KR101959942B1 - Personal mobility and controling method for the same - Google Patents

Abstract

The present invention relates to a personal ridable mobile device, comprising: a riding unit in which a predetermined pattern is formed, and which is provided with an observed portion which can be pressed by a rider riding thereon; a moving unit comprising at least one wheel which can move the riding unit in an arbitrary direction; a firming unit arranged so as to face the observed portion in order to film the pattern; and a control unit which discerns a deformed shape of the pattern from an image produced by filming the observed portion, and determines a control intention of the rider based on the discerned shape, and controls movement of the moving unit based on the determined control intention.

Description

≪ Desc / Clms Page number 1 > PERSONAL MOBILITY AND CONTROLING METHOD FOR THE SAME < RTI ID =

The present invention relates to a personal mobile device on which a passenger can ride and a control method thereof.

BACKGROUND ART [0002] In recent years, a personal passenger mobile device or personal mobility having an electric motor and a battery has been developed and widely used.

On the other hand, these moving devices are configured to ride in a manner of sitting on a footstool, sitting in a saddle like a bicycle, and controlling movement and steering using weight or using a steering wheel. Moreover, these mobile devices are primarily intended for adolescents or adults with improved physical conditioning capabilities.

Thus, there is a need for a personal mobile device that can be conveniently mounted and easily controlled by children with poor physical ability to control, or a mobile device that can be used by children for play.

The present invention is intended to provide a personal mobile device that can be conveniently mounted and controlled by people with insufficient body control ability, or a mobile device that can be used by children for play.

According to an aspect of the present invention, there is provided a personal ride type mobile device comprising: a boarding portion having a predetermined pattern formed therein and having a monitoring portion that can be pressed by an occupant; A moving part including at least one wheel capable of moving the boarding part in an arbitrary direction; A photographing unit arranged to face the monitoring site and photographing the pattern; And a controller for controlling the operation of the moving unit based on the determined degree of control based on the determined degree of control of the occupant, And a control unit for controlling the display unit.

The control unit may divide the image into an arbitrary reference position and a plurality of intervals, identify a section in which the pattern is deformed to a predetermined reference value or more, and determine, based on the positional relationship between the identified interval and the reference position The degree of control can be determined.

In addition, the plurality of sections may be divided concentrically and radially about the reference position.

In addition, the reference position may be determined to be a specific fixed position, or may be set as an interval in which the pattern is deformed in the image photographed before the image to a reference value or more.

Also, the boarding portion may be in the form of at least one of a donut shape, a cylindrical shape, a convex, flat, or concave cushion shape.

In addition, the boarding portion may be formed in a form in which the toroidal tube is laid down, and the surveillance portion may be composed of a stretchable member that covers the donut-shaped central cavity portion lying down.

The pattern may also include at least one of at least one of a plurality of parallel or intersecting lines, a lattice pattern, an array of figures aligned in any direction, or an array of concentric arranged figures.

The control unit stores a template for a modified form of the pattern associated with a specific control degree and determines whether the modified form of the pattern identified from the image of the monitored region is associated with the pattern of the template , The control intention associated with the template can be determined based on the control of the occupant.

According to another aspect of the present invention, there is provided a personal ride type mobile device comprising: a boarding portion having a monitoring portion that can be pressed by an occupant; A moving part including at least one wheel capable of moving the boarding part in an arbitrary direction; An irradiating unit for irradiating a predetermined pattern toward the monitoring site; A photographing unit disposed to face the monitoring site and photographing the pattern irradiated by the irradiation unit; And a control unit for controlling the operation of the irradiation unit to identify a deformed shape of the pattern in accordance with the depression of the surveillance site from the image of the surveillance site and determining the control intention of the occupant based on the identified shape And a control unit for controlling the operation of the moving unit based on the determined control intention.

The control unit may divide the image into an arbitrary reference position and a plurality of intervals, identify a section in which the pattern is deformed to a predetermined reference value or more, and determine, based on the positional relationship between the identified interval and the reference position The degree of control can be determined.

In addition, the irradiating unit alternately irradiates patterns of different kinds, and the control unit may correct the control intention by combining control intentions determined from each of the different types of patterns.

The control unit stores a template for a modified form of the pattern associated with a specific control degree and determines whether the modified form of the pattern identified from the image of the monitored region is a modified form of the pattern of the template The control intention associated with the template can be determined by the control of the occupant.

In addition, the boarding portion may be formed in a form in which the toroidal tube is laid down, and the surveillance portion may be composed of a stretchable member that covers the donut-shaped central cavity portion lying down.

