KR20210018002A - Attachable suitcase controlling device and smart suitcase comprising thereof - Google Patents

Abstract

Disclosed is a control device attachable to a suitcase, comprising: one or more suitcase wheels; a power unit driving the one or more suitcase wheels; a control unit controlling driving of the suitcase wheel; a communication unit communicating with a user terminal; and a power supply unit supplying power to the device. The control unit acquires an initial positional relationship with the user terminal, uses the communication unit to acquire acceleration and angular velocity information measured by an inertial measurement unit (IMU) sensor of the user terminal, determines the movement of the user terminal based on the acceleration and angular velocity information, and uses the driving unit in accordance with the determined movement of the user terminal, thereby controlling the suitcase to follow the user terminal by driving the suitcase wheel.

Description

Carrier-attached control device and smart carrier including the same {ATTACHABLE SUITCASE CONTROLLING DEVICE AND SMART SUITCASE COMPRISING THEREOF}

The present invention relates to a carrier-attached control device and a smart carrier including the same.

IMU is a device that measures the speed, direction, gravity, and acceleration of a moving object, and is a sensor-based method. IMU-based position estimation is a method of recognizing the movement situation of pedestrians and moving objects using accelerometers, angular speedometers, geomagnetic machines and altimeters. In general, the IMU inertial measuring device inserted into a smartphone has a 3-axis accelerometer and a 3-axis angular velocity meter built-in. It is possible to measure and calculate the speed and attitude angle of a moving object (pedestrian) by integrating the acceleration and angular speed obtained from the IMU.

In addition, a specific waypoint is determined using various technologies for more precise positioning in an indoor space, such as wireless LAN infrastructure, pseudolites, lasers, sound waves, RFID (Radio Frequency Identification), and Bluetooth. Attempts are being made to correct the accumulated error in IMU positioning by designating.

LBS (Location Based Server), a service that combines and provides useful information to users in consideration of the geographic location where the user is currently located, is rapidly increasing interest due to the development of wireless Internet and mobile communication technologies and the rapid spread of smartphones. The background of increasing social and economic demands for location-based services is: First, rapid response to emergency situations related to public and personal safety, second, economic resource management, and third, the significance of expanding infrastructure technologies to support various information and communication services. There is.

In order to provide a location-based service to satisfy various types of social and economic needs, a multi-layered system in which various technical elements are combined is required. That is, the multi-layered system is a system in which technical elements from the lowest positioning system to individual applications are properly fused. Among the various systems for LBS, the core system that determines the quality of positioning is the Positioning System, which measures the positioning value of the target object using wired and wireless communication technology, and uses the latitude and longitude value. Will be provided in the form of.

That is, the goal of the positioning system is to maximize the user experience of a user using a location-based service by minimizing the error between the positioning value measured by the positioning system and the actual position value of the target object. Typical positioning systems include network-based positioning using mobile communication infrastructure, satellite-based positioning using satellites, sensor-based positioning using internal sensors of target objects (mostly mobile terminals), and radio fingerprinting methods using short-range communication infrastructure. have.

For satellite-based positioning, the Global Positioning System (GPS) is most commonly used. GPS is a satellite-based positioning data providing system provided by the United States. The GPS receiver refers to satellite radio waves and calculates the distance by calculating the time it takes for the signal transmitted from the satellite to reach the receiver (TOA). GPS has a disadvantage in that positioning is difficult in certain environments such as indoors because GPS can communicate only with the receiving device and maintaining visibility (Line Of Sight) due to the characteristic of a strong radio wave.

The problem to be solved by the present invention is to provide a carrier-attached control device and a smart carrier including the same.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

A carrier-attached control device according to an aspect of the present invention for solving the above-described problems includes: one or more carrier wheels, a power unit for driving the one or more carrier wheels, a control unit for controlling driving of the carrier wheel, a user terminal, and A communication unit that communicates and a power supply unit that supplies power to the device, and the control unit acquires an initial positional relationship with the user terminal, and measures it by an IMU (Inertial Measurement Unit) sensor of the user terminal using the communication unit. By acquiring the determined acceleration and angular velocity information, determining the movement of the user terminal based on the acceleration and angular velocity information, and driving the carrier wheel using the power unit according to the determined movement of the user terminal, the carrier It characterized in that the control to follow the terminal.

