KR20190024565A - Vehicle - Google Patents

Abstract

The present invention provides a vehicle including: a main body; a driving unit provided on the main body and generating driving force to move the main body; a distance sensing unit provided on the main body and measuring a distance of a user to output a corresponding sign; an operation unit carried by the user and sensing a motion sign of the driving unit and the user′s movement and posture to wirelessly output a corresponding sign; a sign receiving unit receiving the wireless sign output from the operation unit and converting the received wireless sign to a sign corresponding to the motion and outputting the same; and a control unit receiving the sign output from the sign receiving unit and outputting a control sign corresponding to the same.

Description

Mobile device {Vehicle}

The present invention relates to a moving apparatus, and more particularly, to a moving apparatus that moves at a predetermined distance on a ground, or moves on a ground corresponding to a moving direction and a moving speed of a user while maintaining a certain distance from the user.

The mobile device is a device configured to be movable in a desired direction by using a predetermined power.

The moving device includes a cart that moves on the ground, a dron that moves to the sky, and a stocker that moves on the rails.

A cart is a type of mobile device used in a department store, a supermarket, or the like to easily carry goods purchased by consumers and to facilitate the movement of golf equipment in a golf course. Carts are also called carriers, handy wagons, and so on.

The cart is moved by the user, but when the cart is loaded with many items, a cart using an electric drive means is not easy to move.

In the cart using the electric drive means, the electric drive means is operated by the user's operation, and the wheels are driven by the generated drive force to be able to travel on the ground.

In the case of using the above-described mobile device, there is a problem that the user must manually operate the handle in order to adjust the traveling direction and the traveling speed of the cart.

Drone is an unmanned moving device capable of flying and manipulating by induction of radio waves, and can fly by flying at a certain height on the ground.

Typical drones provide only the ability to move to the destination based on GPS or to move by user's manipulation. Therefore, when flying along a moving object such as an automobile or a motorcycle, there is a problem in that it is difficult to maintain a constant distance from the moving object.

On the other hand, a stocker for the movement of the cargo has been started.

A stocker is a mobile device that temporarily stores a loaded cargo on a shelf in a cassette storage system before transferring it to any equipment that carries on the next process, and then carries it to other equipment that performs other processes.

The stocker transports the raw materials and products while moving by the wheels moving on the rails and the rail. However, this conventional configuration has limitations in increasing and controlling the speed of the components and noise, vibration and dust in the rails and wheels.

As prior art to the present invention, it is possible to exemplify the publicly known patents 2015-0117322, 10-1415967 and 10-1617411.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a moving device capable of moving on a ground in accordance with a moving direction and a speed of a user or floating on a ground at a predetermined height.

It is another object of the present invention to provide a mobile device capable of maintaining a constant distance from a user during movement.

According to an aspect of the present invention, A driving unit disposed on the main body to generate a driving force to move the main body; A distance sensing unit disposed on the body and measuring a distance of the user and outputting a corresponding signal; A controller which is carried by the user and senses an operation signal of the driving unit and a movement and posture of the user and outputs a corresponding signal wirelessly; A signal receiving unit for receiving a radio signal output from the control unit, converting the received radio signal into a signal corresponding to the operation, and outputting the signal; And a controller for receiving a signal output from the signal receiver and outputting a corresponding control signal; The present invention provides a mobile device comprising:

The driving unit may include a motor operated by an external power source and a driving wheel rotated by the motor.

The driving unit may further include braking means for stopping the rotation of the driving wheels by a control signal output from the control unit.

The driving unit may include a motor that is operated by an external power source and a propeller that rotates by the driving force.

And a second electromagnet disposed on the main body and generating a repulsive force with respect to the first electromagnet to cause the main body to float on the rail, May be included in plural.

The control unit may limit the moving speed of the main body to a certain level or less.

And an obstacle detection unit disposed on the main body and detecting an obstacle in front of the main body and outputting a corresponding signal.

The obstacle detection unit may include first to third obstacle detection sensors disposed on the front center and front sides of the main body.

The obstacle sensing unit may include an ultrasonic sensor, an optical sensor, and a video output sensor.

The distance sensing unit may include first to third distance sensing sensors disposed on the rear center and rear sides of the main body.

The distance sensing unit may include an ultrasonic sensor, an optical sensor, and a video output sensor.

The control unit may include a smart phone.

The control unit can output a signal using a Bluetooth communication method.

The obstacle detection unit may further include a first warning unit that detects an obstacle or warns the user when the distance between the user and the main body is greater than a predetermined distance by the distance detection unit.

The controller may control the driving unit to stop the movement of the main body when an obstacle is detected by the obstacle sensing unit.

The control unit may control the driving unit to stop the movement of the main body when the distance between the user and the main body is distant from the main body by the distance detection unit.

