and the sensing unit 240 may be components of the processing board or may be separate components electrically connected to the processing board have.

The communication unit 220 includes a communication chip, a communication module, or a communication circuit that performs wireless communication with the external device 201. Of course, the communication unit 220 may be connected to the external device 201 so as to be able to communicate with the external device 201 by wire, but it is preferable that the wireless communication method is applied considering the use environment of the driving device 200. When the wireless communication method is applied, the communication unit 220 may support various protocols such as Bluetooth, Zigbee, and Wi-Fi Direct.

The communication unit 220 may receive a control signal related to the operation of the driving device 200 from an external device 201 implemented, for example, as a mobile device. The external device 201 transmits a signal to the communication unit 220 in response to a user's input through the application while the application for controlling the operation of the driving device 200 is running. The communication unit 220 transmits such a signal to the control unit 250 so that an operation to respond to the signal is executed.

The user input unit 230 includes an interface operable by the user. The user input unit 230 generates a signal according to a user's operation and transmits the signal to the control unit 250 so that an operation to respond to the signal is executed. The user input unit 230 may include a button structure provided outside the housing, for example, as the power switch described above, and may include a remote controller spaced apart from the main body of the driving apparatus 200. When the user input unit 230 is implemented as a remote controller, the user input unit 230 may include an infrared ray sensing unit configured to detect an infrared ray signal received from the remote controller.

The sensing unit 240 includes at least one sensor that senses various states and outputs a sensing signal according to the sensed result. The sensing unit 240 transmits a sensing signal to the controller 250 so that an operation of responding to the sensing signal is performed.

The type of the sensor included in the sensing unit 240 is determined according to the function supported by the driving device 200. [ For example, the sensing unit 240 may include a position sensing sensor that tracks a position of a user, a front sensing sensor that senses an obstacle located in a traveling direction of the driving device 200, an acceleration sensor that measures acceleration of the driving device 200, A geomagnetic sensor for detecting the direction of the geomagnetism relative to the driving device 200, and a gyro sensor for measuring the angular velocity of the driving device 200. [

The control unit 250 includes a circuit structure such as a CPU, a processor, a microprocessor, a chipset, and the like. The control unit 250 controls the driving of the motor 210 in response to a signal received from any one of the communication unit 220, the user input unit 230, and the sensing unit 240. The driving apparatus 200 may not include at least any one of the communication unit 220, the user input unit 230, and the sensing unit 240 according to the design method of the driving apparatus 200. [

A method of using the driving apparatus 200 mounted on the moving apparatus under such a structure will be described.

3 is a perspective view showing a state before the driving apparatus according to the embodiment of the present invention is mounted on the moving apparatus and a state in which the driving apparatus is mounted on the moving apparatus.

3, the mobile device 310 includes a frame 311 in the form of a bar and at least one wheel 313 coupled to the frame 311. The configuration of the mobile device 310 shown in this embodiment is merely an example, and the configuration of the mobile device 310 does not limit the structure of the drive device 320 according to this embodiment. The driving device 320 may be mounted and used in various mobile devices 310 in the form of a frame 311 and one or more wheels 313.

In this embodiment, the two driving devices 320 are mounted on two of the four wheels 313 provided on the mobile device 310, respectively. However, the two driving devices 320 may be different depending on the requirements of the user . For example, since one driving device 320 provides a driving force for one wheel 313, if the required driving force is relatively small, one or two driving devices 320 may be connected to the moving device 310, Is used. On the other hand, if the required driving force is relatively large, such as when carrying a relatively heavy load by the moving device 310 or when climbing a steep slope, the moving device 310 may be provided with three or four driving devices 320 ) Can be mounted and used.

In this way, the number of the driving devices 320 mounted on one mobile device 310 can be determined according to the level of the driving force required for the movement of the mobile device 310. [

The process of mounting the driving device 320 to the mobile device 310 by the user is as follows.

The user mounts the supporting member 323 of the driving device 320 in one area of the frame 311 of the moving device 310. [ The user moves the housing 321 of the driving device 320 along the frame 311 while the supporting member 323 is not fixed to the frame 311 and the rotating member 325 of the driving device 320 moves And stops the movement of the housing 321 when it contacts the wheel 313.

The user can prevent the support member 323 from moving in a state where the rotating member 325 and the wheel 313 are in contact with each other and more specifically with the caterpillar and the wheel 313 of the rotating member 325 in contact with each other, The support member 323 is fixedly engaged with the frame 311. [ Thus, the driving device 320 is mounted on the moving device 310 while keeping the rotating member 325 in contact with the wheel 313.

Here, the rotating member 325 can be fixedly coupled to the housing 321 so as to have a specific orientation, that is, the caterpillar is directed in a specific direction. Alternatively, the rotary member 325 may have a hinge and support structure with respect to the housing 321 so that the rotary member 325 can rotate in a predetermined direction about the housing 321 and maintain the rotated orientation. Thereby, the rotating member 325 is oriented so that the caterpillar makes proper contact with the wheel 313.