In addition, the carrier-attached control device may be characterized in that it is attached to and used at the lower end of the carrier.

In addition, the control unit corrects a positional relationship with the user terminal based on at least one of a GPS signal, a Bluetooth signal, and a WiFi AP signal, and drives the carrier wheel using the power unit according to the corrected positional relationship, It is possible to maintain the distance to the user terminal.

In addition, the power unit may include a motor for controlling movement of the carrier wheel and a steering unit for controlling a direction of the carrier wheel.

In addition, the control unit controls the drive of the carrier wheel to be less than a preset upper limit speed, and the carrier-attached control device further includes at least one sensor module for collecting surrounding information, and the control unit comprises: Based on the information collected from the sensor module, surrounding obstacles are recognized, and when it is determined that there is an obstacle in the driving direction, one or more driving paths for avoiding the obstacle are generated, and each of the one or more driving paths is selected. When the distance change with the user terminal is calculated according to the distance change with the user terminal, selects a driving route with the shortest distance to the user terminal, and when the distance to the user terminal exceeds a preset reference value when driving on the selected driving route, the user Controls the driving of the carrier wheel at a speed exceeding the upper limit speed until the distance to the terminal becomes less than the preset reference value, and the control unit moves the user terminal in a direction away from the carrier-attached control device In the case of, if the driving of the carrier wheel is controlled so that the distance to the user terminal is located within a preset range, and when it is determined that the user terminal moves in a direction closer to the carrier-attached control device, the carrier wheel It is possible to stop driving of the vehicle or drive the carrier wheel in the direction of the user terminal.

In addition, when the distance to the user terminal is greater than or equal to a preset reference value, when movement of the carrier by external force is detected, the control unit drives the carrier wheel in a direction opposite to the moving direction by the external force. It can be characterized.

In addition, a smart carrier including a carrier-attached control device according to an aspect of the present invention for solving the above-described problems, and a control method, apparatus and program thereof are provided.

Other specific details of the present invention are included in the detailed description and drawings.

According to the disclosed embodiment, it is possible to easily track a user's location indoors, and there is an effect of providing a carrier-attached control device that is convenient to use and a smart carrier including the same.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a conceptual diagram illustrating a usage example according to an embodiment.
2 is a block diagram showing a carrier-attached control device according to an embodiment.
3 is a diagram illustrating a method of attaching a carrier-attached control device according to an exemplary embodiment.
4 is a view showing a carrier-installed control device according to an embodiment.
Referring to FIG. 5, an example in which the carrier-attached control device 100 is installed at the lower end of the carrier 20 is shown.
6 is a flowchart illustrating a control method according to an exemplary embodiment.
7 is a block diagram of an apparatus according to an exemplary embodiment.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, only the present embodiments are intended to complete the disclosure of the present invention, It is provided to fully inform the technician of the scope of the present invention, and the present invention is only defined by the scope of the claims.

The terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, “comprises” and/or “comprising” do not exclude the presence or addition of one or more other elements other than the mentioned elements. Throughout the specification, the same reference numerals refer to the same elements, and “and/or” includes each and all combinations of one or more of the mentioned elements. Although "first", "second", and the like are used to describe various elements, it goes without saying that these elements are not limited by these terms. These terms are only used to distinguish one component from another component. Therefore, it goes without saying that the first component mentioned below may be the second component within the technical idea of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used as meanings that can be commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically.

The term "unit" or "module" used in the specification refers to a hardware component such as software, FPGA or ASIC, and the "unit" or "module" performs certain roles. However, "unit" or "module" is not meant to be limited to software or hardware. The “unit” or “module” may be configured to be in an addressable storage medium, or may be configured to reproduce one or more processors. Thus, as an example, "sub" or "module" refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, It includes procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays and variables. Components and functions provided within "sub" or "module" may be combined into a smaller number of components and "sub" or "modules" or into additional components and "sub" or "modules". Can be further separated.

Spatially relative terms "below", "beneath", "lower", "above", "upper", etc., as shown in the figure It can be used to easily describe the correlation between a component and other components. Spatially relative terms should be understood as terms including different directions of components during use or operation in addition to the directions shown in the drawings. For example, if a component shown in a drawing is turned over, a component described as "below" or "beneath" of another component will be placed "above" the other component. I can. Accordingly, the exemplary term “below” may include both directions below and above. Components may be oriented in other directions, and thus spatially relative terms may be interpreted according to orientation.

