KR20180110480A - Personal mobility, remote controller and personal mobility system for automatic driving - Google Patents

Abstract

Disclosed is a personal mobility stem for autonomous driving, which comprises: a remote controller pointing a potion set by a user in accordance with a user operation; and a personal mobility obtaining a horizontal distance to the point and a final horizontal rotary angle based on the forward direction based on information on position of the point received from the remote controller and moving to the point set by the user in accordance with the obtained horizontal distance and final horizontal rotary angle.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to personal mobility, a remote controller, and an autonomous mobile personal mobility system including the same.

The present invention relates to the field of personal mobility. More particularly, the present invention relates to a personal mobility for autonomous driving, a remote controller and a personal mobility system including the same.

Recently, the personal mobility market is growing rapidly. Users are moving easily using their own personal mobility when moving relatively close.

Personal mobility means an electric motor, a kickboard, an electric skateboard, an electric bicycle, etc., and is a moving means for one person driven mainly by electric power. It does not discharge harmful substances, and its size is small, and its location as a moving means and leisure goods is increasing.

However, personal mobility up to now has a certain inconvenience in that a user who is on board must manually control direction control, speed control, and the like. Therefore, personal mobility that is autonomously driven with minimal intervention of the user is required.

The personal mobility, the remote controller, and the autonomous mobile personal mobility system according to an embodiment of the present invention aim at minimizing the intervention of a user who wants to control personal mobility.

In addition, the personal mobility, the remote controller, and the autonomous mobile personal mobility system according to an embodiment of the present invention are intended to make personal mobility easy to use even for a user unfamiliar with the operation of personal mobility.

In addition, the personal mobility, the remote controller, and the personal mobility system for autonomous traveling according to an embodiment of the present invention are intended to realize an autonomous running of personal mobility by a simple configuration.

In the personal mobility system for autonomous navigation according to an embodiment of the present invention,

A remote controller for pointing to a point designated by the user according to an operation of the user; And obtaining a final horizontal rotation angle based on the horizontal distance to the point and the forward direction based on the position related information of the point received from the remote controller, And a personal mobility to move to a point designated by the user.

In the personal mobility for autonomous driving according to the embodiment of the present invention,

A boarding body on which the user is boarding; A driving unit for driving movement of the boarding body; And a control unit for controlling the driving unit based on a horizontal distance and a forward rotation angle based on a horizontal distance to a point designated by the user via the remote controller and moving the driving unit to a point designated by the user.

The personal mobility, the remote controller, and the self-driving personal mobility system according to an embodiment of the present invention can minimize the intervention of the user who wants to control the personal mobility.

In addition, the personal mobility, the remote controller, and the autonomous mobile personal mobility system according to the embodiment of the present invention can easily use the personal mobility even for a user who is not familiar with the operation of the personal mobility.

In addition, the personal mobility, the remote controller, and the personal mobility system for autonomous traveling according to an embodiment of the present invention can realize autonomous traveling of personal mobility by a simple configuration.

However, the effects that can be achieved by the personal mobility, the remote controller, and the self-driving personal mobility system according to the embodiment of the present invention are not limited to those mentioned above, It will be understood by those skilled in the art that the present invention can be understood by those skilled in the art.

1 is a diagram illustrating a personal mobility system according to an embodiment of the present invention.
2A and 2B are diagrams for explaining a method of calculating a horizontal distance to a point specified by a user.
FIGS. 3A and 3B are diagrams for explaining a method of calculating a final horizontal rotation angle from a personal mobility to a point designated by a user.
4 is an exemplary diagram showing a movement path of personal mobility when a plurality of points are designated by the user.
5 is a functional block diagram showing a configuration of a remote controller according to an embodiment of the present invention.
6 is a functional block diagram showing the configuration of personal mobility according to an embodiment of the present invention.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It is to be understood, however, that the intention is not to limit the invention to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. In addition, numerals (e.g., first, second, etc.) used in the description of the present invention are merely an identifier for distinguishing one component from another.

Also, in this specification, when an element is referred to as being "connected" or "connected" with another element, the element may be directly connected or directly connected to the other element, It should be understood that, unless an opposite description is present, it may be connected or connected via another element in the middle.

In the present specification, a component represented by 'unit', 'module', or the like refers to a case where two or more components are combined into one component, or one component is divided into two or more ≪ / RTI > In addition, each of the components to be described below may additionally perform some or all of the functions of the other components in addition to the main functions of the component itself, and some of the main functions And may be performed entirely by components.