Such a mounting method is also commonly applied when a plurality of driving devices 320 are mounted on the mobile device 310. [

4 is a perspective view showing a state in which a driving apparatus according to an embodiment of the present invention is mounted on a moving apparatus.

4, when the driving device 420 is mounted on the moving device 410, the housing 421 is coupled to the frame 411 by the support member 423, and the caterpillar 425 is rotated 413, respectively. In this state, for example, the user can turn on the system power of the drive device 420 and drive the motor through the user input portion. The caterpillar 425 rotates in accordance with driving of the motor and the wheel 413 which is in contact with the caterpillar 425 by the rotation of the caterpillar 425 also rotates. That is, the driving force of the motor is transmitted to the wheel 413 through the caterpillar 425.

Here, the rotating direction of the caterpillar 425 should be aligned with the rotating direction of the wheel 413. If the rotation direction of the caterpillar 425 is shifted from the rotation direction of the wheel 413, the driving force of the motor is not properly transmitted to the wheel 413.

For example, as the motor is driven in the forward direction, the wheel 413 rotates to move the moving device 410 forward, and as the motor is driven in the reverse direction, the wheel 413 moves the moving device 410 backward . The driving direction of the motor can be adjusted by a user input section. In the case where the user input unit is implemented as a remote controller or a mobile device, it is also possible to control each of the plurality of driving devices 420 by a single user input unit.

For example, when the driving device 420 is mounted on two wheels 413 arranged in parallel to each other as in the present embodiment, the moving device 410 Can be determined. For example, when both the driving devices 420 are driven in the forward direction, the moving device 410 moves forward, and both the driving devices 420 are driven in the reverse direction, and the lifting device 410 moves backward.

In addition, when one driving device 420 is driven in the forward direction and the other driving device 420 is driven in the reverse direction, the moving device 410 will rotate clockwise or counterclockwise. The user can adjust the moving direction and the azimuth of the mobile device 410 by individually controlling each of the driving devices 420 through the user input unit.

5 is a perspective view showing an internal structure of a rotating member of a driving device according to an embodiment of the present invention.

5, the rotating member according to the present embodiment includes a first rotating shaft 520 connected to the motor 510, a first gear 530 connected to the first rotating shaft 520, A second gear 540 engaged with the gear 530, a second rotation shaft 550 connected to the second gear 540, and a wheel 560 connected to the second rotation shaft 550. In the present embodiment, three gears 540 are engaged with the first gear 530, but the number of the second gears 540 is not limited. Since the three second gears 540 have substantially the same structure as each other, only one second gear 540 will be described in this embodiment.

In addition, the wheel 560 described in the present embodiment refers to the wheel 560 of the rotating member, and it is noted that the terms are the same as those of the wheel of the above-described mobile device, but are different from each other.

The first rotation shaft 520 is connected to the motor 510 and rotates forward or backward by the driving force of the motor 510. The first gear 530 is connected to the end of the first rotation shaft 520 so that the first gear 530 rotates in accordance with the rotation of the first rotation shaft 520.

The first gear 530 rotates in the same direction as the first rotation shaft 520 by the first rotation shaft 520. The second gear 540 is engaged with the radially outer side of the first gear 530 so that the second gear 540 also rotates in accordance with the rotation of the first gear 530. In this embodiment, the first gear 530 and the second gear 540 are shown as having a spur gear structure. However, this is only one example of implementation of various gears, The first gear 530 and the second gear 540 may have various structures.

Since the second gear 540 is engaged with the first gear 530, the second gear 540 rotates in the opposite direction to the rotation direction of the first gear 530. That is, the second gear 540 rotates in the reverse direction when the first gear 530 rotates in the forward direction, and rotates in the forward direction when the first gear 530 rotates in the reverse direction.

The second rotation shaft 550 extends from the second gear 540, thereby rotating in the same direction as the second gear 540. The wheel 560 is supported at the end of the second rotation shaft 550 to rotate the wheel 560 in the same direction as the second rotation shaft 550.

When there are three wheels 560 as in the present embodiment, the caterpillar (not shown) is arranged to wrap around these three wheels 560. Each wheel 560 rotates in a direction opposite to the first gear 530 and accordingly the caterpillar disposed around the wheel 560 rotates together with the rotation of the wheel 560.

The rotating member of the driving device may have such a structure, but the detailed structure of the gear, the rotating shaft, the wheel, and the caterpillar can be designed differently from this embodiment, and thus the spirit of the present invention is not limited.

On the other hand, the driving apparatus can be automatically operated using the sensing unit or the communication unit as described above.