In the present specification, a computer refers to all kinds of hardware devices including at least one processor, and may be understood as encompassing a software configuration operating in a corresponding hardware device according to embodiments. For example, the computer may be understood as including all of a smartphone, a tablet PC, a desktop, a laptop, and a user client and an application running on each device, but is not limited thereto.

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

Each of the steps described herein is described as being performed by a computer, but the subject of each step is not limited thereto, and at least some of the steps may be performed by different devices according to embodiments.

1 is a conceptual diagram illustrating a usage example according to an embodiment.

Referring to FIG. 1, a user terminal 10 and a carrier 20 are shown.

In an embodiment, the carrier 20 may follow the user terminal 10 by recognizing or calculating the movement of the user terminal 10 and automatically controlling the carrier wheel based on this.

For example, the carrier 20 may track the user terminal 10 using an absolute location based on external signals such as GPS, Bluetooth signals, and WiFi APs, but in the disclosed embodiment, the carrier 20 is the user terminal 10 A relative position according to the movement information collected based on the IMU sensor of) may be calculated, and the user terminal 10 may be tracked based on this.

In addition, a carrier-attached control device may be attached or used in combination with the carrier 20 according to the disclosed embodiment. Accordingly, a carrier-attached control device may be simply attached to the carrier 20 or combined through modification to form a smart carrier. There are advantages to be made.

Hereinafter, the carrier-attached control device as described above will be described in detail with reference to the drawings.

2 is a block diagram showing a carrier-attached control device according to an embodiment.

2, the carrier-attached control device includes one or more carrier wheels 150, a power unit 120 for driving the one or more carrier wheels, a control unit 110 for controlling the driving of the carrier wheel, and a user terminal. It includes a communication unit 130 for communicating and a power supply unit 140 for supplying power to the device.

In one embodiment, the power unit 120 may include one or more motors, and may further include a gear means for controlling one or more wheels.

In one embodiment, the power unit 120 may include a steering unit that controls the direction of the carrier wheel 150. The steering unit may further include a steering means and a gear means for controlling the direction of the carrier wheel 150.

In an embodiment, the communication unit 130 may include at least one of a short-range wireless communication module and a network communication module.

In one embodiment, the power supply unit 140 may include one or more batteries and battery charging means.

In one embodiment, the control unit 110 may include at least one processor and a memory.

In an embodiment, the controller 110 may acquire an initial positional relationship with the user terminal 10. For example, the initial positional relationship may be acquired based on an absolute position measurement method based on GPS, Bluetooth signals, WiFi AP signals, or the like, or may be acquired based on a user's input through the user terminal 10.

In an embodiment, the controller 110 may acquire acceleration and angular velocity information measured by an inertial measurement unit (IMU) sensor of the user terminal 10 using the communication unit 130.

Accordingly, the control unit 110 may collect information on movement and rotation of the user. That is, the controller 110 may determine the movement of the user terminal based on the acceleration and angular velocity information. For example, the controller 110 may calculate the moving distance of the user by integrating the acquired acceleration information.

In one embodiment, the controller 110 drives the carrier wheel 150 using the power unit 120 according to the determined movement of the user terminal 10, so that the carrier 20 ) Can be controlled to follow.

In one embodiment, the number of carrier wheels 150 provided in the carrier-attached control device 100 is not limited. For example, the number of carrier wheels 150 provided in the carrier-attached control device 100 may be 1 to 4, but is not limited thereto. In one embodiment, the carrier wheel 150 may be configured in a track shape.

In one embodiment, when one carrier wheel 150 is provided, a plurality of carrier-attached control devices 100 may be installed on the carrier. In this case, the plurality of carrier-attached control devices 100 installed on the carrier are configured to be interconnected and communicated by wire or wirelessly, and accordingly, each wheel is controlled so that the carrier 20 can run normally. Control.

In an embodiment, the controller 110 may acquire at least one of a GPS signal, a Bluetooth signal, and a WiFi AP signal, and determine the positions of the carrier-attached control device 100 and the user terminal 10 based on this. . The controller 110 may correct the positional relationship with the user terminal 10 based on the determination result.