In the present specification, 'personal mobility' means a device on which one or more users 10 ride and move, and personal mobility can be driven mainly by electric power. However, the present invention is not limited thereto, For example, LPG, solar light, gasoline, light oil, or the like.

Hereinafter, exemplary embodiments according to the technical idea of the present invention will be described with reference to the drawings.

1 is a diagram illustrating a personal mobility system according to an embodiment of the present invention.

Referring to FIG. 1, a personal mobility system according to an embodiment of the present invention may include a remotely controlled device 100 and a personal mobility 200.

The remote controller 100 is used by the user 10 to control the movement of the personal mobility 200. The user 10 can select the location 20 to which he or she wants to go by selecting the location designation button 110 (or switch) provided in the remote controller 100. [ The remote controller 100 emits light to the point 20 designated by the user 10 when the user 10 selects the location designation button 110, (E. G., Visible light) to inform the user 10 which point 20 is pointing, in accordance with an implementation, It can also diverge. In other words, when the user 10 selects the position designation button 110, the remote controller 100 determines whether at least one of visually undetectable light and visually perceptible light to the point 20 designated by the user 10 .

The personal mobility 200 includes a boarding body 210 and a driving unit 230 on which the user 10 is boarded and moves to a point 20 designated by the user 10 as a remote controller 100. The driving unit 230 may include components that enable the personal mobility 200, such as a wheel and a motor, to move.

The remote controller 100 and the personal mobility 200 communicate with each other and can transmit and receive position related information of the point 20 designated by the user 10. The distance between the remote controller 100 and the personal mobility 200 The communication methods to be performed can be variously implemented. As an example, the remote controller 100 and the personal mobility 200 can transmit and receive information using a local area communication method (Bluetooth communication, NFC communication, and the like).

The personal mobility 200 obtains the final horizontal rotation angle based on the horizontal movement distance to the point 20 designated by the user 10 and the forward direction of the personal mobility 200 through communication with the remote controller 100 can do.

Also, as shown in FIG. 1, according to an embodiment, the personal mobility 200 may project the movement guide information 300 of the personal mobility 200 on the ground. To this end, the personal mobility 200 may be provided with a projector 250 for projecting information. The movement guide information 300 may include at least one of a current movement direction of the personal mobility 200, a current movement speed and a predetermined movement direction information, and the user 10 may include at least one of personal mobility 200) is currently moving and how to move in the future.

The personal mobility 200 obtains the horizontal distance and the final horizontal rotation angle to the point 20 designated by the user 10 to move to the point 20 specified by the user 10, .

FIGS. 2A and 2B are diagrams for explaining a method of calculating the horizontal distance to the point 20 designated by the user 10. FIG.

2A, when the user 10 selects the location designation button 110 of the remote controller 100 to designate the location 20 located below the remote controller 100, the remote controller 100 100 emits light to the point 20 designated by the user 10, and detects the reflected light. The remote controller 100 can acquire the distance between the remote controller 100 and the point 20 designated by the user 10 based on the light emission time and the light detection time.

In addition, the gyro sensor is built in the remote controller 100 to detect the three-axis rotation angle of the remote controller 100. To measure the horizontal distance, the remote controller 100 uses the y-axis as a rotation axis, V), which is an angle at which the first and second sensors 100 and 100 are rotated. FIG. 2A shows a vertical rotation angle? V measured based on the x-axis. The reference axis can be set in various ways such as the x-axis, the y-axis, and the z-axis.

When the distance between the remote controller 100 and the point 20 and the vertical rotation angle [theta] v are obtained, the horizontal distance can be determined according to the following equation (1).

[Equation 1]

Horizontal distance = (distance between remote controller and user specified point) × cos (θv)

2B, when the user 10 selects the position designation button 110 of the remote controller 100 and designates the point 20 located above the remote controller 100, (100) emits light to the point (20) designated by the user (10) and senses the reflected light to be reflected. The remote controller 100 can acquire the distance between the remote controller 100 and the point 20 designated by the user 10 based on the light emission time and the light detection time.

The remote controller 100 can sense the vertical rotation angle -θv, which is the angle at which the remote controller 100 is rotated, with the y-axis as the rotation axis via the gyro sensor. When the distance between the remote controller 100 and the point 20 and the vertical rotation angle -θv are obtained, the horizontal distance can be determined according to the following equation.

&Quot; (2) "

Horizontal distance = (distance between remote controller and user specified point) × cos (-θv)

Cos (-? V) in Equation (2) is equal to cos (? V) in Equation (1), so that equations (1) and (2) are the same equations.

