Mobile body travel control device

Abstract

The mobile body travel control device of the present invention can be fixed at a predetermined position of the mobile body. Herein, the mobile body travel control device includes: a wire, one end of which is accommodated inside, and the other end extends outward and is fixed at a predetermined position of the user, and forms a tension as the user moves to wind or unwind in a straight line shape; and a control signal generation unit that generates a control signal for controlling the travel of the mobile body.

Description

Technical Field

[0001] The present invention relates to a mobile body traveling control device that can control a mobile body to travel while maintaining a predetermined distance from a user. Background Art

[0002] Recently, with the high degree of industrial socialization, unmanned and automated systems for manufacturing processes have been increasing significantly, and thus the demand for minimizing the intervention of human labor in the goods transportation process is spreading. In response to this demand, various transportation devices based on autonomous driving, such as automated guided vehicles for storing and transporting goods, have emerged.

[0003] Existing transportation devices, including the transportation equipment disclosed in Korean Patent No. 1,227,160, generally travel automatically by sensing guide rails, conveyor belts, etc. formed along the travel path, and are applicable to large-scale production lines or processes for mass production of products, which can improve work efficiency. However, such existing transportation devices have technical and economic limitations in terms of being applicable to narrow work sites, transporting relatively small and light items, etc., and thus are difficult for ordinary users to use outside the work site.

[0004] Accordingly, in order to solve various problems of existing transportation devices, the present inventors have invented a mobile body traveling control device that can easily control a mobile body for transporting relatively small and light object bodies, such as shopping carts and baby carriages, while achieving low cost. Summary of the Invention

[0005] Problems to be Solved

[0006] The present invention is derived to solve the above problems, and provides a mobile body traveling control device that can easily control a mobile body for transporting relatively small and light object bodies while achieving low cost.

[0007] In addition, the present invention provides a mobile body traveling control device that can control a mobile body to travel while maintaining a predetermined distance from a user.

[0008] In addition, the present invention provides a mobile body traveling control device that provides various traveling modes defining the positional relationship between a user and a mobile body, and can easily control the mobile body according to the form mode selected by the user.

[0009] Means for Solving the Problems

[0010] The mobile body travel control device of the present invention can be fixed at a predetermined position of the mobile body. Here, the mobile body travel control device includes: a wire, one end of which is accommodated inside, and the other end extends outward and is fixed at a predetermined position of the user, and forms a tension as the user moves and is wound or unwound in a straight line shape; and a control signal generation unit that generates a control signal for controlling the travel of the mobile body.

[0011] In one embodiment, the control signal generation unit generates a control signal based on the unwound length and unwound angle of the wire to control the mobile body so that the mobile body travels while maintaining a set distance range from the user, and can transmit the generated control signal to the travel device of the mobile body.

[0012] In one embodiment, the mobile body travel control device may further include a travel mode determination unit that determines any one of at least one defined travel mode before the mobile body travels.

[0013] In one embodiment, the at least one travel mode can respectively define the positional relationship between the mobile body and the user.

[0014] In one embodiment, the travel mode may include at least one of a forward travel mode, a rear travel mode, a right horizontal travel mode, and a left horizontal travel mode. The forward travel mode is that the mobile body travels in front of the user; the rear travel mode is that the mobile body travels behind the user, the right horizontal travel mode is that the mobile body travels side by side on the right side of the user, and the left horizontal travel mode is that the mobile body travels side by side on the left side of the user.

[0015] In one embodiment, the control signal generation unit can generate a control signal to control the mobile body so that the mobile body travels while maintaining the positional relationship defined by the determined travel mode and the distance range.

[0016] In one embodiment, the travel mode determination unit can determine any one of multiple travel modes based on a travel mode selection signal input by the user.

[0017] In one embodiment, the mobile body travel control device further includes a rotation induction sensor that senses the rotation direction of the mobile body travel control device; the travel mode determination unit can determine any one of multiple travel modes based on the rotation direction sensed by the rotation induction sensor.

[0018] In one embodiment, the mobile body travel control device may further include a fixed position detection sensor configured to detect the position where the mobile body travel control device is coupled to the mobile body. Here, based on the coupling position detected by the fixed position detection sensor, the travel mode determination unit may determine any one of a plurality of travel modes.