In addition, the control unit 110 may maintain the distance to the user terminal 10 by driving the carrier wheel using the power unit 120 according to the corrected positional relationship.

In an embodiment, the controller 110 may control the driving of the carrier wheel 150 to be less than or equal to a preset upper limit speed. The upper limit speed may be set by a user or a manufacturer. In addition, the upper limit speed may be changed flexibly depending on the location.

In an embodiment, the carrier-attached control device 110 may further include one or more sensor modules for collecting surrounding information.

In an embodiment, the controller 110 may recognize nearby obstacles based on information collected from the one or more sensor modules.

In an embodiment, the controller 110 may lower the above-described upper limit speed when an obstacle is recognized around it.

In an embodiment, when it is determined that there is an obstacle in the driving direction, the control unit 110 may generate one or more driving paths for avoiding the obstacle. For example, a plurality of driving paths may be generated based on a direction avoiding an obstacle and a distance bypassing the obstacle.

The controller 110 may calculate a change in distance to the user terminal according to selecting each of the one or more driving routes, and select a driving route having the shortest distance to the user terminal.

For example, if the user is currently moving in a specific direction, it may be predicted to move in the corresponding direction for a predetermined time. Based on this, it is possible to predict the location of the carrier and the location of the user after a specific time when driving with each of the generated driving routes, and accordingly, the distance to the user can be calculated (predicted).

The controller 110 may select a driving route having the shortest calculated distance, that is, not far from the user.

When the distance to the user terminal exceeds a preset reference value when driving on the selected driving route, driving the carrier wheel at a speed exceeding the upper limit speed until the distance to the user terminal becomes less than or equal to the preset reference value Can be controlled.

For example, the distance from the user may be temporarily increased due to a path bypass. In this case, even if it exceeds a preset upper limit, the controller 110 can recover the distance to the user within a predetermined range by speeding up.

In one embodiment, when the user terminal 10 moves in a direction away from the carrier-attached control device 100, the controller 110 makes the distance to the user terminal 10 within a preset range. It is possible to control the drive of the carrier wheels.

On the other hand, when it is determined that the user terminal 10 is moving in a direction closer to the carrier-attached control device 100, the controller 110 stops driving the carrier wheel or moves the carrier wheel toward the user terminal. The carrier wheels can be driven.

That is, when the user moves, it keeps a predetermined distance and follows, but when the user approaches the carrier, it stops or moves in the direction of the user so that the user can easily access the carrier.

In one embodiment, when the distance to the user terminal 10 is greater than or equal to a preset reference value, when the movement of the carrier by an external force is detected, the controller 110 uses the power unit to reverse the movement direction by the external force. It is possible to drive the carrier wheel in the direction.

For example, when the user is separated by a predetermined distance or more, carrier theft by others may occur. When a carrier movement by an external force is detected, the control unit 110 determines that an external force has been applied by someone other than the user when the distance to the user terminal 10 is more than a preset reference value, and controls the wheel in the opposite direction of the external force. This can make it difficult for others to carry the carrier.

Depending on the embodiment, a fixing means capable of fixing the wheel may be provided. In this case, when the distance to the user terminal 10 is greater than or equal to a preset reference value, when movement of the carrier by external force is sensed, the controller 110 may control the fixing means to fix the wheel so that it does not move.

In an embodiment, when the external force is released after the external force is applied or a predetermined time elapses, the controller 110 may move to the location of the user terminal 10. In this case, it is possible to allow the user to protect the carrier by moving to a point in time when the distance to the user terminal 10 becomes minimum without maintaining a predetermined distance.

3 is a diagram illustrating a method of attaching a carrier-attached control device according to an exemplary embodiment.

Referring to FIG. 3, an ash for attaching the carrier-attached control device 100 to a specific area 22 at the lower end of the carrier 20 is shown.

Regions 22 provided at the lower end of the carrier 20 are provided on both sides of the zipper for opening and closing the carrier 20, and the carrier-attached control device 100 may be mounted on each, but depending on the embodiment, the position of the zipper and Regardless, the area 22 is provided in the center of the lower end of the carrier 20, and the carrier-attached control device 100 may be mounted thereon.

In one embodiment, when a plurality of wheels are provided in the carrier-attached control device 100, each wheel may be configured in a height and shape such that it contacts the floor before the wheels originally provided in the carrier. Accordingly, it may be configured to support and run the carrier 20 by using the wheels provided in the carrier-attached control device 100 instead of the wheels originally provided in the carrier.

