WO2021225231A1

WO2021225231A1 - Moving device, control method for moving device, and transport management system

Info

Publication number: WO2021225231A1
Application number: PCT/KR2020/012657
Authority: WO
Inventors: 박재흥
Original assignee: 아날로그플러스 주식회사
Priority date: 2020-05-07
Filing date: 2020-09-18
Publication date: 2021-11-11
Also published as: KR102123692B1

Abstract

A moving device is disclosed. The moving device comprises: a plurality of omni-directional wheels; a driving part for driving the plurality of omni-directional wheels; a sensing part for detecting rotation of each of the plurality of omni-directional wheels and comprising a plurality of pressure sensors respectively corresponding to the plurality of omni-directional wheels; and a processor for controlling the rotational speed and the rotational amount of each of the plurality of non-directional wheels on the basis of the rotation sensed by the sensing part and respective pressure values detected from the plurality of pressure sensors. Accordingly, by controlling the rotation speed and the rotation amount of each of the omni-directional wheels in response to the pressure value, the moving device using the omni-directional wheels can be accurately and quickly controlled.

Description

Mobile device, control method of mobile device, and transport management system

The present invention relates to a mobile device, a method for controlling a mobile device, and a transport management system, and more particularly, to a mobile device having omni-directional wheels, a method for controlling a mobile device having omni-directional wheels, and a transport management system.

A general vehicle is divided into an independent two-wheel drive method or a steering drive method. Such a conventional driving method has limitations in movement. That is, it is impossible to move to the side without directly rotating the vehicle body in the state of moving forward.

It is difficult to move in a narrow space due to such movement restrictions, and it is necessary to calculate a complicated path to reach a desired position.

The omni-directional driving method was developed to compensate for these shortcomings. The forward driving method improves the movement ability of a vehicle or a mobile robot to enable movement in three degrees of freedom (forward, backward, left and right, rotation) in a two-dimensional plane, so that the vehicle can be driven in an arbitrary direction in an arbitrary posture.

In addition, recently, autonomous mobile robots using omni-wheels, a new driving system platform using omni-wheels, are being studied. This autonomous mobile robot was able to realize a holonomic system by using a wheel with a unique structure called an omni wheel. A holonomic system is defined by the relationship between the degree of freedom to be controlled and the degree of freedom to be controlled. If the degree of freedom to control is greater than or equal to the degree of freedom to be controlled, it is called a holonomic system, and if the degree of freedom to control is less than the degree of freedom to control, it is called a non-holonomic system.

The omni wheel is composed of one main wheel and an auxiliary wheel hanging around it like a satellite. The main wheel rotates around the rotating shaft of the motor like a general wheel, and the auxiliary wheel slips in the direction of the rotating shaft (direction perpendicular to the main wheel) by an external force. Thanks to the unique structure of the omni wheel, the autonomous mobile robot using the conventional omni wheel was able to implement a holonomic system capable of moving in any direction without a turning radius.

However, in the case of a moving device using an omni wheel, despite the many advantages as described above, there is a problem in that it cannot be driven quickly and accurately because position movement and posture control are very difficult than when using a conventional general wheel. .

An object of the present invention is to provide a mobile device for individually controlling a plurality of non-directional wheels based on a pressure value, a method for controlling the mobile device, and a transport management system.

A moving device according to an embodiment of the present invention for achieving this object, a plurality of omni-directional wheels, a driving unit for driving the plurality of omni-directional wheels, detects rotation of each of the plurality of omni-directional wheels, A detection unit including a plurality of pressure sensors corresponding to each of the omni-directional wheels of It contains a processor that controls the speed and the amount of rotation.

Here, the processor compares the respective pressure values detected from the plurality of pressure sensors, decreases the rotation speed and rotation amount of the non-directional wheel as the pressure value decreases, and decreases the rotation speed and the rotation amount of the non-directional wheel as the pressure value increases. Increase the rotation speed and amount of rotation of the wheel.

On the other hand, the moving device according to an embodiment of the present invention further includes a suspension unit for each of the plurality of non-directional wheels, and the processor is configured to move the movement based on the respective pressure values detected from the plurality of pressure sensors. The suspension can be controlled to adjust the balance of the device.

In addition, the processor may control the rotation speed and the rotation amount of each of the plurality of non-directional wheels based on the sensed rotation and each detected pressure value and simultaneously control the suspension unit.