The remote controller 100 calculates the horizontal distance based on the distance and the vertical rotation angle to the point 20 designated by the user 10 and calculates the calculated horizontal distance as the position related information of the point 20 to generate the personal mobility 200). The remote controller 100 transmits the distance and the vertical rotation angle to the point 20 specified by the user 10 as position related information to the personal mobility 200 and the personal mobility 200 The horizontal distance may be calculated based on the received values.

When the horizontal distance is obtained according to the description shown in FIGS. 2A and 2B, the personal mobility 200 can know how much distance the user 10 should move to the specified point 20.

FIGS. 3A and 3B are diagrams for explaining a method of calculating a final horizontal rotation angle from the personal mobility 200 to the point 20 designated by the user 10.

3A is a plan view showing a point 20 designated by the remote controller 100 and the user 10. The remote controller 100 uses the gyro sensor to calculate the first horizontal rotation angle? P1 of the remote controller 100 Detection. Specifically, the remote controller 100 uses the first horizontal rotation angle (i.e., the angle at which the remote controller 100 is rotated) about the z axis (axis perpendicular to the x axis and the y axis, lt; / RTI > 3A shows a first horizontal rotation angle [theta] p1 measured with reference to the x-axis direction, and the reference direction of the angle measurement can be variously set.

3B is a plan view showing the personal mobility 200 and the point 20 designated by the user 10. The personal mobility 200 uses the gyro sensor to calculate the second horizontal rotation angle? P2 of the personal mobility 200 Detection. The second horizontal rotation angle? P2 of the personal mobility 200 indicates how much the advancing direction of the personal mobility 200 has rotated based on a predetermined direction (for example, the x-axis direction).

Specifically, the personal mobility 200 has a second horizontal rotation angle, which is the angle at which the personal mobility 200 is rotated, with the z axis (axis perpendicular to the x axis and the y axis, indicated by dots in Fig. 3B) (? p2). FIG. 3B shows a second horizontal rotation angle? P2 measured with reference to the x-axis direction, and the reference direction of the angle measurement can be variously set.

3B indicates that the advancing direction of the personal mobility 200 has rotated by? P2 in the x-axis direction. Therefore, the personal mobility 200 can be determined as the second horizontal rotation angle? The final horizontal rotation angle can be calculated based on one horizontal rotation angle [theta] p1 and the second horizontal rotation angle [theta] p2. In FIG. 3B, the final horizontal rotation angle will be? P1 +? P2.

When the final horizontal rotation angle is obtained, the personal mobility 200 rotates the personal mobility 200 by the final horizontal rotation angle and moves forward by the horizontal distance.

That is, according to an embodiment of the present invention, the horizontal distance and the final horizontal rotation angle from the point 10 to the point 20 specified by the user 10 are obtained through the remote controller 100, and the personal mobility 200 is acquired And the rotation and the forward movement are performed according to the value.

On the other hand, according to the embodiment, the remote controller 100 may provide the user 10 with a function of canceling the movement. The move cancel function is a function that allows the user 10 to cancel the movement before and after the movement of the personal mobility 200 after the user selects the specific point 20 with the remote controller 100. [

The user 10 selects the cancel button (or switch) provided in the remote controller 100 or keeps the selection of the position designation button 110 of the remote controller 100 for a predetermined time or more, 20, the remote controller 100 determines that the mobile cancellation function has been selected, and can transmit the information to the personal mobility 200. [0064] FIG. When the personal mobility 200 receives from the remote controller 100 the information indicating that the movement has been canceled, the personal mobility 200 stops moving to the point 20 designated by the user 10.

4 is an exemplary diagram showing movement paths 40a, 40b, 40c, and 40d of the personal mobility 200 when a plurality of points 20a, 20b, 20c, and 20d are designated by the user 10.

The user 10 may designate a plurality of points 20a, 20b, 20c, and 20d through the remote controller 100. [ The remote controller 100 transmits the location-related information for each of the plurality of points 20a, 20b, 20c, and 20d to the personal mobility 200. [ The personal mobility 200 includes a moving path 40a from the current position to the first point 20a, a first point 20a as shown in Fig. 4 based on the information received from the remote controller 100, A movement path 40c from the second point 20b to the third point 20c to the second point 20b, a movement path 40c from the third point 20c to the fourth point 20d The plurality of points 20a, 20b, 20c, and 20d may move the points 20a, 20b, 20c, and 20d in the order of time specified by the user 10 after setting the movement path 40d of the user 10. The movement paths 40a, 40b, 40c, and 40d may be determined according to the horizontal distance and the final horizontal rotation angle.