In one embodiment, the wheel provided in the carrier-attached control device 100 may be configured to be able to adjust its height, and for example, the spring is compressed until a load of more than a preset reference value is applied using a spring device. Thus, the wheels provided in the carrier 20 and the wheels provided in the carrier-attached control device 100 can be brought into contact with the ground at the same time. As another example, the height of the wheel may be adjusted based on a mechanical or electronic height adjustment device.

In this case, the wheels provided in the carrier 20 and the wheels provided in the carrier-attached control device 100 simultaneously support the carrier 20 stably, and through the wheel control of the carrier-attached control device 100 It is possible to control the carrier 20 to move.

4 is a view showing a carrier-installed control device according to an embodiment.

In one embodiment, the carrier-attached control device 100 may be installed or embedded in the carrier 20 and used.

For example, by removing a wheel part provided on the carrier 20 and installing the carrier-attached control device 100 according to the disclosed embodiment, a general carrier may be converted into a smart carrier.

In one embodiment, one of the plurality of wheels provided in the carrier 20 may be replaced with the carrier-attached control device 100, or one or more wheels may be replaced with the carrier-attached control device 100.

In addition, it is also possible to install a carrier-attached control device 100 including a plurality of wheels to replace a plurality of wheels provided in the carrier 20.

Depending on the embodiment, the carrier-attached control device 100 may be installed in a form that covers the existing wheels rather than removing and installing the existing wheels. For example, a space for accommodating the wheels of the carrier 20 is provided in the carrier-attached control device 100, and the carrier-attached control device 100 is provided in the space to accommodate the wheels of the carrier 20. Can be installed in (20). In this case, since the height of the wheels is different, it may be necessary to install the carrier-attached control device 100 for all wheels.

In addition, the carrier-attached control device 100 may be configured and installed in a form that completely replaces the lower end of the carrier 20 or covers the lower end of the carrier 20.

Referring to FIG. 5, an example in which the carrier-attached control device 100 is installed at the lower end of the carrier 20 is shown.

Depending on the embodiment, a case in which the carrier-attached control device 100 is separated from the carrier 20 may occur. In preparation for this case, the carrier-attached control device 100 may further include a fastening means connected to the carrier 20, and according to the embodiment, the fastening means connected to the control device 100 and the carrier 20 Even when a flexible wire is provided between the fastening means to be connected so that the carrier 20 and the carrier-attached control device 100 are separated and only the carrier-attached control device 100 follows the user terminal 10, the carrier ( 20) can be prevented from leaving or being lost.

6 is a flowchart illustrating a control method according to an exemplary embodiment.

The control method of FIG. 6 relates to the control method of the carrier-attached control device 100 described in connection with FIGS. 1 to 5, and the contents thereof are omitted in connection with the description of FIG. The contents described in connection with the description may also be applied to the control method of FIG. 6.

In step S110, the control device may acquire an initial positional relationship with the user terminal.

In step S120, the control device may acquire acceleration and angular velocity information measured by an inertial measurement unit (IMU) sensor of the user terminal.

In step S130, the control device may determine the movement of the user terminal based on the acceleration and angular velocity information.

In step S140, the control device may control the carrier to follow the user terminal by driving the carrier wheel using the power unit according to the determined movement of the user terminal.

7 is a block diagram of an apparatus according to an exemplary embodiment.

The processor 102 may include one or more cores (not shown) and a graphic processing unit (not shown) and/or a connection path (eg, a bus) for transmitting and receiving signals with other components. .

The processor 102 according to an exemplary embodiment executes one or more instructions stored in the memory 104 to perform the method described with respect to FIGS. 1 to 6.

Meanwhile, the processor 102 temporarily and/or permanently stores a signal (or data) processed inside the processor 102, a RAM (Random Access Memory, not shown) and a ROM (Read-Only Memory). , Not shown) may further include. In addition, the processor 102 may be implemented in the form of a system on chip (SoC) including at least one of a graphic processing unit, RAM, and ROM.

The memory 104 may store programs (one or more instructions) for processing and controlling the processor 102. Programs stored in the memory 104 may be divided into a plurality of modules according to functions.