In addition, the mobile device according to an embodiment of the present invention further includes a distance detection sensor and an image pickup unit for acquiring an image, wherein the processor includes information about a distance obtained through the distance detection sensor and information about a distance obtained through the image pickup unit. A shortest moving path may be calculated based on the information on the moving path, and the driving unit may be driven according to the calculated shortest moving path.

Also, the processor may store and update the rotation speed and rotation amount of each of the plurality of non-directional wheels on the calculated shortest movement path and the calculated shortest movement path.

On the other hand, the control method of a mobile device including a plurality of omni-directional wheels according to an embodiment of the present invention includes the steps of detecting the rotation of each of the plurality of omni-directional wheels, and a pressure corresponding to each of the plurality of omni-directional wheels. detecting a value and controlling a rotation speed and a rotation amount of each of the plurality of omni-directional wheels based on the sensed rotation and each detected pressure value.

On the other hand, the transport management system according to an embodiment of the present invention calculates a shortest moving path and moves according to the calculated shortest moving path, but when another moving device is found, the shortest movement is taken in consideration of the movement of the other moving device. A plurality of mobile devices for recalculating a route and a server for storing and updating movement routes and control related information of each of the plurality of mobile devices, wherein the mobile device includes a plurality of omni-directional wheels and the plurality of omni-directional wheels a driving unit for driving the , a sensing unit which detects the rotation of each of the plurality of omni-directional wheels, and a sensing unit including a plurality of pressure sensors corresponding to each of the plurality of omni-directional wheels, and the rotation and the plurality of pressures sensed by the sensing unit and a processor for controlling a rotation speed and a rotation amount of each of the plurality of non-directional wheels based on each pressure value detected from the sensor.

According to various embodiments of the present invention as described above, by controlling the rotation speed and rotation amount of each of the non-directional wheels in response to the pressure value, it is possible to accurately and agilely control a moving device using the non-directional wheel.

1 is a block diagram showing the configuration of a mobile device according to an embodiment of the present invention.

2 is a diagram illustrating a mobile device according to an embodiment of the present invention.

3 is a view illustrating an omni-directional wheel according to an embodiment of the present invention.

4 is a view illustrating a driving unit and a sensing unit for driving the non-directional wheel according to an embodiment of the present invention.

5 is a view for explaining an operation of controlling each of the non-directional wheels according to an embodiment of the present invention.

6 is a block diagram showing the configuration of a mobile device according to another embodiment of the present invention.

7 is a block diagram illustrating a suspension unit according to another embodiment of the present invention.

8 is a diagram for explaining a control operation of a mobile device according to an embodiment of the present invention.

9 is a block diagram showing the configuration of a mobile device according to another embodiment of the present invention.

10 is a diagram for calculating the shortest moving path according to an embodiment of the present invention.

11 is a block diagram showing a specific configuration of the processor shown in FIG.

12 is a diagram of a software module stored in a storage unit according to an embodiment of the present invention.

13 is a flowchart illustrating a method of controlling a mobile device according to an embodiment of the present invention.

14 is a block diagram of a transportation management system according to an embodiment of the present invention.

Hereinafter, the present invention will be described in more detail with reference to the drawings. And, in describing the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. And, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary depending on the intention or relationship of a user or an operator. Therefore, the definition should be made based on the content throughout this specification.

Referring to FIG. 1 , a mobile device 100 according to an embodiment of the present invention includes a plurality of non-directional wheels 110 , a driving unit 120 , a sensing unit 130 , and a processor 140 . Here, the mobile device 100 may include all movable means that are provided with non-directional wheels and can move. For example, it may be implemented as a car, an airplane, an unmanned cart, a mobile robot, and the like.

In addition, the omni-directional wheel includes a universal wheel, a mecanum wheel, a double wheel, an alternate wheel, a half wheel, and an orthogonal wheel. ), a ball wheel, an omni wheel, etc. may be implemented, and in the present specification, a mobile device using the omni wheel will be described as an example.

This omni wheel will be described in detail with reference to FIG. 3 .

Referring to FIG. 3 , the omni-directional wheel 110 is implemented as an omni wheel, and this omni wheel 110 is composed of a main wheel 111 and a sub wheel 112 to determine the rotation direction of the main wheel 111 and the sub wheel. The main wheel 111 and the sub wheel 112 are disposed so that the rotation direction of the wheel 112 is vertical.