A control method of a personal ride type mobile device according to another embodiment of the present invention is a control method of a personal ride type mobile device that includes a boarding portion having a predetermined pattern formed therein and having a monitoring portion that can be pressed by an occupant riding, And a moving unit capable of moving the boarding unit in an arbitrary direction, the method comprising the steps of: photographing the monitoring unit; Identifying a pattern in which the pattern is deformed by the occupant on the boarding section from the photographed image; Determining the control intention of the occupant based on the identified form; And controlling an operation of the moving unit based on the determined control intention.

The step of identifying the shape may include: dividing the image into an arbitrary reference position and a plurality of intervals; identifying a section in which the pattern is deformed to a predetermined reference value or more; And determining a positional relationship between the first and second electrodes.

In addition, the reference position may be determined to be a specific fixed position, or may be set as an interval in which the pattern is deformed in the image photographed before the image to a reference value or more.

The step of determining the degree of control may include: storing a template for a modified form of the pattern related to a specific control; changing a modified form of the pattern identified from the image of the monitored region, Comparing the pattern of the template with the modified form of the identified pattern and the modified form of the pattern of the template are correlated with each other; Quot;

A control method for a personal ride type mobile device according to another embodiment of the present invention includes a boarding portion having a monitoring portion that can be pressed by an occupant riding, A method of controlling an operation of a mobile device including a photographing section for photographing the pattern irradiated on a site and a moving section capable of moving the boarding section in an arbitrary direction, the method comprising: ; Photographing the surveillance site; Identifying a pattern in which the pattern is deformed by the occupant on the boarding section from the photographed image; Determining the control intention of the occupant based on the identified form; And controlling an operation of the moving unit based on the determined control intention.

The irradiation unit is configured to alternately irradiate the first pattern and the second pattern, and the control method is characterized in that the irradiation unit irradiates the first pattern to the monitoring site, Wherein the control unit determines the degree of the first control by identifying the deformed shape of the first pattern from the image, and the irradiating unit irradiates the second pattern on the surveillance region, and from the second image of the second pattern, And to control the operation of the moving unit by determining a second control degree by identifying a modified form of the pattern and combining the first control degree and the second control degree.

The personalized boarding mobile device according to the present invention having the above-described configuration can be conveniently mounted on a boarding passenger even if the person has insufficient ability to control the body, and can be used particularly for children's play.

In addition, the occupant is comfortably on board and safe from collisions since the occupant is carried on a flexible material such as a tube.

1 is a block diagram illustrating a schematic configuration of a personal ride type mobile device according to an embodiment of the present invention.
FIG. 2 is a view illustrating various boarding methods of a personal ride type mobile device according to an embodiment of the present invention.
3 is a view for explaining an arranging method and an operation of a photographing unit of the personal ride type mobile device according to an embodiment of the present invention.
4 is a view showing a kind of a pattern and a modification example for analyzing the control intention.
5 is a view showing a manner in which a pattern of a boarding portion is deformed by an occupant.
Fig. 6 is a diagram for explaining a method of identifying a deformation of a pattern at a monitoring site.
Fig. 7 is a view showing an example of a modification and analysis of a pattern configured in a lattice form.
8 is a diagram showing an example of a modification and a pattern of a pattern composed of dot arrays.
Fig. 9 is a view showing a modified example of the pattern composed of concentric circles and an example of analysis.
10 is a flowchart illustrating a method of controlling a passenger-seat mobile device according to an embodiment of the present invention.
11 is a flowchart illustrating another method of controlling a passenger-seat mobile device according to an embodiment of the present invention.
12 is a block diagram showing a schematic configuration of a personal passenger mobile device according to another embodiment of the present invention.
FIG. 13 is a flowchart illustrating a method of controlling a passenger-seat mobile device according to another embodiment of the present invention.

Best Mode for Carrying Out the Invention Hereinafter, preferred embodiments of a personal riding mobile device and a control method thereof according to the present invention will be described with reference to the accompanying drawings. For the sake of convenience, terms referring to the respective elements of the present invention have been exemplarily named in consideration of the functions thereof, and therefore, the terms of the present invention should not be determined and limited by the term itself.

First, the configuration of a personal passenger mobile device according to an embodiment of the present invention will be schematically described with reference to a block diagram of FIG. Referring to the drawings, a personal ride type mobile device 100 according to an exemplary embodiment of the present invention may include a boarding portion 110, a moving portion 140, a photographing portion 130, and a controller 150 .