Hereinafter, another embodiment applicable to the present invention will be described.

In an embodiment, when the user terminal 10 is farther away from the carrier-attached control device 100 by a predetermined distance or more, the server may transmit a push message to the user terminal 10. For example, when receiving a signal from the carrier-attached control device 100, the server may transmit a push message to the user terminal.

However, there may be a situation in which the user terminal 10 temporarily or basically cannot receive the push message. For example, since the user terminal 10 is not a smartphone, it may not be possible to install an application for performing the method according to the disclosed embodiment.

As another example, the application may not be installed on the user terminal 10.

As another example, although the application is installed in the user terminal 10, it may not be in a state of being operated in the background to receive a push message.

The state in which the user terminal 10 cannot receive the push message is not limited to the above examples.

In one embodiment, when the user terminal 10 cannot receive the push message, the server may send a text message to the user terminal 10 through another terminal.

Similarly, if the other terminal cannot receive the push message, the server may send a text message to the other terminal using the user terminal 10.

In an embodiment, the terminals capable of sending text messages to each other by the server may be terminals previously registered with the server based on an application from each terminal or an application and approval.

For example, if the second user terminal is registered with the server based on mutual application and approval for the first user terminal, the first user terminal is a terminal that cannot receive a push message or a push message cannot be received. When in the state, the server may transmit a push message to the second user terminal, and the second user terminal may generate and transmit a text message corresponding to the push message to the first user terminal.

Message transmission between users may incur no cost, or may be less expensive than corporate message transmission. Therefore, if the first user terminal cannot receive the push message, the server sends a text message to the first user terminal through the second user terminal, and instead the server can provide a predetermined point to the second user terminal. . The provided points may be exchanged for cash or used for online shopping, but are not limited thereto.

As another example, terminals capable of sending text messages to each other by the server may be terminals registered in a specific pool by approving a request from the server.

For example, unlike the one-to-one registration as in the above-described example, according to the present embodiment, a plurality of user terminals may be registered as a pool in the server based on prior approval.

The server transmits an inquiry message to check whether the push message can be received to the first user terminal, and when a reply to the inquiry message is received from the first user terminal, the server transmits the push message to the first user terminal, and 1 If a reply is not received from the user terminal, select at least one terminal capable of receiving a push message from among the user terminals registered in the pool, and request the first user terminal to send a text message while sending a push message to the terminal. I can.

In one embodiment, the server may pay predetermined points to user terminals registered in the pool. The frequency, degree and method of point payments are not limited.

In order to perform the above-described embodiment, the user terminal 10 receiving a text message transmission approval request from the server to the first user terminal, transmitting approval information for the approval request to the server, the first 1 Storing information on the first user terminal including a phone number of the user terminal, receiving a first push message including message transmission request information for the first user terminal from the server, the Acquiring content included in a first push message, generating a first text message using content included in the first push message, acquiring a first phone number included in the first push message , Comparing the first phone number and the phone number of the first user terminal, when the first phone number and the phone number of the first user terminal match, the first text message to the first phone number Transmitting, transmitting a transmission result of the first text message to the server, obtaining a point corresponding to the transmission result of the first text message from the server, and requesting registration for a first pool from the server Receiving a, transmitting approval information for the registration request to the server, receiving an encryption key corresponding to the first pool from the server, a second user included in the first pool from the server Receiving a second push message including message transmission request information to the terminal, acquiring content included in the second push message, and sending a second text message using content included in the second push message. Generating, encrypting the second text message using the encryption key, obtaining a second phone number included in the second push message, and converting the encrypted second text message to the second phone number. Transmitting to the server, transmitting the transmission result of the second text message to the server, and obtaining a point corresponding to the transmission result of the second text message from the server. Can follow the steps.

In addition, the user terminal 10, receiving a third text message from the third user terminal, checking whether the third text message is encrypted, and when the third text message is encrypted, the encryption key Decrypting the third text message by using, comparing the content of the push message with the content included in the third text message, and the content of the push message and the content included in the third text message match If so, transmitting the fact that the third text message was acquired to the server may be performed.

The steps of a method or algorithm described in connection with an embodiment of the present invention may be implemented directly in hardware, implemented as a software module executed by hardware, or a combination thereof. Software modules include Random Access Memory (RAM), Read Only Memory (ROM), Erasable Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), Flash Memory, hard disk, removable disk, CD-ROM, or It may reside on any type of computer-readable recording medium well known in the art to which the present invention pertains.