The control unit can resume the operation of the driving unit stopped by the user.

The control unit may stop the operation of the driving unit by the operation of the braking unit if the control unit determines that the movement of the user is stopped for a predetermined time.

The control unit may cause the main body to be moved by operation of the user and stopped by the release of the operation of the braking means.

A second warning unit for warning that the amount of remaining power is less than a first value by an output signal of the power measuring unit, .

The first value may correspond to 30% of the battery capacity.

The second warning unit may output an emergency landing signal to the control unit so that the drones are landed when the amount of power is less than a second value by an output signal of the power measurement unit.

The second value may correspond to 10% of the battery capacity.

According to the present invention as described above, it is possible to move on the ground corresponding to the moving direction and speed of the user, to maintain a certain distance from the user while moving, and to restrict the moving speed when the moving speed of the user is more than a certain level It is possible to provide a cart as a mobile device that can be used.

In addition, the present invention can provide a dragon or a stocker, which can move in accordance with the moving direction and speed of the user, and can maintain a certain distance from the user while moving.

1 is a view showing a configuration of a cart as a mobile device according to an embodiment of the present invention.
2 is a perspective view showing an example of a configuration of a cart main body used in the present invention.
3 is a view showing an example of the arrangement state of the components arranged on the cart body.
4 is a diagram showing an example of the arrangement state of the obstacle sensing unit and the distance sensing unit used in the present invention.
5 is a view showing an example of an application object of the cart according to the present invention.
Fig. 6 is a view showing another example of an application object of the cart according to the present invention.
7 is a view showing the configuration of a drone as a mobile device according to another embodiment of the present invention.
8 is a perspective view showing an example of the configuration of the drones used in the present invention.
9 is a view showing an example of the arrangement state of constituent elements arranged in the drone main body.
10 is a diagram showing an example of an arrangement state of an obstacle sensing unit and a distance sensing unit used in the present invention.
11 is a view showing an application example of a drone according to the present invention.
12 is a view showing the configuration of a stocker, which is a mobile device according to another embodiment of the present invention.
13 is a view showing an example of the arrangement state of the components arranged in the stocker main body.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 is a view showing a configuration of a cart as a mobile device according to an embodiment of the present invention, and Fig. 2 is a perspective view showing an example of the configuration of a cart main body used in the present invention. 3 is a view showing an example of the arrangement state of the components arranged on the cart body.

1 to 3, a mobile device 100 according to an embodiment of the present invention includes a cart body 110, a driving unit 120, an obstacle sensing unit 130, a distance sensing unit 140, A controller 150, a first warning unit 170,

In the present embodiment, a description will be given on the assumption that the cart main body is an example of a mobile device configured to be movable on the ground. However, the mobile device moving on the ground is not limited to a cart and can be variously changed.

2, the cart main body 110 has a predetermined size and is formed in a substantially hexahedron shape, and is formed so as to be able to load predetermined articles at the lower portion and the upper portion thereof.

A handle 112 is disposed at the upper rear of the cart main body 110 to manually control the running of the cart main body 110 according to the user's needs.

The size and shape of the cart main body 110 are not limited to the example shown in FIG. 2, and may be variously formed according to the needs of the user.

The driving unit 120, the obstacle sensing unit 130, the distance sensing unit 140, and the controller 160 may be disposed on the cart body 110.

The driving unit 120 operates according to a control signal output from a controller 160 to generate a driving force for moving the cart body 110. The driving unit 120 may include a predetermined motor.

In the present embodiment, the driving unit 120 may be a DC motor operating at 12 V and having a maximum torque of 12 kg.cm and a speed of 350 rpm, but a motor having different specifications may be used according to the user's need.

The driving unit 120 may include braking means (not shown) that operates under the control of a control unit 160, which will be described later, and stops the rotation of the driving wheels 111, which will be described later. The operating method of the braking means used in the driving unit 120 may be variously set according to the user's needs such as a friction type.

A driving wheel 111 is connected to the driving unit 120 so that the driving wheel 111 is rotated.

The driving wheels 111 are disposed on both sides of the lower rear of the cart body 110 so that the cart body 110 can be moved at a predetermined speed. Here, auxiliary wheels used for direction switching may be disposed in front of the cart body 110.

At this time, the single driving unit 120 may be connected to the driving wheels 111 on both sides of the driving wheel 111 through a predetermined gear box.

Meanwhile, a battery BT may be disposed at one side of the cart body 110 to supply power to the driving unit 120 and the components to be described later.

The obstacle sensing unit 130 is disposed in front of the cart body 110. The obstacle sensing unit 130 senses an obstacle in front of the cart body 110 while the cart body 110 is traveling and outputs a corresponding signal.