For example, even if the user does not push the mobile device directly, the driving device can determine the location of the user and proceed automatically to the location. When the signal including the position coordinate information of the user is received from the outside, the driving apparatus extracts the position coordinates from the signal. The driving device automatically drives the motor so as to face the position coordinates extracted from the current position, and moves to the position indicated by the coordinates. The position coordinate information may include information of various standards such as GPS data, and may be wirelessly transmitted from the mobile device carried by the user to the driving device.

Such a configuration can be utilized, for example, when the stroller carrying the baby is separated from the parent, the stroller automatically determines the position of the parent and moves to the corresponding position.

Alternatively, the driving device may have a sensor for tracking the user in front, and may automatically track and move the user according to the detection result of the sensor. For example, it is possible to use the stroller to automatically move along with the parent when the parent carries the luggage, if the stroller is not in a wheat situation because the parent is holding the luggage.

Alternatively, the drive may operate not only to move the mobile device, but also to reduce the moving speed of the mobile device in the event of a failure.

Fig. 6 is a flowchart showing a control method of the drive apparatus according to the embodiment of the present invention.

As shown in FIG. 6, in step 610, the driving device monitors the speed of the mobile device. To this end, the driving device has a sensor for detecting the speed change. Since the driving apparatus is mounted on the moving apparatus, the acceleration sensor provided in the driving apparatus can detect the acceleration of the moving apparatus.

In step 620, the driving device determines whether the speed of the mobile device is greater than a predetermined first value. In such a case, it is possible to consider a situation in which the mobile device slides down along the slope. For example, if the user mistakenly misses the mobile device while dragging the mobile device along the slope, the mobile device accelerates downward along the slope.

If it is determined that the speed of the mobile device is greater than the first value, the driving device determines the moving direction of the mobile device in step 630. The moving direction of the moving device can also be detected by a sensor provided in the driving device. On the other hand, if it is determined that the speed of the mobile device is not greater than the first value, the driving device maintains the current state.

In operation 640, the driving device applies a driving force in the opposite direction to the moving direction of the moving device to the moving device. The driving force applies a reverse rotating force to the wheels of the mobile device, thus limiting the acceleration of the mobile device and reducing the speed of the mobile device.

In step 650, the driving device determines whether the speed of the mobile device is lower than a predetermined second value. This determination is made to determine whether or not the mobile device is out of the state of emergency. Here, the second value may be the same value as the first value, or may be another value.

If it is determined that the speed of the mobile device is lower than the second value, the driving device releases the application of the driving force in step 660. This means that the mobile device is out of the situation at the time of the emergency. On the other hand, if it is determined that the speed of the mobile device is not lower than the second value, the driving device maintains the application of the driving force until the speed of the mobile device becomes lower than the second value.

Thus, the driving apparatus according to the present embodiment can limit the movement of the mobile device in the event of an emergency, thereby achieving safety.

INDUSTRIAL APPLICABILITY As described above, the driving apparatus according to the embodiment of the present invention can be easily attached to and detached without changing the design structure of the mobile device including the simple frame and the wheel. Since the driving device is provided so as to be mounted on a frame of various types of mobile devices without depending on a specific structural standard, it can be used for general purpose without being limited to any one mobile device.

The above-described embodiments are merely illustrative, and various modifications and equivalents may be made by those skilled in the art. Accordingly, the true scope of protection of the present invention should be determined by the technical idea of the invention described in the following claims.

100: Universal drive
110: Housing
120: support member
130: Rotating member
131: Caterpillar
133: rotatable member cover
140: motor
150: Processing board
160: Power switch

Claims (5)

1. A universal drive system adapted to be mounted on a mobile device having a frame and a wheel,
A housing;
A support member for coupling the frame of the housing and the moving device to each other;
At least one side of which is adapted to contact the wheel of the mobile device while the housing is coupled to the frame, and wherein a degree of contact of at least one side of the caterpillar with a wheel of the mobile device is adjusted A rotary member hinged and supported with respect to the housing so as to maintain a rotating orientation with being rotatable in a predetermined direction;
A motor for rotating the rotating member in contact with the wheel so that a driving force is transmitted to the wheel through the rotating member;
And a control unit for controlling driving of the motor. The method according to claim 1,
And a sensing unit for tracking the user,
Wherein the control unit drives the motor so that the moving device moves toward a position of a user sensed by the sensing unit. The method according to claim 1,
And a sensing unit for sensing a speed of the driving unit,
Wherein the control unit drives the motor such that the rotating member rotates in a direction opposite to the moving direction of the driving unit when the speed of the driving unit sensed by the sensing unit is greater than a predetermined value, Driving device. The method according to claim 1,
The rotating member includes:
A first gear connected to the motor;
A plurality of second gears adapted to rotate in engagement with the first gear;
A plurality of rotors respectively connected to the plurality of second gears;
And the caterpillar is disposed so as to surround the plurality of rotors so as to be in contact with the wheels. The method according to claim 1,
And a communication unit for communicating with an external device,
Wherein the control unit drives the motor in response to a signal received from the external device through the communication unit.

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