The boarding portion 110 is provided with a portion (hereinafter referred to as a "monitoring portion 115", see FIG. 3) that can be arbitrarily deformed due to the elasticity of the boarding passenger. The entire or at least the surveillance site 115 of the boarding area 110 may be of a shape similar to at least one of a toroidal tubular shape, a sausage-like cylindrical shape, a convex, flattened or concave cushion shape. Of course, it may be another form of boarding. In addition, the occupant can ride in such a manner that they ride on the boarding portion 110 or the monitoring portion 115. At this time, at least a part of the body of the rider can contact the monitoring part 115, and the body pushes the monitoring part 115, so that the monitoring part 115 is pushed and deformed. Alternatively, the surveillance site 115 may be configured at a position where a part of the body such as a hand or a foot can be placed while the occupant is standing on the boarding area 110, The monitoring portion 115 may be deformed in such a manner that an arbitrary position is depressed or pressed.

At this time, the surveillance part 115 configured to allow the occupant to ride or to put a part of the body is made of an elastic member such as rubber, silicone, cloth or mesh so as to be deformed in response to the position where the occupant presses or the shape of the body .

Further, an arbitrary pattern may be printed / stamped on one surface of the monitoring portion 115, for example, on the surface opposite to the surface of the passenger in contact with the body. This pattern can be used to determine the control intention of the occupant by a method as described below.

The pattern that may be formed in the monitoring site 115 may include one or more hollow or solid shapes, lines, parallel or intersecting lines, a grid pattern, an array of shapes arranged in any direction, And may be composed of various kinds of combinations.

The moving part 140 can move the moving device 100 of the present invention including the boarding part in an arbitrary direction. The moving unit 140 may include, for example, at least one wheel, and the speed, the moving distance, the moving direction, and the like may be controlled by the control unit 150. [

For example, the moving part 140 may be provided with two wheels on the front side of the mobile device 100 and one wheel on the rear side thereof. At this time, rotation of the front wheels can be independently controlled, so that the traveling device can be moved forward and backward and steered. In addition, the front wheels may be forward or backward only, and the rear wheels may be adjusted to provide steering. Even the rear wheels may handle both driving and steering. Of course, the number of the front wheel and the rear wheel can be arbitrarily set, for example, one wheel on the front side and two wheels on the rear side.

The photographing unit 130 may include a camera arranged to view the monitoring site 115. [ The photographing section 130 photographs at least the pattern of the pattern to be deformed at the monitoring site 115. [ The photographing unit 130 photographs the monitored region 115 every 0.01 second or 0.1 second, for example, and transmits the photographed image to the control unit 150 in real time. At this time, the photographing unit 130 may further include an illuminating unit (not shown) for illuminating the monitored area 115 brightly.

In the present embodiment, the central hollow portion of the riding portion 110, which has the toroidal tube lying down, may be covered with a stretchable member so that the rider can ascend, wherein the monitoring portion 115 is formed . Therefore, the pattern may be printed on the lower surface of the elastic member of the central cavity portion (i.e., the surface opposite to the surface contacting the occupant). In this case, the camera can be arranged so as to face upward at the bottom portion of the central cavity portion, whereby the pattern formed on the lower surface of the elastic member constituting the monitoring portion 115 can be photographed.

The control unit 150 receives the image transmitted from the photographing unit 130, identifies how the pattern has been deformed from the received image, identifies how the occupant moved the body based on the deformed shape of the identified pattern, It is possible to predict what kind of posture you are taking. The control unit 150 can determine the degree of control that indicates how the passenger intends to control the travel of the mobile device 100 based on the deformed shape of the pattern or based on the predicted movement / The traveling, traveling speed, direction and moving distance of the mobile device 100 are controlled by controlling the operation of the moving part 140 according to the determined control intention. A method for judging the control intention of the occupant from the photographed image will be described later.

The control intent may be configured in the form of a vector directed from any reference point to any direction and magnitude. For example, if the reference position is fixedly defined at the sensing portion and the occupant presses the arbitrary point, the direction and distance from the reference position to the pressed point can be determined, and the determined direction and distance May be converted to the direction and magnitude of the constituent vector.

In another example, the reference position may be set not to a fixed point but to a point that was pressed immediately before. In this case, the control intention can be determined using the direction and distance from the point pressed at the previous point to the point pressed at the current point.

A schematic outline of the personal passenger mobile device having the above-described configuration and a manner of boarding will be described with reference to Fig.

The boarding section 110 may be in the form of a tube placed on the floor. The passenger can ride on the top of the tube in such a way as to lie down over the central cavity portion, to put the hip in the central cavity portion of the tube, to sit in a lying position, to put the leg in the central cavity portion, will be.

In the prone position, the stretchable member of the central hollow portion pressed by the legs or the knees and / or the chest or belly of the circumferential portion of the tube may be best and more deformed.