The distance sensing unit 140 is disposed behind the cart body 110 and continuously senses the distance to the user during traveling of the cart body 110 so that the distance between the user and the cart body 110 becomes constant The user may output a signal corresponding to a distance distanced to the rear, rear left, or rear right of the cart main body 110. [0050]

4 is a diagram showing an example of the arrangement state of the obstacle sensing unit and the distance sensing unit used in the present invention.

The obstacle detection unit 130 may include first, second, and third obstacle detection sensors 131, 132, and 133. Here, the first to third obstacle detection sensors 131, 132, and 133 may include a single sensor or a plurality of sensors, respectively, according to a user's need.

Here, the first to third obstacle detection sensors 131, 132, and 133 may include an ultrasonic sensor. At this time, the ultrasonic sensor can operate in a sweep manner.

The sweep operation is an operation method that continuously changes the frequency for a predetermined time. For example, the vibroseis changes the vibration frequency (10 to 70 Hz) continuously for several seconds. Vibroseis is a sound source that generates elastic waves by continuously changing the vibration frequency by a mechanical vibration device for a predetermined time.

The first, second, and third obstacle detection sensors 131, 132, and 133 may use optical sensors according to the needs of the user.

The first to third obstacle detection sensors 131, 132, and 133 are disposed at the center and both sides of the front of the cart body 110 and are disposed on both sides of the cart body 110, It is possible to detect an obstacle within the range.

The obstacle sensing unit 130 may be arranged in front of the cart body 110. However, the obstacle sensing unit 130 may be disposed behind the cart body 110, Respectively.

Detection of an obstacle using an ultrasonic wave and an optical sensor is a well-known technology, and a detailed description thereof will be omitted.

Also, the first to third obstacle detection sensors 131, 132, and 133 may use an image output sensor that outputs a predetermined image.

Here, the image output sensor may include a CCD element or a CMOS element.

When the operation of the cart main body 110 is started, the video output sensor continuously photographs the front of the cart main body 110 and outputs a photographed image. Detection of an obstacle using a video output sensor is well known in the art such as disclosed in Japanese Laid-Open Patent Publication No. 2013-0119582, and thus a detailed description thereof will be omitted.

In the present embodiment, the obstacle sensing unit 130 includes the first to third obstacle sensing sensors. However, the number of sensors included in the obstacle sensing unit 130 may vary according to the user's needs .

The distance sensing unit 140 may include first, second, and third distance sensing sensors 141, 142, and 143.

The first to third distance sensors 141, 142 and 143 included in the distance sensing unit 140 are disposed at the center and both sides of the rear of the cart body 110, And a distance from a user located within a certain range to both sides based on the rear side.

In the present embodiment, the distance sensing unit 140 is disposed behind the cart body 110 to sense the distance to the user behind the cart body 110, (140) may be disposed in front of the cart body (110) to detect a distance to a user in front of the cart body (110).

In addition, the distance sensing unit 140 may be disposed in front of and behind the cart body 110, respectively.

Here, the first to third distance sensors 141, 142, and 143 may include an ultrasonic sensor.

Since distance detection using ultrasonic waves is a well-known technique, a detailed description thereof will be omitted.

The first, second, and third distance sensors 141, 142, and 143 may include a plurality of optical sensors. Since the distance detection using the optical sensor is a well known technique, a detailed description thereof will be omitted.

Also, the first to third obstacle detection sensors 131, 132, and 133 may use an image output sensor that captures and outputs a predetermined image. Here, the image output sensor may include a CCD element or a CMOS element.

The distance measurement using the photographed image is a known technique disclosed in Japanese Patent Application Laid-Open Nos. 2015-65473 and 10-1692809, and therefore, a detailed description thereof will be omitted.

Each of the first to third distance sensors 141, 142, and 143 may include a single sensor or a plurality of sensors, respectively, according to the needs of the user.

Referring again to FIG.

The control unit 150 senses an operation of the user and outputs a corresponding signal as a radio signal. The control unit 150 is carried by the user.

The operation of the control unit 150 will be described in more detail.

The control unit 150 detects when the user is walking in a straight line to the front or back or when walking while changing the direction while walking, outputs a corresponding signal as a radio signal, and controls the posture in which the user tilts the upper body And outputs the corresponding signal as a radio signal. Also, the control unit 150 may sense the walking speed and output a corresponding signal.

Here, the controller 150 may include a smart phone that is carried by the general public and used for telephone conversation. The smartphone used as the control unit 150 is provided with an application for sensing a walking situation and a walking direction of the smartphone and wirelessly outputting signals corresponding thereto.

The smartphone can detect the forward, backward, direction change, and posture change of a user carrying the control unit 150 using a built-in gravity sensor, an acceleration sensor, a gyroscope sensor, and a motion sensor. In addition, a smartphone can output a signal using a Bluetooth communication function included in a smartphone.