When the user 10 selects the one-movement-canceling function via the remote controller 100, the personal mobility 200 stops moving to the last selected point 20d in time, When the two-movement canceling function is selected through the controller 100, the movement to the last selected point 20d and the immediately-selected point 20c in time can be stopped. That is, every time the user 10 selects the movement canceling function through the remote controller 100, the movement to the most recently selected point is canceled.

Meanwhile, according to the embodiment, when the personal mobility 200 moves to the point 20 designated by the user 10 according to the horizontal movement distance and the final horizontal rotation angle, if the obstacle is detected on the movement route, The user may move to the point 20 specified by the user 10 through the possible movement path. To this end, the personal mobility 200 may be equipped with means for detecting obstacles located in the front, such as a camera, an infrared sensor, or a laser sensor.

In addition, according to an embodiment, when the user 10 continuously points a moving object through the remote controller 100, that is, when the user 10 moves the position designation button 110 of the remote controller 100 When the moving object is continuously designated in the selected state, the personal mobility 200 continuously calculates the horizontal distance and the final horizontal rotation angle to the point selected by the user 10 (i.e., moving object) . ≪ / RTI >

5 is a functional block diagram showing a configuration of a remote controller 100 according to an embodiment of the present invention.

5, the remote controller 100 according to an embodiment of the present invention may include a distance measuring unit 510, a gyro sensor 530, a communication unit 550, and a control unit 570. The distance measuring unit 510, the gyro sensor 530, the communication unit 550, and the control unit 570 may operate according to a program stored in a memory (not shown).

The distance measuring unit 510 includes a light emitting unit and when the user 10 points at an arbitrary point 20 through the positioning button 110 of the remote controller 100, And emits light. The distance measuring unit 510 measures the distance between the remote controller 100 and the point 20 specified by the user 10 based on the sensing time and the diverging time of the reflected and received light.

The gyro sensor 530 senses the vertical rotation angle and the first horizontal rotation angle of the remote controller 100. Specifically, the gyro sensor 530 can sense a vertical rotation angle, which is an angle at which the remote controller 100 is rotated about a predetermined rotation axis, and can detect the rotation angle of the first The horizontal rotation angle can be detected.

The communication unit 550 transmits the position related information of the point 20 designated by the user 10 to the personal mobility 200. As an example, the communication unit 550 may transmit the distance to the point 20 designated by the user 10, the vertical rotation angle and the first horizontal rotation angle to the personal mobility 200 as position related information, The controller 550 may transmit the horizontal distance calculated based on the distance to the point 20 designated by the user 10 and the vertical rotation angle and the first horizontal rotation angle to the personal mobility 200 as position related information.

The control unit 570 controls the functions of the distance measuring unit 510, the gyro sensor 530, and the communication unit 550. The control unit 570 may transmit the related information to the personal mobility 200 through the communication unit 550 when the user 10 selects the mobility cancel function. The control unit 570 may also calculate the horizontal distance based on the distance to the point 20 designated by the user 10 and the vertical rotation angle.

6 is a functional block diagram showing the configuration of the personal mobility 200 according to an embodiment of the present invention.

6, the personal mobility 200 may include a communication unit 610, a gyro sensor 630, an information display unit 650, and a control unit 670. The communication unit 610, the gyro sensor 630, the information display unit 650, and the control unit 670 may operate according to a program stored in a memory (not shown).

The communication unit 610 receives position related information of the point 20 specified by the user 10 from the remote controller 100. [ Further, the communication unit 610 may further receive from the remote controller 100 information indicating that the movement canceling function has been selected by the user 10.

The gyro sensor 630 senses the second horizontal rotation angle of the personal mobility 200. Specifically, the gyro sensor 630 can detect a second horizontal rotation angle, which is an angle at which the personal mobility 200 is rotated about a predetermined rotation axis.

The control unit 670 controls the overall operation of the personal mobility 200 such as the communication unit 610, the gyro sensor 630, and the information display unit 650. The control unit 670 acquires the positional relationship information received from the remote controller 100 and the horizontal distance and the final horizontal rotation angle to the point 20 designated by the user 10 according to the second horizontal rotation angle, 230 (a motor, a wheel, and the like) to move the personal mobility 200.