In the resting posture, the stretchable members of the portion of the circumference of the tube contacting the legs or back and / or the portion supporting the occupant's hips (i.e., the central cavity portion) may be best and more deformed.

In a sitting posture, the portion of the circumference of the tube where the buttocks will be most likely to be deformed.

The surveillance site 115 can be set at the portion that can be best and highly deformed.

Next, referring to FIG. 3, the arrangement and operation of the photographing unit of the personal ride type mobile device according to an embodiment of the present invention will be described. Hereinafter, and in the following description, a personal moving apparatus having a tube-shaped boarding section will be described as an example. And a stretchable member is provided to cover the central hollow portion of the tube shape, and the elastic member of the central hollow portion is set as a surveillance region.

The left side of FIG. 3 shows the mobile device in a state without a passenger from above. The passenger compartment 110 is generally in the form of a circular tube, and the tube is made of a flexible and sealable material such as rubber, silicone, stretchable fiber, etc., and is filled with air or the like to maintain elasticity. In addition, since it is in the form of a tube, it can be mounted with various visibility and is safe because it can absorb impact from all directions.

On the other hand, a handle, a seat belt, or the like, which the passenger can grasp, may be provided on one side of the boarding portion 110 in the form of a tube.

Here, the elastic member covering the central cavity portion of the tubular shape may be transparent, translucent or opaque. The stretchable member may be a sheet-like member made of rubber or silicone, a cloth woven with elastic fibers, or may be a woven cloth net. In the drawing, a grid pattern is shown on the upper surface (the surface shown in the figure) of the elastic member, but this grid pattern is formed substantially on the lower surface (the back surface of the surface shown in the drawing) of the elastic member.

On the right side of FIG. 3, a passenger in a tube-shaped boarding section 110 is shown in a prone position. On the other hand, a photographing part (camera) 130 is disposed under the central hollow part of the tube shape so as to look at a pattern formed on the lower surface of the elastic member. The elastic member can be pressed by the body of the occupant, whereby the pattern printed on the elastic member is deformed, and the deformation of such a pattern can be photographed by the photographing unit 130. [ The control unit 150 identifies the deformed pattern of the pattern from the photographed image, and can determine the degree of control by identifying the direction in which the portion where the occupant presses the surveillance site and where the pressurized region moves.

Fig. 4 is a view for explaining a manner of determining the control intention of the occupant by analyzing the elasticity surface of the elastic member or any part of the boarding portion deformed, and shows various kinds of patterns and modifications thereof.

The surveillance site 115 in which the elastic member is deployed may be located in a central cavity portion in the form of a tube or any portion that can be defined around the tube (e.g., a portion where the occupant's prone legs or resting buttocks touch, A portion formed so as to be able to be pushed by the user with his / her hand raised). As shown in the figure, the pattern that can be formed on the monitoring site includes a grid shape including a plurality of intersecting lines, a plurality of points or shapes arranged in an arbitrary direction (in the figure, Circles are shown), concentric and circular (or arbitrary) spaced circles or shapes.

If a part of the body of the passenger is located at the center of the printed pattern of the various types of patterns, the central portion is most likely to be pushed and deformed, and the pattern is stretched or contracted as shown on the right side of the figure Will be shown. The control unit 150 can identify the deformation of the pattern and judge that the body of the occupant is present in the central portion of the monitoring site 115. [

The control intention can be determined by the direction and the distance from the arbitrary reference position to the most depressed and deformed point. Alternatively, the degree of control may be determined depending on where the most depressed position of the monitoring portion 115 has moved.

5 is a diagram showing a three-dimensional view of a manner in which a pattern of the boarding portion is deformed by an occupant. A deformation as shown can be caused depending on where the elastic member covering the central cavity portion of the tube shape as shown on the left side of Fig.

If the occupant moves the hips forward (or rearward) or tilts the upper body forward (or backward) in a state where the occupant sits with the hip in the central hollow portion of the tube shape (see Fig. 2, The front side (or rear side) of the member will be mainly pressed and deformed. It is possible to identify the deformed state of the elastic member by analyzing the change in the length or the area of each line constituting each grating from the photographed image or by analyzing the movement of the specific lattice point. The mobile device 100 can be controlled to move forward (or backward) based on the identified deformed state.

Likewise, if the occupant moves the hips to the left (or right) or tilts the upper body to the left (or right), the left (or right) of the elastic member will be primarily depressed. If such a condition is identified, the mobile device 100 will be controlled to make a left turn (or a right turn).