The signal receiving unit 164 is disposed at one side of the cart body 110 and receives a radio signal output from the control unit 150 and converts it into a signal that can be recognized by the controller 160, do. Here, the signal receiving unit 164 may include a Bluetooth module.

The control unit 160 receives signals output from the obstacle sensing unit 130 and the distance sensing unit 140 and senses the appearance of obstacles in front of the cart body 110 using the received signals, 110 and the user, and outputs an operation control signal according to the detection result.

The control unit 160 receives a signal output from the control unit 150 through the signal receiving unit 164 and detects a moving direction and a moving speed of the user, .

At this time, when the main body 110 moves at a speed higher than the reference speed, the controller 160 can prevent an accident caused by a collision with an obstacle ahead by limiting the speed of the main body 110.

In addition, if the controller 160 determines that the movement of the user is stopped for a predetermined time or longer, the controller 160 may control the operation of the driver 120 to stop the main body 110. At this time, the controller 160 outputs a brake control signal to the driving unit 120 so that the rotation of the driving wheel 111 may be stopped. Further, when the driving unit 120 uses a brake motor, the brake operation may be performed by turning off the power supply.

Particularly, when the main body 110 is stopped at a predetermined angle, it is preferable that the braking operation is performed by the braking means so that the main body 110 does not move on the ramp.

In the present embodiment, the controller 160 is implemented using Arduino technology, but various techniques can be used according to the needs of the user.

When the occurrence of an obstacle is detected in front of the cart body 110 or when the distance between the cart body 110 and the user is distant from the cart body 110 by a predetermined amount or more, And outputs a predetermined warning signal.

In the present embodiment, the first warning unit 170 uses a buzzer, but various notification means may be used according to the needs of the user.

The operation of the cart, which is a mobile device according to an embodiment of the present invention, will now be described.

The cart main body 110 according to the present invention operates as follows when a user puts a predetermined article required by himself / herself on the cart main body 110 according to the present invention and moves.

The user starts the operation of the control unit 150. At this time, the controller 150 detects a walking speed and a walking direction of a user, and wirelessly outputs a corresponding signal. The user operates the application installed in the smartphone.

Here, the application installed in the smart phone informs the output control of the signal corresponding to the user's walking situation, the driving situation of the cart main body, and stops the alarm sound of the first warning unit 170, The operation of the cart main body 110 stopped, and the like.

The user operates the operation switch to turn on the power so that the power supplied from the battery BT disposed on the cart main body 110 is supplied to the components arranged on the cart main body 110.

When the power is supplied, the first warning unit 170 generates a predetermined sound to inform that the operation of the cart body 110 according to the present invention is started. In addition, a predetermined operation LED is turned on with the start of operation of the cart body 110, and the lighting state can be maintained while the cart body 110 is being operated.

The cart main body 110 travels forward at a predetermined speed ahead of a predetermined distance (for example, 1 m 20 cm) from the user. The user is allowed to walk along the cart body 110 from behind the cart body 110. At this time, the distance between the cart body 110 and the user can be variously set as needed.

The controller 160 operates as follows in response to a signal output from the obstacle sensing unit 130 and the distance sensing unit 140 while the cart body 110 is traveling.

The operation of the controller 160 will be described below.

The control unit 160 detects an obstacle in front of the cart body 110 using a signal output from the obstacle sensing unit 130.

If no obstacle is detected in front of the cart main body 110, the driving unit 120 continues to drive without outputting a separate control signal.

When the obstacle sensing unit 130 including the first to third obstacle sensors 131, 132, and 133 detects an obstacle in front of the cart body 110, the controller 160 And outputs an alarm control signal indicating that an obstacle appears within a predetermined distance (for example, 40 cm) to the right or left of the front of the cart body 110.

The first warning unit 170 can perform a predetermined alarm based on the output alarm control signal.

If the distance between the cart body 110 and the obstacle is within a certain distance, the controller 160 may control the driving unit 120 to stop operating.

The controller 160 may calculate the distance between the back of the cart body 110 and the user using the signal output from the distance sensing unit 140 so that the distance between the cart body 110 and the user is (For example, 1 meter 20 cm), and when the distance is close to a predetermined distance or more, a signal requesting maintenance of the cart body 110 through the first warning unit 170 is output can do.

After outputting the warning signal through the first warning unit 170, the control unit 160 may operate the driving unit 120 to move the distance between the cart body 110 and the user.

At this time, when the user moves forward at a predetermined walking speed, a signal output from the control unit 150 is input to the control unit 160 through the signal receiving unit 164.

The control unit 160 controls the operation of the driving unit 120 according to the walking direction and the speed of the user according to the input signal so that the cart main body 110 travels.