Accordingly, the omni wheel 110 has a structure in which the main wheel 111 rotates in the same direction as the general wheel in the A direction, and the sub wheel 112 may slip in the B direction by an external force.

In addition, two wheels comprising the main wheel 111 and the sub-wheel 112 are overlapped and coupled, and when the two wheels overlap, the sub-wheel 112 is alternately coupled as shown in FIG. 3 . .

Thereby, when the main wheel 111 of the omni wheel 110 rotates, at least one sub-wheel 112 can be in contact with the ground, and the sub-wheel 112 is in contact with the ground at any point to apply a force. When received, rotational movement in a direction perpendicular to the rotational direction of the main wheel 111 is possible by rotation of the sub-wheel 120 .

That is, when the main wheel 111 rotates along the axis of rotation, the omni wheel 110 can move forward or backward, that is, forward or backward, based on the rotation direction of the main wheel 111 . At this time, during the forward or backward of the omni wheel 110, the sub wheel 112 is in a stopped state.

On the other hand, when a force is applied in the rotational direction of the sub-wheel 112 after the rotation of the main wheel 111 is stopped, the sub-wheel 112 rotates in a direction perpendicular to the rotational direction of the main wheel 111, so the omni The wheel 110 can move sideways, ie, left or right, based on the rotational direction of the main wheel 111 .

Accordingly, the omni wheel 110 becomes possible to move forward, backward, left, and right in all directions.

On the other hand, the driving unit 120 may drive such a non-directional wheel, and as described above, by adjusting the rotation speed and amount of each of the main wheel 111 and the sub wheel 112 , the overall movement of the moving device 100 . The direction of movement can be adjusted. The driving unit 120 may include various types of motors.

In addition, the sensing unit 130 detects the rotation of each of the plurality of omni-directional wheels, and includes a plurality of pressure sensors corresponding to each of the plurality of omni-directional wheels.

Here, the sensing unit 130 may be implemented with various types of sensors, and these various types of sensors are connected to each of a plurality of non-directional wheels to measure the rotational direction and rotational speed of each of the wheels.

Also, the sensing unit 130 may include a plurality of pressure sensors for measuring a pressure value mounted on each of the plurality of non-directional wheels, respectively. Such a pressure sensor may measure a pressure value mounted on a rotating shaft connected to each of the plurality of omni-directional wheels, or may measure a pressure value mounted on a gear or suspension connected to the plurality of omni-directional wheels, or It is also possible to measure the pressure value transmitted to the plurality of omni-directional wheels themselves.

Meanwhile, the processor 140 may control the rotation speed and rotation amount of each of the plurality of non-directional wheels based on the rotation sensed by the sensing unit 130 and the respective pressure values detected from the plurality of pressure sensors.

Specifically, the processor 140 compares the respective pressure values detected from the plurality of pressure sensors, reduces the rotation speed and the amount of rotation of the omni-directional wheel as the pressure value decreases, and decreases the rotation speed and the rotation amount of the omni-directional wheel as the pressure value increases. The rotation speed and amount of rotation can be increased.

For example, a first omni-directional wheel and a second omni-directional wheel are provided at the front end of the mobile device 100, and the rotation speed and amount of the first omni-directional wheel and the second omni-directional wheel are the same and constant. It is assumed that the mobile device 100 is moving at a constant velocity.

At this time, when a phenomenon in which the pressure is concentrated toward the first omni-directional wheel occurs, the processor 140 compares the pressure value applied to the first omni-directional wheel with the pressure value applied to the second omni-directional wheel, and the first non-directional wheel If it is determined that the pressure value acting on the directional wheel is relatively larger, it is determined that the current rotation amount and rotation speed of the first non-directional wheel detected by the sensing unit 130 are the same as the rotation amount and rotation speed of the second non-directional wheel. Based on the sensed information, the rotation amount and rotation speed of the first omni-directional wheel are increased to be distinguished from the rotation amount and rotation speed of the second omni-directional wheel.

Accordingly, the rotation amount and rotation speed of the first non-directional wheel increase in a state in which a relatively large pressure value is applied, so that the moving device 100 moves in a direction away from the state in which the large pressure value is applied.

Also, since it is determined that the pressure is relatively small toward the second omni-directional wheel at the same time, the processor 140 determines that the sensed current rotation amount and rotation speed of the first omni-directional wheel are the same as the rotation amount and rotation speed of the second omni-directional wheel. Based on the information sensed to be the same, the rotation amount and rotation speed of the second omni-directional wheel are reduced to be distinguished from the rotation amount and rotation speed of the first omni-directional wheel.