On the other hand, when the occupant presses the surveillance site 115 to the body part, only one bottom point of the depressed part may not appear as shown in the figure. For example, when sitting on the monitoring site 115, at least two troughs may appear by each of the hips. At this time, the control intention can be judged as described above by tracking the depth or movement of each trough. In the present invention, one trough is made for convenience of explanation and understanding.

Fig. 6 illustrates a method of identifying the deformation of a pattern from an image of a monitored region. 6 (a) shows a configuration in which a center of the surveillance region (or the center of the captured image) is set as a reference position and a plurality of segments are radially divided from the reference position. The division of the segment may be directly displayed on the surveillance site, but is preferably set virtually to the captured image.

That is, in the 8 directions of the front (1), front (2), right (3), rear (4), rear (5), rear (6), left (7) It can be divided into eight sections so as to correspond thereto. Here you can set the center section to another section.

By identifying which section of the pattern has been deformed in such a state that the sections are divided, it is possible to determine that the occupant is pressing the corresponding section, and can consider the control of the movement of the mobile device 100 in the corresponding direction have. (Here, the photographing portion looks upside down from the top, so the left and right sides will appear reversed)

For example, FIG. 6 (b) shows a photographed image when the occupant presses the right section 3 of the surveillance site. If the passenger presses the section 3 or a portion close to the section 3, the pattern of the section will be most deformed. In particular, there will be a lot of shrinkage. Thus, by identifying the section where the pattern is most deformed, it is possible to determine which section the passenger is pressing.

An example of how to identify the section where the pattern is most deformed is as follows. The pattern is described based on the grid pattern. It is also assumed that a circle is arranged in each grid.

First, the state of the pattern formed on the monitoring site is checked in the unmodified state. That is, a plurality of sections (N) are divided in the unmodified state, and the number (p) of figures located in each section is counted. On the other hand, (b) is set to the number that is not counted because the pattern is deformed and the shape of the figure is not normally recognized. For example, the number of figures (p ₃ ) counted in a state in which the pattern is not deformed in the section ( ₃ ) is 100, and the number of figures If it is counted, b ₃ = 70.

Next, the ratio (d _n ) of the number of non-counted numbers to the total number of figures is obtained.

d _n (b _n , p _n ) = b _n / p _n ; n = 1, 2, ... N

Therefore, 0? D _n? 1.

의 수식을 사용하여 어느 구간이 가장 많이 변형이 발생했는지 식별할 수 있게 되며, 해당 구간을 탑승자가 변형시키고 있는 것으로 간주하여 제어의도를 결정할 수 있게 된다. And,

It is possible to identify which section is the most deformed by using the formula of the control section, and the control intention can be determined by considering that the section is deformed by the occupant.

In the above equation, D may be a weight or a threshold value for direction recognition, and may be defined as any value 0 D 1.

On the other hand, based on the value of d _n , it is possible to determine whether the corresponding section is pressed harder or wider, and the movement speed / distance and the like can be set based thereon.

이 된다. 즉, 구간(3)을 탑승자가 주로 누르고 있는 것으로 판단할 수 있게 된다. An example of the method of determining the degree of control will be described below. As shown in FIG. 6 (b), N = 8, p _n = 100, b ₃ = 60, b ₁ = b ₂ = b ₄ = ... = b ₈ = 30. D = 0.4. Then, d ₃ = 0.6, d ₁ = d ₂ = d ₄ = ... = d ₈ = 0.3,

. That is, it can be determined that the passenger mainly presses the section (3).

Fig. 7 is a view showing a modified example of a pattern configured in a lattice form and an example of analyzing the pattern. In the stationary state, the occupant can sit properly so that the center of gravity is located at the center of the stretchable member, in which case the central portion of the stretchable member can be in the most depressed state. In the drawing, the shape in which the elastic member is deformed may be as shown below, and the image photographed by the photographing unit 130 arranged so as to face the lower surface of the elastic member toward the upper side may be displayed on the upper or lower side The left and right sides may be reversed.

If the occupant tilts the road body forward or moves the hips forward, the front of the stretchable member can be mainly depressed and the image as shown can be obtained according to the arrangement of the camera.

Fig. 8 shows an example of a variation and analysis of the dot pattern arranged at equal intervals in the lattice direction. At this time, the dots to be arranged may be any shape such as a circle, triangle, etc., and may be filled in the inside or out of the contour state.

The shape shown above shows a part of the image of the dot pattern. Depending on the pressed position, the distance between each dot pattern is changed, and this distance can be used to identify the deformed portion.

The shapes shown below show changes in the shape along the depressed position of the pattern including the lattice and the circle formed in the elastic member. The pressed position can identify the portion that is deformed by the ratio of the number of the figures to the number of the unidentified number.