If the walking direction is changed to the left or right during the user's walking, this is sensed by the steering unit 150. The control unit 150 outputs a signal for the walking direction, and the control unit 160 receives the signal.

The control unit 160 controls the operation of the driving unit 120 so that the cart main body 110 changes the traveling direction in the direction of the user's walking.

At this time, the controller 160 controls the distance sensor 140 so that the distance between the cart body 110 and the user can be maintained within a predetermined error range (for example, 6 cm) And controls the driving unit 120.

When the distance between the user and the cart main body 110 changes according to a change in the user's walking speed, the controller 160 controls the operation speed of the driving unit 120, So that the distance from the cart main body 110 is maintained. At this time, if the distance between the cart main body 110 and the obstacle is greater than a predetermined distance, the operation of the driving unit 120 may be stopped.

At this time, when the user's walking speed rapidly increases, the controller 160 prevents the speed of the cart body 110 from increasing to a predetermined speed (for example, 10 km / h) to prevent an accident. This is to ensure the safety of the occupant when the cart body 110 according to the present invention is used as a stroller, a wheelchair, and a patient transporting bed.

On the other hand, when the user follows the cart body 110 while walking, the user can walk in the opposite direction. A change in the walking direction of the user is detected by the control unit 150 and then output to the control unit 160. The controller 160 controls the driving unit 120 to change the driving direction of the cart body 110 so that the cart body 110 can always travel in front of the user.

At this time, if it is determined by the output signal of the control unit 150 that the user does not move for a predetermined time at a predetermined place, the controller 160 determines that the user is stopped for performing a task at a predetermined place, So that the main body 110 is stopped at a predetermined position. At this time, since the stop of the user is for performing a predetermined task, the main body 110 does not move even if the user's motion is detected.

The stop state of the main body 110 can be maintained until the operation start signal by the braking state releasing operation through the control unit 150 is output by the user.

5 is a view showing an example of an application object of the cart according to the present invention.

Referring to FIG. 5, a cart loaded with cleaning utensils can be pushed by a cleaning worker.

At this time, if the cart according to the present invention is applied to the cleaning cart shown in Fig. 5, the cleaning worker can reduce the effort required for moving the cart.

Fig. 6 is a view showing another example of an application object of the cart according to the present invention.

Referring to FIG. 6, a stewardess food cart that operates inside the passenger plane pushes the stewardess directly in the cabin. At this time, if the cart according to the present invention is applied to the footcart shown in Fig. 6, the stewardess can reduce the effort spent on the movement of the foodcart and can concentrate on providing in-flight service.

The cart according to the present invention can be applied to shopping carts of a mart, a baby carriage, an electric wheelchair requiring a helper, a medical cart of a nurse, a bed for transporting patients, an ambulance, etc., in addition to the objects shown in Figs.

As described above, the present invention can provide a cart that can be moved at a distance from the user and corresponding to the movement direction and speed of the user. In addition, the present invention as described above can provide a cart in which the maximum moving speed is limited within a certain range, and the safety of the occupant can be secured.

Meanwhile, the mobile device according to the present invention may include a drone that flies by flying at a certain height from the ground.

Hereinafter, a configuration of a dron, which is an example of a mobile device according to the present invention, will be described.

FIG. 7 is a view showing the construction of a drone as a mobile device according to another embodiment of the present invention, and FIG. 8 is a perspective view showing an example of a structure of a drone main body used in the present invention. 9 is a diagram showing an example of the arrangement state of the components arranged in the drone main body.

7 to 9, the mobile device 200 according to another embodiment of the present invention includes the drone main body 210, the driving unit 220, the obstacle sensing unit 230, the distance sensing unit 240, And includes the control unit 250 and the control unit 260. In addition, the mobile device 200 according to another embodiment of the present invention includes the power measurement unit 270B, the first warning unit 270A, and the second warning unit 270C.

The detailed description of the same configuration as the previous embodiment will be omitted, and only differences will be described.

The drone main body 210 will now be described.

The drone main body 210 has a predetermined size and shape, and the driving units 220 to be described later are arranged at regular intervals around the drone main body 210 in order to fly the drone main body 210.

In addition to the components to be described later, a battery BT for supplying power necessary for flying may be disposed on the drone main body 210.

The driving unit 220 includes a motor that is operated by a power source supplied from a battery BT disposed on the drones 210. A propeller 222 having a predetermined size and pitch is connected to the drive shaft of the motor. A predetermined gear box may be interposed between the motor and the propeller.

The driving unit 220 can move the drone main body 210 in a predetermined direction and speed by the power obtained by rotating the propeller 222. Here, the number of the driving units 220 may be changed according to the needs of the user such as four, six, eight. At this time, the driving unit 220 is arranged on both sides of the drones 210 as symmetrical to each other. Since the control of the driving unit 220 for moving the drone main body 210 is well known in the art, a detailed description thereof will be omitted.