Accordingly, the rotation amount and rotation speed of the second non-directional wheel are reduced in a state in which a relatively small pressure value is applied, so that the second non-directional wheel does not move significantly in a state in which a small pressure value is applied.

According to the difference in the rotation amount and the rotation speed of the first omni-directional wheel and the second omni-directional wheel, the moving device 100 moves so as to deviate from the position or state where the pressure value is relatively large.

The above description is mainly, when only one wheel of the mobile device 100 crosses the unevenness or the obstacle, or when the pressure value from the ground increases only on one wheel, the pressure value increases only for the corresponding wheel, the processor ( In this case, 140 may increase the rotation amount and rotation speed of the corresponding wheel to move the moving device 100 so as to escape from the irregularities or obstacles as quickly as possible.

Meanwhile, in addition to the pressure transmitted from the ground to the omni-directional wheel, there may also be a pressure from the main body of the mobile device 100 toward the omni-directional wheel. In this case, the operation of the processor 140 will be described later.

Referring to FIG. 2 , a plurality of omni-directional wheels 110 are connected to the mobile device 100 through each driving unit 120 at the lower portion of the moving device 100 , and the sensing unit 130 is provided in the driving unit 120 . ) may be provided together.

In addition, the upper portion of the mobile device 100 may be implemented in various forms capable of loading the object, and in FIG. 2 , the object loaded in the form of a screen is implemented so as not to be separated from the mobile device 100 .

Such a mobile device 100 can be moved while loading goods, and can be applied and used in situations such as shopping carts, material transport, and courier transport in a mart.

Referring to FIG. 4 , the driving unit 120 for driving the omni-directional wheel 110 may include various types of motors, which are connected to a rotating shaft to rotate the rotating shaft, and apply the rotational force of the rotating shaft to the non-directional wheel. It may be implemented to be transferable to 110 .

In addition, the driving force generated from the motor may be implemented to be transmitted to the non-directional wheel 110 through a plurality of gears.

That is, the non-directional wheel 110 is connected to the rotating shaft, a gear is coupled to the rotating shaft, and the gear is coupled to the driving shaft of the motor disposed in the driving unit (!20) to be implemented in a form connected to the gear coupled to the rotating shaft. can

Here, when the motor rotates by receiving power from the power supply unit (not shown), the gear coupled to the motor and the gear coupled to the rotation shaft are engaged and rotate, and the rotation shaft is also rotated in association with the rotational force of the gear.

Of course, the method in which the motor is coupled to the omni-directional wheel 110 is not limited thereto, and other methods may be used. That is, after coupling the motor to the outside instead of the inside of the driving unit 120 , the driving force may be transmitted to each of the rotation shafts through the connection of the gear and the shaft.

Meanwhile, as shown in FIG. 4 , it is natural that the drive shaft portion formed in the motor may be directly connected to the non-directional wheel 110 to rotate the non-directional wheel 110 .

Also, the sensing unit 130 may detect the rotation of the omni-directional wheel 110 , which exists in a position similar to that of the driving unit 120 , and detects a pressure value transmitted to the omni-directional wheel 110 .

The sensing unit may include various sensors, and it is natural that these sensors may be located anywhere near the omni-directional wheel 110 other than the driving unit 120 .

Referring to FIG. 5 , the mobile device 100 includes a first omni-directional wheel 111 , a second omni-directional wheel 112 , a third omni-directional wheel 113 , and a fourth omni-directional wheel (not shown). At this time, if the pressure value applied to the first omni-directional wheel 111 is greater than the pressure value applied to the second and third omni-

directional wheels

112 and 113, the processor 140 performs the first omni-directional The rotation speed and rotation amount 111-1 of the wheel 111 is increased, and the rotation speed and rotation amount 112-1 of the second non-directional wheel 112 is decreased. The third non-directional wheel 113 is omitted.

This means that when the weight of the product loaded on the mobile device 100 is relatively loaded toward the first omni-directional wheel 111 , the mobile device 100 may be inclined toward the first omni-directional wheel 111 , and in this case, the processor The 140 may take various actions to control the balance and posture of the moving device 100, one of which is to increase the rotational speed and amount of rotation of the first non-directional wheel 111 as described above. (100) is to rotate in the opposite direction to the inclined direction.