Components of the present invention may be implemented as a program (or application) and stored in a medium in order to be executed in combination with a computer that is hardware. Components of the present invention may be implemented as software programming or software elements, and similarly, embodiments include various algorithms implemented with a combination of data structures, processes, routines or other programming elements, including C, C++ , Java, assembler, etc. may be implemented in a programming or scripting language. Functional aspects can be implemented with an algorithm running on one or more processors.

In the above, embodiments of the present invention have been described with reference to the accompanying drawings, but those of ordinary skill in the art to which the present invention pertains can be implemented in other specific forms without changing the technical spirit or essential features. You can understand. Therefore, the embodiments described above are illustrative in all respects, and should be understood as non-limiting.

100: carrier-attached control device
110: control unit
120: power unit
130: communication department
140: power supply
150: carrier wheel

Claims (10)

In the carrier-attached control device,
One or more carrier wheels;
A power unit driving the at least one carrier wheel;
A control unit controlling driving of the carrier wheel;
A communication unit for communicating with a user terminal; And
A power supply for supplying power to the device; Including,
The control unit,
Acquires the initial positional relationship with the user terminal, acquires acceleration and angular velocity information measured by an IMU (Inertial Measurement Unit) sensor of the user terminal using the communication unit, and based on the acceleration and angular velocity information, the user terminal It characterized in that controlling the carrier to follow the user terminal by determining the movement of and driving the carrier wheel using the power unit according to the determined movement of the user terminal,
Carrier attached control device. The method of claim 1,
The carrier-attached control device,
Characterized in that used by being attached to the bottom of the carrier,
Carrier attached control device. The method of claim 2,
The control unit,
The distance to the user terminal by correcting the positional relationship with the user terminal based on at least one of a GPS signal, a Bluetooth signal, and a WiFi AP signal, and driving the carrier wheel using the power unit according to the corrected positional relationship. To keep,
Carrier attached control device. The method of claim 1,
The power unit,
A motor for controlling the movement of the carrier wheel; And
A steering unit for controlling the direction of the carrier wheel; Containing,
Carrier attached control device. The method of claim 1,
The control unit,
Controlling the drive of the carrier wheel below a preset upper limit speed,
The carrier-attached control device,
Further comprising one or more sensor modules for collecting surrounding information,
The control unit,
Recognizing nearby obstacles based on information collected from the one or more sensor modules,
When it is determined that there is an obstacle in the driving direction, one or more driving paths for avoiding the obstacle are generated, and a change in distance from the user terminal according to each of the one or more driving paths is calculated, and Select the driving route with the shortest distance,
When the distance to the user terminal exceeds a preset reference value when driving on the selected driving route, driving the carrier wheel at a speed exceeding the upper limit speed until the distance to the user terminal becomes less than or equal to the preset reference value Control,
The control unit,
When the user terminal moves in a direction away from the carrier-attached control device, driving the carrier wheel is controlled so that the distance to the user terminal is within a preset range,
When it is determined that the user terminal moves in a direction closer to the carrier-attached control device, stopping the driving of the carrier wheel or driving the carrier wheel in the direction of the user terminal,
Carrier attached control device. The method of claim 1,
The control unit,
When the distance to the user terminal is greater than or equal to a preset reference value, when movement of the carrier by an external force is detected, the carrier wheel is driven in a direction opposite to the movement direction by the external force by using the power unit,
Carrier attached control device. Smart carrier comprising the carrier-attached control device of claim 1. In the control method of the smart carrier,
Obtaining an initial positional relationship with the user terminal;
Acquiring acceleration and angular velocity information measured by an IMU (Inertial Measurement Unit) sensor of the user terminal;
Determining a movement of the user terminal based on the acceleration and angular velocity information; And
Controlling the carrier to follow the user terminal by driving the carrier wheel using the power unit according to the determined movement of the user terminal; Containing,
Smart carrier control method. A memory for storing one or more instructions; And
And a processor that executes the one or more instructions stored in the memory,
The processor executes the one or more instructions,
An apparatus for performing the method of claim 8. A computer program combined with a computer as hardware and stored in a recording medium readable by a computer to perform the method of claim 8.

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