10 is a diagram showing an example of an arrangement state of an obstacle sensing unit and a distance sensing unit used in the present invention.

The obstacle detection unit 230 is disposed on the dron body 210 and detects an obstacle in front of the dron body 210. When the detected obstacle is located in front of the dron body 210, And outputs a signal.

The obstacle detection unit 230 may include first to third obstacle detection sensors 231, 232, and 233 disposed on both sides of the front center and the front of the drones 210. [ Here, each of the first to third obstacle detection sensors 231, 232, and 233 may include a single sensor or a plurality of sensors, respectively, according to the needs of the user.

In the present embodiment, the obstacle sensing unit 230 is the same as the previous embodiment except that it is disposed on the drones 210.

The distance sensing unit 240 is disposed behind the dron main body 210 and continuously senses the distance to the user during the flight of the dron main body 210 so that the distance between the user and the dron main body 210 is constant The user may output a signal corresponding to a distance distanced from the rear of the drone main body 210 to the rear left side or the right side right side.

The distance sensing unit 240 may include first to third distance sensors 241, 242, and 243 disposed on both sides of the rear center and the rear of the drone main body 210.

In the present embodiment, the distance sensing unit 240 is the same as the previous embodiment except that the distance sensing unit 240 is disposed on the drones 210.

The control unit 250 is carried by the user.

The control unit 250 senses the operation of the user and outputs a corresponding signal as a radio signal.

The operation of the control unit 250 will be described in more detail.

The control unit 250 senses the user when he / she is walking in a straight line forward or backward, or changes his / her direction while walking, and outputs the corresponding signal as a radio signal.

Also, the controller 250 may sense the user's walking speed and output a corresponding signal.

In addition, when the user performs an operation such as tilting the upper body in one direction in a state where the user is stationary, the controller 250 may detect the operation and output a corresponding signal.

Here, the controller 250 may include a smart phone carried by a general public and used for telephone conversation.

The smartphone used as the control unit 250 is provided with an application for sensing the walking situation and the walking direction of the smartphone and wirelessly outputting signals corresponding thereto.

The smartphone can detect the forward, backward, direction change, and posture change of a user carrying the control unit 250 using a built-in gravity sensor, an acceleration sensor, a gyroscope sensor, and a motion sensor. In addition, a smartphone can output a signal using a Bluetooth communication function included in a smartphone.

The signal receiving unit 264 is disposed at one side of the drones 210 and receives a radio signal output from the controller 250. The signal receiving unit 264 converts the radio signal into a signal that can be recognized by the control unit 260, do. Here, the signal receiver 264 may include a Bluetooth module or a Wi-Fi module.

The control unit 260 receives the signals output from the obstacle sensing unit 230 and the distance sensing unit 240 and senses the appearance of obstacles in front of the drones 210 using the signals, 210 and the user, and outputs an operation control signal according to the detection result.

In addition, the controller 260 receives the signal output from the controller 250 through the signal receiver 264, detects the moving direction and the moving speed of the user, and outputs an operation control signal corresponding thereto.

The first warning unit 270A detects the occurrence of an obstacle in front of the drones 210 or if the distance between the drones 210 and the user is more than a predetermined distance, And outputs a predetermined warning signal.

In the present embodiment, the first warning unit 270A uses a buzzer, but various notification means may be used according to the needs of the user.

The present invention further includes the power measuring unit 270B and the second warning unit 270C for measuring the power stored in the battery BT disposed on the drone main body 210.

The power measuring unit 270B is disposed on the drone main body 210 and measures the amount of residual power of the battery BT that supplies power to the driving unit 220 and outputs a signal corresponding to the measured residual power amount .

The second warning unit 270C warns the user of a power shortage if the remaining power of the battery BT is less than a predetermined amount by using the signal output from the power measuring unit 270B.

Here, the criterion of the power shortage warning in the second warning unit 270C may be set as follows.

If the remaining power of the battery is 30% of the total capacity, the first value is assumed; if the remaining power of the battery is 10% of the total capacity, the second value is assumed.

In this embodiment, the first value and the second value are set to 30% and 10%, respectively, of the battery capacity, but they can be changed according to the needs of the user.

The second warning unit 270C outputs a predetermined warning signal to the user when the power amount measured by the power source measurement unit 270B is smaller than the first value.

At this time, the user can operate the control unit 250 to land the drones 210.

The second warning unit 270C outputs a warning signal to the user when the amount of power measured by the power measuring unit 270B is smaller than the second value and outputs a landing control signal to the control unit 250 So that the drone main body 210 can be landed without user's operation.

The drone main body 210 according to the present invention operates as follows.