On the other hand, the mobile device 100 may further include a suspension structure to not only control the rotation of the omni-directional wheel, but also control the suspension to actively maintain the equilibrium of the mobile device 100 or perform posture control. will be described in more detail.

Referring to FIG. 6 , the mobile device 100 according to another embodiment of the present invention includes a plurality of non-directional wheels 110 , a driving unit 120 , a sensing unit 130 , a processor 140 , and a suspension unit 150 . ) may be included.

The mobile device 100 may include a suspension unit 150 for each of the plurality of omni-directional wheels 110 , and the processor 140 is configured to operate the moving device ( The suspension unit 150 may be controlled to adjust the balance of 100 .

Here, the suspension unit 150 is also called a suspension device, and mainly includes a damping unit. In addition to this suspension structure, various structures capable of maintaining the balance of the moving device 100 , for example, are implemented with a plurality of gears to raise and lower the suspension structure. It can also be implemented as a structure that can control .

Then, the processor 140 controls the suspension unit 150 located on the side of the omni-directional wheel 110 to which the pressure value is relatively large, and specifically, increases the damping unit of the suspension unit 150 to move it. It is possible to maintain the balance of the device 100 or to perform a posture control operation.

Referring to FIG. 7 , unlike FIG. 4 , the driving unit 120 and the sensing unit 130 may be disposed in connection with the suspension unit 150 or disposed inside the sub-pension unit 150 .

The suspension unit 150 is connected to the main body of the moving device 100 through a spring or an elastic member, and thus the pressure acting on the ground based on the non-directional wheel 110 or acting on the upper part of the moving device 100 . In response to the pressure, the processor 150 may control the suspension unit 150 to cancel the applied pressure.

The suspension unit 150 shown in FIG. 7 is only an example, and it is natural that it may be implemented in various structures.

Meanwhile, the processor 140 may control the rotation speed and amount of each of the plurality of non-directional wheels 110 based on the sensed rotation and each detected pressure value and simultaneously control the suspension unit 150 . .

Specifically, the processor 140 may consider the rotational state of the omni-directional wheel 110 sensed by the sensing unit 130 and the pressure value for each of the omni-directional wheels 110 detected through a plurality of pressure sensors. , for example, the processor 140 may check the rotation speed and rotation amount of the currently rotating non-directional wheel 110 through the sensing unit 130, and the non-directional wheel 110 through a plurality of pressure sensors You can check the pressure value acting on each.

And, the processor 140 considers the rotation state and pressure value checked in this way, and if the rotation amount and rotation speed of the non-directional wheel 110 are small in a state where the size of the pressure value is relatively large, it is further increased and At the same time, it is possible to reduce the influence of the corresponding pressure through the suspension unit 150 .

Similarly, if the amount of rotation and the rotation speed of the omni-directional wheel 110 are large in a state where the magnitude of the pressure value is relatively small, the processor 140 reduces these and at the same time reduces the influence of the pressure through the suspension unit 150 . can be reduced or maintained.

Referring to FIG. 8 , the mobile device 100 is moving on an uphill path inclined to the left.

At this time, as the mobile device 100 is tilted to the left, the greatest pressure is applied to the third omni-directional wheel 113 , and then a medium-level pressure is applied to the first omni-directional wheel 111 , and , then the smallest pressure is applied to the second omni-directional wheel 112 .

In this case, the processor 140 greatly increases the rotation amount and rotation speed of the third non-directional wheel 113 , and at the same time, the body panel supporting the products so that the products loaded in the mobile device 100 can maintain a balanced state. The suspension unit 150 is controlled to extend in the upward direction 151 so that the region of the body panel located on the third non-directional wheel 111 can move in the upward direction.

In addition, the processor 140 reduces the amount of rotation and the rotation speed of the second non-directional wheel 112 and at the same time reduces the amount of rotation and the rotation speed of the second non-directional wheel 112, and at the same time allows the products loaded in the mobile device 100 to maintain a balanced state. 2 The suspension unit 150 is controlled to be contracted in the downward direction 152 so that the region of the body panel located on the non-directional wheel 112 can move in the downward direction.

Meanwhile, the processor 140 controls the rotation speed and rotation amount of the first non-directional wheel 111 in consideration of the rotation speed and rotation amount of the second and third

non-directional wheels

112 and 113 and a suspension unit By controlling 150, one of the operations for maintaining the body panel in a balanced state may be selectively performed.