Fig. 9 shows an example in which the concentric circular pattern is deformed and an example in which it is analyzed. The concentric circles can be arranged around the center of the surveillance part or the stretchable member and the state where the occupant is properly seated in the central part of the stretchable member is in the reference state at this time, In an image (usually taken by a photographing part which can be placed directly below the center part of the concentric circle), the center of the concentric circle can still be seen to be located in the center.

However, if the occupant moves his body back and forth, it can be seen that the center of the concentric circle moves in the direction corresponding to the moving body.

By analyzing the moved position of the center of the concentric circle in this way, it is possible to predict the change of the movement or posture of the occupant, and the control intention can be determined based on the predicted movement or posture. Alternatively, the deformed position can be identified by measuring the change in distance between each concentric circle.

On the other hand, a method of using a template may be considered as another way of determining the control intention of the passenger by identifying the deformed shape of the pattern in the photographed image. For example, the patterns shown in the lower part of FIG. 8 may be designated as templates and stored. Each template can be associated with 'forward', 'backward', 'left turn', 'right turn'. A plurality of such templates may be designated for each control intention. Then, it is possible to determine which template is associated with the deformed pattern of the pattern identified in the currently photographed image, and to determine the control intent associated with the determined template from the control of the current occupant.

That is, if the deformed shape of the pattern identified in the currently photographed image is the most deformed shape with the upper part contracted, the similarity with the template corresponding to the 'forward' in FIG. 8 can be calculated to be highest. If so, the control intention of the current occupant may be determined to be 'forward'.

Any known method may be used for calculating the degree of similarity between the currently photographed image (or the pattern shape identified from the currently photographed image) and the previously held template.

10 is a flowchart illustrating a method of controlling a passenger-seat mobile device according to an embodiment of the present invention. In a state in which the occupant is lifted up on the passenger-seat type mobile device 100 having the above-described configuration, the occupant changes the posture or moves the raised position so that the moving distance / speed / direction of the mobile device 100 Control method will be described.

First, when a passenger boarded the boarding unit 110 of the mobile device, the controller 150 senses the passenger by sensing vibration or turning on a specific switch (S11), and at least activates the photographing unit 130 Thereby allowing the user to photograph a pattern of the elastic member (i.e., the monitoring site) (S12). Then, a predetermined reference position is set in the photographed image, and a plurality of sections are divided around the set reference position (S13). The degree of deformation can be determined for each section. If it is determined in step S14 that the section having the degree of deformation greater than or equal to the reference or the degree of deformation having the largest degree of deformation is identified by the determination, it is determined that the occupant is in a posture such as pressing or tilting the body in the direction of the section The control intention can be determined (S15).

The control unit 150 controls the movement of the mobile unit 100 in the forward and backward directions and the direction of the mobile unit 100 by controlling the movement of the mobile unit 140 according to the determined control intention (S16). Steps S14 to S16 may be repeated.

11 is a flowchart for explaining another method for controlling the passenger-seat mobile device of the present invention. In this embodiment, instead of fixing the reference position to an arbitrary position in the image and determining the degree of control, A method of judging the degree of control by the difference between the modified form of the current shape and the current modified form will be described.

First, when the occupant completes the boarding of the boarding section 110 and takes a stable posture (S21), the controller 150 can receive the first image (S22) And identifies the type (S23). That is, a section where the degree of deformation of the pattern is equal to or greater than the reference value or a section having the largest degree of deformation can be identified (the first section).

Then, the controller 150 receives the second image (S24), and identifies an interval (second interval) in which the degree of deformation of the pattern in the input second image is greater than or equal to a reference level (S25).

By analyzing the positional relationship between the first section and the second section, the direction is determined according to the direction in which the occupant presses, and the degree of the deformed shape is determined to determine the moving speed / (S26). And the operation of the moving unit can be controlled by the determined control intention.

Thereafter, the first section is removed and the second section is changed to the first section (S27). Then, the process proceeds to step S24 where a new second image is generated and the mobile device 100 can be controlled in real time by repeating the following steps.

In another embodiment using the template, when the control unit 150 receives the first image after the passenger boarding, the control unit 150 identifies the deformed pattern of the pattern from the first image, The degree of similarity is calculated by comparing each of them, and a value that exceeds the predetermined reference value is determined as the calculated value of the degree of similarity, the corresponding template is confirmed, and the degree of control related to the confirmed template is determined. The mobile device 100 may be controlled by determining the control intention in real time.