The user starts the operation of the control unit 250. At this time, the controller 250 is a smartphone equipped with an application for detecting a walking situation and a walking direction of the controller 250, and wirelessly outputting a corresponding signal, and the user executes the application installed in the smartphone. Here, the application installed in the smart phone informs the output control of the signal corresponding to the walking situation of the user, the driving situation of the dron body, the stop of the alarm sound of the first warning unit 270A, And stopping or resuming operation of the drones 210 that are stopped.

The user operates the operation switch to turn on the power so that the power supplied from the battery BT disposed on the drones 210 is supplied to the components arranged on the drones 210. [

When the power is supplied, the first warning unit 270A generates a predetermined sound to inform that the operation of the drones 210 according to the present invention is started. In addition, a predetermined operation LED is turned on with the start of operation of the drone main body 210, and the lighting state can be maintained while the operation of the drone main body 210 is performed.

The drone main body 210 is forwarded at a predetermined speed ahead of a predetermined distance (for example, 1 m 20 cm) from the user in a floating state at a predetermined altitude (for example, 2 m).

In addition, the user is allowed to walk along the drones 210 from behind the drones 210. At this time, the flight altitude of the drones 210 and the distance between the drones 210 and the user can be variously set as needed.

During the flight of the drone main body 210, the controller 260 operates according to signals output from the obstacle sensing unit 230 and the distance sensing unit 240.

Here, the operation of the control unit 260 will not be described in the same way as the operation of the control unit 160 described in the previous embodiment, and only differences will be described.

The residual power amount of the battery BT disposed on the drone main body 210 and supplying power to the driving unit 220 is measured by the power measuring unit 270A and the power measuring unit 270B measures And outputs a signal corresponding to the residual power source amount.

If the residual power of the battery BT is equal to or less than a certain amount of power (for example, 30%) using the signal output from the power measuring unit 270B, . The remaining amount of power of the battery BT in which the first warning is made can be set to a case where the dragon body 210 can fly but the available flight time is within 1 to 2 minutes, Can be variously set.

After the first warning is output, the user can land the drones 210, perform battery replacement or charging, and then restart the flight again.

Even when the first warning is output, if the flight continues, the following operation can be performed.

If the remaining power of the battery BT is equal to or less than a predetermined power level (for example, 10%) using the signal output from the power measuring unit 270B, And outputs an emergency landing signal to the control unit 250. [

The control unit 250 receiving the emergency landing signal controls the driving unit 220 to cause the dron main body 210 to land on the ground regardless of the movement of the user.

The residual power of the battery BT in which the second warning is issued can be set to a case where the dragon main body 210 can fly but the availble time is within 10 to 20 seconds, Can be set variously according to time.

11 is a view showing an application example of a drone according to the present invention.

Referring to FIG. 11, it can be seen that the camera 202 is loaded and a dron that moves along with the user is disclosed.

The drones shown in FIG. 11 can continuously photograph the user's state while flying on the fly ahead of the user while the mounted camera 202 is facing the user, and the movement of the user is detected by the control unit 250 .

The drones can move in accordance with the movement direction and the speed of the user sensed by the control unit 250. In addition, when the controller 250 is disposed on the upper body of the user and the user performs an attitude change such as tilting the body, the motion sensor on the controller 250 detects the motion and outputs a corresponding signal, The drone can perform shooting while corresponding to the posture change such as tilting the user.

Meanwhile, the mobile device according to the present invention may include a stocker.

FIG. 12 is a view showing a configuration of a stocker, which is a mobile device according to still another embodiment of the present invention, and FIG. 13 is a view showing an example of the arrangement state of constituent elements arranged in the stocker main body.

12 and 13, a mobile device 300 according to another embodiment of the present invention includes a stocker main body 310, a driving unit 320, an obstacle sensing unit 330, a distance sensing unit 340, (350) and a control unit (360). In addition, the mobile device 300 according to another embodiment of the present invention includes a power measuring unit 370B, a first warning unit 370A, and a second warning unit 370C.

Here, the same components as those of the previous embodiment will not be described in detail, and only differences will be described.

The driving unit 320 causes the stocker body 310 to float to a predetermined height by using a magnetic force.

The driving unit 320 includes a rail 320A disposed along the movement path of the stocker main body 310 and including a plurality of first electromagnets 322A and a plurality of second electromagnets 323 disposed below the stocker main body 310, And a main body lifting unit 320B including a plurality of second electromagnets 322B for generating the second electromagnets 322B.

The first electromagnet 322A disposed on the rail 320A and the second electromagnet 322B disposed on the main body floating portion 320B generate a magnetic force acting repulsively against each other, So that it can be floated.