That is, the processor 140 may selectively control the control of the rotation speed and the amount of rotation for each non-directional wheel and the control of the suspension unit 150 according to the current state of each wheel. and can be controlled at the same time.

Referring to FIG. 9 , the mobile device 100 includes a plurality of omni-directional wheels 110 , a driving unit 120 , a sensing unit 130 , a processor 140 , a suspension unit 150 , a distance detection sensor 160 and It may include an imaging unit 170 .

Here, the distance detection sensor 160 may be implemented as various types of sensors such as an infrared sensor, a radar sensor, a lidar sensor, and the like, and may be disposed in various positions of the mobile device 100 .

The distance detection sensor 160 may detect the presence of an obstacle, a wall, a person, or the like.

The imaging unit 170 may be implemented as a camera, lens, webcap, camcorder, portable terminal, etc. capable of acquiring an image, and it is possible to identify an object as well as whether an obstacle, a wall, a person, or the like exists.

Then, the processor 140 calculates the shortest moving path based on the distance information obtained through the distance detection sensor 160 and the moving path information obtained through the imaging unit 170 , and the calculated shortest moving path. The driving unit 120 may be driven according to a path.

Specifically, the processor 140 may predict a path in advance based on the image acquired through the imaging unit 170 , and may calculate the shortest moving path by performing real-time correction through the distance detection sensor 160 .

Referring to FIG. 10 , the path inside the mart 1000 is displayed. In the case of a general wheeled mobile device, it will move to the first path 1100 , but a mobile device 100 having omnidirectional wheels 110 . In the case of , it is possible to calculate the shortest moving path 1200 and move accordingly.

Meanwhile, the processor 140 may correct and calculate the shortest moving path while grasping the moving path of another mobile device in real time even when the other mobile device cannot move to the calculated path while moving, and thus, collisions between mobile devices can be prevented. can be avoided

Also, the processor 140 may store and update the rotation speed and rotation amount of each of the plurality of non-directional wheels on the calculated shortest movement path and the calculated shortest movement path.

Specifically, the processor 140 stores the rotation speed and rotation amount of each of the omni-directional wheels regardless of whether they move along the calculated shortest movement path, and based on the stored rotation speed and rotation amount of each of the omni-directional wheels, the processor 140 moves along the shortest movement path. It is possible to obtain information on irregularities, obstacles, the difference in height of the path, whether there is an inclination, whether there is a slip, and accordingly, it is possible to grasp detailed information about the path state of the shortest moving path as well as the distance of the shortest moving path.

In addition, the processor 140 can update and store this, so that the same path can be moved quickly without delay in calculation when moving the same path later, and when a change occurs, it can be updated and stored again.

The mobile device 100 includes a plurality of omni-directional wheels 110 , a driving unit 120 , a sensing unit 130 , a processor 140 , a suspension unit 150 , a distance detection sensor 160 , an imaging unit 170 , and and a storage unit 180 .

The processor 140 may control the rotation speed and rotation amount of each of the plurality of non-directional wheels 110 based on the rotation sensed by the sensing unit 130 and pressure values detected from the plurality of pressure sensors.

Specifically, the processor 140 includes the RAM 141 , the ROM 142 , the main CPU 143 , the graphic processing unit 144 , the first to n interfaces 145-1 to 145-n, and the bus 146 . include

The RAM 141 , the ROM 142 , the main CPU 143 , the graphic processing unit 144 , the first to n interfaces 145 - 1 to 145 -n, etc. may be connected to each other through the bus 146 .

The first to n-th interfaces 145-1 to 145-n are connected to the various components described above. One of the interfaces may be a network interface connected to an external device through a network.

The main CPU 143 accesses the storage unit 180 and performs booting using the O/S stored in the storage unit 180 . Then, various operations are performed using various programs, contents, data, etc. stored in the storage unit 180 .

In particular, the main CPU 143 controls the rotation speed and rotation amount of each of the plurality of non-directional wheels 110 based on the rotation sensed by the sensing unit 130 and the respective pressure values detected from the plurality of pressure sensors. can

The ROM 142 stores an instruction set for system booting and the like. When a turn-on command is input and power is supplied, the main CPU 143 copies the O/S stored in the storage unit 180 to the RAM 141 according to the command stored in the ROM 142, and executes the O/S. Boot the system. When booting is completed, the main CPU 143 copies various application programs stored in the storage unit 180 to the RAM 141 and executes the application programs copied to the RAM 141 to perform various operations.