The information display unit 650 projects the movement guide information 300 of the personal mobility 200 on the ground through the projector 250 described above. The movement guide information 300 may include at least one of the current movement direction, the current movement speed, and the predetermined movement direction information of the personal mobility 200, for example.

Meanwhile, the embodiments of the present invention described above can be written in a program that can be executed in a computer, and the created program can be stored in a medium.

The medium may be one that continues to store computer executable programs, or temporarily store them for execution or download. In addition, the medium may be a variety of recording means or storage means in the form of a combination of a single hardware or a plurality of hardware, but is not limited to a medium directly connected to a computer system, but may be dispersed on a network. Examples of the medium include a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, an optical recording medium such as CD-ROM and DVD, a magneto-optical medium such as a floptical disk, And program instructions including ROM, RAM, flash memory, and the like. As another example of the medium, a recording medium or a storage medium managed by a site or a server that supplies or distributes an application store or various other software to distribute the application may be mentioned.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims. You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

100: remote controller
110: Positioning button
510: distance measuring unit
530: Gyro sensor
550:
570:
200: Personal Mobility
210: boarding body
230:
250: Projector
610:
630: Gyro sensor
650: information display section
670:

Claims (14)

A remote controller for pointing to a point designated by the user according to an operation of the user; And
Based on the positional relation information of the point received from the remote controller, obtains a final horizontal rotation angle based on the horizontal distance to the point and the forward direction, and calculates the final horizontal rotation angle based on the obtained horizontal distance and the final horizontal rotation angle And a personal mobility for moving to a point designated by the user.
The method according to claim 1,
The remote controller includes:
A first horizontal rotation angle of the remote controller is measured,
The personal mobility,
And obtains the final horizontal rotation angle based on the second horizontal rotation angle and the first horizontal rotation angle of the personal mobility.
3. The method of claim 2,
The remote controller includes:
A distance measuring unit for measuring a distance between the remote controller and a point designated by the user on the basis of the light that returns to the point designated by the user;
A gyro sensor for measuring the first horizontal rotation angle; And
And a communication unit for transmitting the horizontal distance obtained on the basis of the distance to the point or the distance to the point to the personal mobility and transmitting the first horizontal rotation angle to the personal mobility Personal Mobility System for Driving.
3. The method of claim 2,
The personal mobility,
A boarding vehicle on which the user boarding;
A driving unit for driving movement of the boarding body;
A communication unit for receiving from the remote controller the horizontal distance obtained based on the distance to the point or the distance to the point and receiving the first horizontal rotation angle from the remote controller;
A gyro sensor for measuring the second horizontal rotation angle; And
And a controller for controlling the driving unit according to the horizontal distance and the final horizontal rotation angle of the personal mobility system.
The method according to claim 1,
The horizontal distance,
And the distance between the remote controller and the point and the vertical rotation angle of the remote controller.
6. The method of claim 5,
The horizontal distance,

[Mathematical Expression]
Horizontal distance = (distance from remote controller to point) × cos (vertical rotation angle)

Is determined on the basis of the above equation.
The method according to claim 1,
The personal mobility,
And an information display unit for displaying the movement guide information of the personal mobility on the paper.
8. The method of claim 7,
Wherein the movement guide information comprises:
Wherein the personal mobility system includes at least one of movement direction information, movement speed information, and predetermined movement direction information of the personal mobility.
The method according to claim 1,
Wherein when the user selects to cancel the movement through the remote controller, the personal mobility stops moving to the point designated by the user.
The method according to claim 1,
The remote controller includes:
When the user selects the cancel button of the remote controller, when the user holds the selection of the position designation button of the remote controller for a predetermined time or when the user re-designates an area within a predetermined distance from the point designated by the user, And transmits information indicating that the movement to the point designated by the user is canceled, in the personal mobility.
The method according to claim 1,
Wherein when the user specifies a plurality of points, the personal mobility sequentially moves to a plurality of points designated by the user.
12. The method of claim 11,
Wherein the personal mobility stops the movement to the last specified point among the plurality of points when the user selects to cancel the movement through the remote controller after the user designates the plurality of points, Personal mobility system.
The method according to claim 1,
The personal mobility,
Wherein when the obstacle is detected while moving to a point designated by the user, the obstacle is moved to a point designated by the user along a moving path capable of avoiding an obstacle.
A boarding body on which the user is boarding;
A driving unit for driving movement of the boarding body; And
And a controller for controlling the driving unit to move to a point designated by the user based on a final horizontal rotation angle based on a horizontal distance and a forward direction to a point designated by the user via the remote controller Personal mobility for driving.

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