Next, the configuration and operation of the personal passenger mobile device according to another embodiment of the present invention will be described with reference to FIG. In the embodiment described with reference to Fig. 1, a pattern is printed on the elastic member, but in this embodiment, a method of actively irradiating the pattern on the surface of the elastic member using the irradiation unit 120 is implemented.

In the mobile device 100 according to the present embodiment, an irradiation unit 120 is added to the configuration of the embodiment shown in Fig. The irradiating unit 120 can irradiate at least one of the patterns as shown with reference to the drawings to the monitoring site 115 of the boarding unit 110. [

The photographing unit 130 may be configured to photograph a pattern of the pattern irradiated by the irradiating unit 120 and projected on the surveillance site 115. If desired, the central cavity portion in the tubular riding portion 110 may constitute a darkroom. In the dark room, the portion irradiated with the pattern irradiated by the irradiation unit 120 will appear particularly bright, so that it is easy to distinguish the pattern form from the photographed image.

On the other hand, in the present embodiment, the irradiation unit 120 can be implemented to sequentially irradiate patterns of different kinds in turn or in any order. For example, the grid pattern, the dot pattern, and the concentric circle pattern as shown in FIG. 4 may be sequentially and periodically changed.

The control unit 150 analyzes each of the deformation of the pattern identified by the lattice pattern, the deformation of the pattern identified by the dot pattern, and the deformation of the pattern identified by the concentric circular pattern, The control intention can be determined more accurately.

A control method of a passenger-seat mobile device with an irradiation unit according to the above embodiment is as follows. First, when a passenger is present in the boarding section 110, the irradiation section 120 can irradiate a certain pattern on the monitored region 115 under the control of the control section 150. Then, the pattern is projected on the monitoring site 115, and the photographing unit 130 can photograph the patterned pattern.

The image generated by photographing the surveillance site 115 may be input to the controller 150. The control unit 150 identifies the deformed shape of the pattern from the input image, identifies the region having the pattern deformed degree equal to or greater than the reference value or the deformed degree having the largest degree, And controls the movement of the mobile unit 140 according to the determined control intention to move the mobile unit 100 forward, backward, left or right, or perform steering control.

Next, with reference to FIG. 13, as a slightly modified method from the control method, a method of analyzing patterns by irradiating different types of patterns alternately or in an arbitrary order will be described.

First, when it is detected that the passenger is boarded on the mobile device 100 (S41), the irradiator 120 can irradiate the surveillance site 115 with an arbitrary first pattern (S42). The photographing unit 130 photographs the illuminated shape to generate a first image (S43). The control unit 150 analyzes the first image to identify the shape of the deformed pattern, and determines the control intention (first control scheme) of the occupant based on the identified shape (S44).

Subsequently, the irradiating unit 120 can irradiate a second pattern different from the first pattern to the monitoring site 115 (S45). The photographing unit 130 photographs the pattern of the illuminated pattern to generate a second image (S46). The control unit 150 analyzes the second image to identify the shape of the pattern, and determines the control intention (the second control scheme) of the occupant based on the pattern of the identified pattern (S47).

Then, the control unit 150 generates a control intention by combining the first control scheme and the second control scheme in an arbitrary manner, and controls the operation of the moving unit based on the generated control scheme (S48). The manner of combination may be a simple arithmetic mean or a harmonic mean, an average combining weights, and the like.

According to this control method, since the control intent can be complemented by using patterns of different kinds, the mobile device can be more accurately controlled.

The embodiments of the present invention described above are merely illustrative of the technical idea of the present invention, and the scope of protection of the present invention should be interpreted according to the claims. It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the essential characteristics thereof, It is to be understood that the invention is not limited thereto.

Claims (19)