The graphic processing unit 144 generates a screen including various objects such as icons, images, and texts by using an operation unit (not shown) and a rendering unit (not shown). An operation unit (not shown) calculates attribute values such as coordinate values, shape, size, color, etc. of each object to be displayed according to the layout of the screen based on the received control command. The rendering unit (not shown) generates screens of various layouts including objects based on the attribute values calculated by the calculation unit (not shown).

In particular, the graphic processing unit 144 may implement the object generated by the main CPU 143 as a graphic user interface (GUI), an icon, a user interface screen, and the like.

Meanwhile, the above-described operation of the processor 140 may be performed by a program stored in the storage unit 180 .

The storage unit 180 includes a processor ( 140) and stores various data such as an O/S (Operating System) software module for driving and various multimedia contents.

In particular, the storage unit 180 controls the rotation speed and rotation amount of each of the plurality of non-directional wheels 110 based on the rotation sensed by the sensor 130 and the respective pressure values detected from the plurality of pressure sensors. It may include a software module for

Referring to FIG. 12 , the storage unit 180 may store programs such as the rotation speed and rotation amount control module 181 , the suspension control module 182 , and the shortest movement path calculation module 183 .

Meanwhile, the above-described operation of the processor 140 may be performed by a program stored in the storage unit 180 . Hereinafter, detailed operations of the processor 140 using the program stored in the storage unit 180 will be described in detail.

Specifically, the rotation speed and rotation amount control module 181 detects the rotation of each of the plurality of non-directional wheels 110 , and based on the detected rotation and each pressure value detected from the plurality of pressure sensors, a plurality of non-directional wheels 110 . It is possible to increase or decrease the rotation speed and rotation amount of each of the directional wheels 110 .

Also, the suspension control module 182 may control the suspension unit 150 to adjust the balance of the mobile device 100 based on each pressure value detected from the plurality of pressure sensors.

In addition, the shortest moving path calculation module 183 may calculate the shortest moving path based on the distance information obtained through the distance detection sensor 160 and the moving path information obtained through the imaging unit 170 . have.

According to the method shown in FIG. 13 , the rotation of each of the plurality of omni-directional wheels is sensed ( S1310 ).

Then, a pressure value corresponding to each of the plurality of non-directional wheels is detected (S1320).

Then, the rotation speed and the rotation amount of each of the plurality of non-directional wheels are controlled based on the sensed rotation and each detected pressure value (S1330).

At this time, the step of controlling the rotation speed and rotation amount (S1330) compares each pressure value detected from a plurality of pressure sensors, and as the pressure value decreases, the rotation speed and rotation amount of the non-directional wheel is reduced, As the pressure value increases, the rotation speed and rotation amount of the corresponding omni-directional wheel are increased.

In addition, the method may further include adjusting the balance of the moving device based on the respective pressure values detected from the plurality of pressure sensors.

The method may further include controlling the rotation speed and rotation amount of each of the plurality of non-directional wheels based on the sensed rotation and each detected pressure value and simultaneously controlling the suspension unit.

The method may further include calculating the shortest moving path based on the distance information obtained through the distance detection sensor and the moving path information obtained through the imaging unit.

In addition, the method may further include the step of storing and updating the rotation speed and rotation amount of each of the plurality of non-directional wheels on the calculated shortest movement path and the calculated shortest movement path.

On the other hand, the above-described control method of the mobile device may be implemented through various algorithms, and these algorithms may have rotation and pressure values as input values, and the equilibrium state, suspension state, and shortest movement path of the mobile device in the calculation process. The state may be considered together, and the output value may be the rotation speed and amount of each of the plurality of non-directional wheels, and the adjustment direction of the suspension unit.

Referring to FIG. 14 , the transport management system 1400 according to an embodiment of the present invention includes a first mobile device 1410 , a second mobile device 1411 ... an n-th mobile device and a server 1420 . do.

Here, the plurality of moving

devices

1410 and 1411 calculate the shortest moving path and move according to the calculated shortest moving path. When another moving device is found, the shortest moving path can be recalculated in consideration of the motion of the other moving device. have.

Then, the server 1420 stores and updates the movement path and control related information of each of the plurality of

mobile devices

1410 and 1411 .

Here, the control-related information includes information on the rotational speed and amount of each of the plurality of non-directional wheels that are controlled while moving each of the plurality of moving

devices

1410 and 1411 along the movement path as described above, and information about the amount of rotation that can be obtained through this. It may include information about a state on the movement path, and the like.