The direction of the current applied to the first electromagnet 322A and the second electromagnet 322B is sequentially changed in the state where the stocker main body 310 is lifted by the main body lifting portion 320B, Can move along the rail 320A.

Since the stocker body 310 moves in a state of being magnetically levitated, it is a well-known technique and a detailed description thereof will be omitted.

The operation of the stocker 300 configured as above is the same as the operation of the cart body 110 described in the previous embodiment except that it moves in a floating state at a predetermined height, and thus a detailed description thereof will be omitted.

Such a stocker 300 may move along a rail 320A disposed along the shelf of the cassette storage system.

The user can move along the rail 320A and transfer the cargo loaded in the maglevor stocker 300 to the shelf of the cassette storage system or the cargo from the shelf of the cassette storage system to the maglevor stocker 300. [

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, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100, 200, 300: Mobile device
110: Cart body 210: Drone body
310: Stocker main body
120, 220, 320:
130, 230, and 330: an obstacle detection unit
140, 240 and 340:
150, 250, 350:
160, 260, 360:
164, 264, and 364:
170, 270A, and 370A:

Claims (23)

main body;
A driving unit disposed on the main body to generate a driving force to move the main body;
A distance sensing unit disposed on the body and measuring a distance of the user and outputting a corresponding signal;
A controller which is carried by the user and senses a driving signal of the driving unit and a moving direction, a moving speed and an attitude of the user and outputs a corresponding signal wirelessly;
A signal receiving unit for receiving a radio signal output from the control unit, converting the received radio signal into a signal corresponding to the operation, and outputting the signal; And
A controller receiving a signal output from the signal receiver and outputting a corresponding control signal;
≪ / RTI > The method according to claim 1,
The driving unit includes:
A motor operated by an external power source,
And a driving wheel rotated by the motor. 3. The method of claim 2,
The driving unit includes:
And braking means for stopping the rotation of the driving wheels by a control signal output from the control portion. The method according to claim 1,
The driving unit includes:
A motor operated by an external power source,
And a propeller that is rotated by the driving force. The method according to claim 1,
The driving unit includes:
A rail disposed on the ground and including a plurality of first electromagnets,
And a body lifting portion disposed on the body and including a plurality of second electromagnets for generating a repulsive force with respect to the first electromagnets to cause the body to float on the rails. The method according to claim 2 or 4 or 5,
Wherein,
Wherein the moving speed of the main body is limited to a certain level or less. The method of claim 3,
And an obstacle detection unit disposed on the main body and detecting an obstacle in front of the main body and outputting a corresponding signal. 8. The method of claim 7,
The obstacle detection unit
And first to third obstacle detection sensors disposed on the front center and front sides of the main body. 8. The method of claim 7,
Wherein the obstacle sensing unit includes an ultrasonic sensor, an optical sensor, and a video output sensor. The method according to claim 1,
The distance sensing unit may include:
And first to third distance sensing sensors disposed at both the rear center and rear sides of the main body. 11. The method of claim 10,
The distance sensing unit may include:
An ultrasound sensor, an optical sensor, and a video output sensor. The method according to claim 1,
Wherein,
A mobile device including a smart phone. 13. The method of claim 12,
Wherein,
A mobile device for outputting a signal by a bluetooth communication method. 8. The method of claim 7,
Further comprising a first warning unit for warning an obstacle when the obstacle is detected by the obstacle sensing unit or the distance between the user and the main body is greater than a predetermined distance by the distance sensing unit. 15. The method of claim 14,
Wherein,
And controls the driving unit to stop the movement of the main body when an obstacle is detected by the obstacle sensing unit. 15. The method of claim 14,
Wherein,
And controls the driving unit to stop the movement of the main body when the distance between the user and the main body is distant from the main body by the distance detection unit. 17. The method according to claim 15 or 16,
Wherein,
And resumes the operation of the driving unit so that the body is moved by the user. The method of claim 3,
Wherein,
If it is determined that the movement of the user is stopped for a predetermined time by the control unit,
And the operation of the driving unit is stopped by the operation of the braking unit. 19. The method of claim 18,
Wherein,
So that movement of the main body stopped by the operation of the braking means and released by the operation of the braking means is performed. 5. The method of claim 4,
A power measuring unit for measuring a residual power amount of the battery disposed on the main body and outputting a corresponding signal;
And a second warning unit for alerting the user if the residual power amount is equal to or less than a first value by an output signal of the power measuring unit. 21. The method of claim 20,
Wherein the first value corresponds to 30% of the battery capacity. 21. The method of claim 20,
Wherein the second warning unit comprises:
If the power supply amount is equal to or less than the second value by the output signal of the power supply measuring unit,
And outputs an emergency landing signal to the control unit so that the main body landing. 23. The method of claim 22,
And the second value corresponds to 10% of the battery capacity.

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