A boarding portion formed with a predetermined pattern and having a monitoring portion that can be pressed by an occupant;
A moving part including at least one wheel capable of moving the boarding part in an arbitrary direction;
A photographing unit arranged to face the monitoring site and photographing the pattern; And
A control unit for controlling the operation of the moving unit based on the determined degree of control based on the identification of the pattern of the monitored area, And a controller for controlling the operation of the portable device. The method according to claim 1,
Wherein,
Dividing the image into an arbitrary reference position and a plurality of sections,
Identifying a section in which the pattern is deformed to a predetermined reference value or more,
And determines the control intention based on a positional relationship between the identified section and the reference position. 3. The method of claim 2,
The plurality of sections may include:
And is divided concentrically and radially about the reference position. The method according to claim 2 or 3,
Wherein the reference position is determined as a specific fixed position or a section in which the pattern is deformed to a value greater than or equal to the reference value in an image photographed before the image, . The method according to claim 1,
Characterized in that the boarding section is in the form of at least one of a donut shape, a cylindrical shape, a convex, flat or concave cushion shape. The method according to claim 1,
Wherein the boarding portion has a donut-shaped tube lying down,
Characterized in that the monitoring portion comprises an elastic member which covers a central cavity portion in the form of a donut which is laid down. The method according to claim 1,
Wherein the pattern comprises at least one of at least one of a plurality of parallel or intersecting lines, a lattice pattern, an array of figures aligned in any direction, and an array of concentrically arranged figures. The method according to claim 1,
Wherein,
Storing a template for a modified form of the pattern associated with a particular control's preference and if a modified form of the pattern identified from the image of the monitored region is associated with the pattern of the template, Characterized in that the control intention is determined on the basis of the control of the occupant. A boarding portion having a monitoring portion that can be pressed by an occupant
A moving part including at least one wheel capable of moving the boarding part in an arbitrary direction;
An irradiating unit for irradiating a predetermined pattern toward the monitoring site;
A photographing unit disposed to face the monitoring site and photographing the pattern irradiated by the irradiation unit; And
A control unit for controlling the operation of the irradiation unit to identify a deformed shape of the pattern in accordance with the depression of the surveillance site from the image of the surveillance site and determining the control intention of the occupant based on the identified shape And a control unit for controlling the operation of the moving unit based on the determined control intention. 10. The method of claim 9,
Wherein,
Dividing the image into an arbitrary reference position and a plurality of sections,
Identifying a section in which the pattern is deformed to a predetermined reference value or more,
And determines the control intention based on a positional relationship between the identified section and the reference position. 10. The method of claim 9,
The irradiation unit alternately examines patterns of different kinds,
Wherein the control unit corrects the control intention by combining control intentions determined from each of the different types of patterns. 10. The method of claim 9,
Wherein,
Storing a template for a deformed shape of the pattern related to a specific control degree and when a deformed shape of the pattern identified from the image of the surveillance region is related to a deformed shape of the pattern of the template, And the control intention associated with the template is determined by the control of the occupant. 10. The method of claim 9,
Wherein the boarding portion has a donut-shaped tube lying down,
Characterized in that the monitoring portion comprises an elastic member which covers a central cavity portion in the form of a donut which is laid down. A photographing part for photographing the pattern of the monitoring part, and a moving part capable of moving the boarding part in an arbitrary direction, wherein the boarding part has a predetermined pattern and can be pushed by an occupant CLAIMS What is claimed is: 1. A method for controlling the operation of a mobile device comprising:
Photographing the surveillance site;
Identifying a pattern in which the pattern is deformed by the occupant on the boarding section from the photographed image;
Determining the control intention of the occupant based on the identified form; And
And controlling an operation of the moving unit based on the determined control intention. 15. The method of claim 14,
Identifying the form comprises:
Dividing the image into an arbitrary reference position and a plurality of intervals,
Identifying a section in which the pattern is deformed to a predetermined reference value or more,
Further comprising determining a positional relationship between the identified section and the reference position. 16. The method of claim 15,
Wherein the reference position is determined as a specific fixed position or a section in which the pattern is deformed to a value greater than or equal to the reference value in an image photographed before the image, / RTI > 15. The method of claim 14,
Wherein the step of determining the control intention comprises:
Storing a template for a modified form of the pattern associated with a particular control's behavior,
Comparing the pattern of the template with the deformed shape of the pattern identified from the image of the monitored region,
Further comprising determining the control intent associated with the template for control of the occupant when the modified form of the identified pattern and the modified form of the pattern of the template are related to each other, A method of controlling a device. A photographing part for photographing the pattern irradiated on the monitoring part, and a controller for controlling the photographing part to photograph the pattern on the monitor part in an arbitrary direction The method comprising the steps < RTI ID = 0.0 > of: <
Causing the irradiation unit to irradiate the pattern to the monitoring site;
Photographing the surveillance site;
Identifying a pattern in which the pattern is deformed by the occupant on the boarding section from the photographed image;
Determining the control intention of the occupant based on the identified form; And
And controlling an operation of the moving unit based on the determined control intention. 19. The method of claim 18,
Wherein the irradiation unit is configured to alternately irradiate the first pattern and the second pattern,
In the control method,
Wherein the irradiation unit irradiates the first pattern to the monitoring site,
Determining a first control degree by identifying a deformed shape of the first pattern from a first image of the first pattern,
Wherein the irradiation unit irradiates the second pattern on the monitoring site,
Determining a second control degree by identifying a deformed shape of the second pattern from a second image of the second pattern,
And control the operation of the moving unit by combining the first control scheme and the second control scheme.

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