Also, here, each of the plurality of moving

devices

1410 and 1411 detects the rotation of each of the plurality of omni-directional wheels, the driving unit for driving the plurality of omni-directional wheels, and the plurality of omni-directional wheels, and corresponds to each of the plurality of omni-directional wheels. A processor for controlling the rotation speed and rotation amount of each of the plurality of omni-directional wheels based on the rotation sensed by the sensing unit and each pressure value detected from the plurality of pressure sensors. do.

Meanwhile, a non-transitory computer readable medium in which a program for sequentially performing the control method according to the present invention is stored may be provided.

For example, a program for performing a step of controlling the rotation speed and rotation amount of each of the plurality of non-directional wheels based on the detected rotation of each of the plurality of omni-directional wheels and each pressure value detected from the plurality of pressure sensors is stored A non-transitory computer readable medium may be provided.

The non-transitory readable medium refers to a medium that stores data semi-permanently, rather than a medium that stores data for a short moment, such as a register, cache, memory, etc., and can be read by a device. Specifically, various programs for controlling the rotation speed and rotation amount of each of the plurality of non-directional wheels based on the rotation and pressure values are non-directional such as CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, etc. It may be provided by being stored in a temporary readable medium.

In addition, although the bus is not shown in the above block diagram of the mobile device and the processor, communication between the respective components in the mobile device may be made through the bus. In addition, each device may further include a processor such as a CPU or a microprocessor that performs the various steps described above.

In addition, although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention pertains without departing from the gist of the present invention as claimed in the claims In addition, various modifications may be made by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

Claims

a plurality of omni-directional wheels;

a driving unit for driving the plurality of omni-directional wheels;

a sensing unit sensing rotation of each of the plurality of omni-directional wheels and including a plurality of pressure sensors corresponding to each of the plurality of omni-directional wheels; and

A processor for controlling the rotational speed and the rotational amount of each of the plurality of non-directional wheels based on the rotation sensed by the sensing unit and the respective pressure values detected from the plurality of pressure sensors.
According to claim 1,

The processor is

Each pressure value detected from the plurality of pressure sensors is compared, and as the pressure value decreases, the rotation speed and rotation amount of the corresponding omni-directional wheel is reduced, and as the pressure value increases, the rotation speed and rotation of the corresponding omni-directional wheel is increased. A mobile device that increases the total amount.
3. The method of claim 2,

It further includes; a suspension unit for each of the plurality of non-directional wheels,

The processor is

and controlling the suspension unit to adjust the balance of the moving device based on each pressure value detected from the plurality of pressure sensors.
4. The method of claim 3,

The processor is

Based on the sensed rotation and each of the detected pressure values, the plurality of non-directional wheels respectively control the rotation speed and rotation amount and at the same time control the suspension unit.
5. The method of claim 4,

distance detection sensor; and

It further includes; an imaging unit for acquiring an image,

The processor is

Calculating the shortest moving path based on the distance information obtained through the distance detection sensor and the moving path information obtained through the imaging unit, and driving the driving unit according to the calculated shortest moving path, mobile device.
6. The method of claim 5,

The processor is

The moving device, which stores and updates the rotation speed and rotation amount of each of the plurality of non-directional wheels on the calculated shortest movement path and the calculated shortest movement path.
A method for controlling a mobile device including a plurality of omni-directional wheels, the method comprising:

detecting rotation of each of the plurality of omni-directional wheels;

detecting a pressure value corresponding to each of the plurality of non-directional wheels; and

and controlling the rotational speed and the rotational amount of each of the plurality of non-directional wheels based on the sensed rotation and the detected pressure values.
In the transportation management system,

a plurality of mobile devices calculating a shortest moving path and moving according to the calculated shortest moving path, and recalculating the shortest moving path in consideration of the movement of the other moving device when another moving device is found; and

It includes; a server for storing and updating the movement path and control related information of each of the plurality of mobile devices;

The mobile device is

a plurality of omni-directional wheels;

a driving unit for driving the plurality of omni-directional wheels;

a sensing unit detecting rotation of each of the plurality of omni-directional wheels and including a plurality of pressure sensors corresponding to each of the plurality of omni-directional wheels; and

A processor for controlling the rotational speed and the amount of rotation of each of the plurality of non-directional wheels based on the rotation sensed by the sensing unit and the respective pressure values detected from the plurality of pressure sensors; .