[0019] In one embodiment, the control signal generation unit defines a reference position of the user according to the determined travel mode, and based on the deployed length and deployment angle of the line that change as the user moves, derives the position information of the user with respect to the reference position at each set time unit, and generates the control signal based on the derived position information of the user.

[0020] In one embodiment, the control signal may include at least one of a speed control signal and a steering control signal of the mobile body.

[0021] Effects of the Invention

[0022] The mobile body travel control device of the present invention can easily control a mobile body that transports relatively small and light object bodies such as a shopping cart or a baby carriage, and can achieve low cost.

[0023] In addition, the mobile body travel control device of the present invention can control the mobile body to travel while maintaining a predetermined distance from the user.

[0024] In addition, the mobile body travel control device of the present invention provides various travel modes that define the positional relationship between the user and the mobile body, and can easily control the mobile body according to the travel mode selected by the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a reference diagram for explaining the mobile body travel control device of the present invention.

[0026] Figure 2 is a reference diagram of a line for explaining an embodiment of the present invention.

[0027] Figure 3 is a block diagram of components of the mobile body travel control device according to an embodiment of the present invention.

[0028] Figure 4 is a reference diagram for explaining a length calculation unit and an angle calculation unit according to an embodiment of the present invention.

[0029] Figure 5 is a reference diagram for explaining a length calculation unit and an angle calculation unit according to another embodiment of the present invention.

[0030] Figure 6 FIG. Figure 6 is a reference diagram for explaining a control signal generation method according to an embodiment of the present invention.

[0031] Figure 7 And Figure 8 FIG. Figure 8 is a reference diagram for explaining a driving mode according to an embodiment of the present invention.

[0032] Figure 9 FIG. Figure 9 is a reference diagram for explaining the operation of a driving mode determination unit according to an embodiment of the present invention.

[0033] Figure 10 FIG. Figure 10 is a reference diagram for explaining a control signal generation method according to an embodiment of the present invention in the case of setting a right - hand horizontal driving mode. DETAILED DESCRIPTION OF THE INVENTION

[0034] The detailed description of the present invention is for fully explaining the present invention to those of ordinary skill in the relevant technical field. Throughout the specification, when a certain part "includes" a certain component or regards a certain structure and shape as a "feature", unless there is a particularly opposing description, other components shall not be excluded, nor shall other structures and shapes be excluded, but rather it has the meaning of being able to include other components, structures, and shapes.

[0035] In addition, the term "… unit" described in the specification refers to a unit that processes one or more functions or operations, which can be implemented by hardware, software, or a combination of hardware and software.

[0036] The present invention can undergo various transformations, can have various embodiments, and specific embodiments are proposed and will be described in detail in the detailed description. However, it should be understood that this is not to limit the content of the invention by the embodiments, but rather includes all transformations, equivalents, and substitutes within the spirit and technical scope of the present invention.

[0037] Hereinafter, with reference to Figures 1 to 10 , a mobile body driving control device of the present invention and various embodiments of the present invention will be described in detail.

[0038] Figure 1 FIG. Figure 1 is a reference diagram for explaining the mobile body driving control device of the present invention; Figure 2 FIG. Figure 2 is a reference diagram for explaining a line according to an embodiment of the present invention; Figure 3 FIG. Figure 3 is a block diagram of components of a mobile body driving control device according to an embodiment of the present invention.

[0039] With reference to Figure 1 , the mobile body driving control device 100 of the present invention can be fixed at a predetermined position of the mobile body 10 and is a device that generates a control signal for controlling the driving of the mobile body 10. Here, the mobile body driving control device 100 may include a housing, and a plurality of components may be accommodated inside the housing.

[0040] In one embodiment, the moving body 10 has wheels for moving positions below, and may refer to a device having a traveling device 11 for controlling the driving of the wheels. Here, the moving body 10 may correspond to a transportation tool for transporting a specific object, such as a shopping cart, a baby carriage, a suitcase, etc. having a traveling device. On the other hand, such examples are not intended to limit the scope of the present invention. Even if it does not perform the function of transporting items, as long as it is a device that can move positions through the traveling device, it should be interpreted as the transportation body 10 of the present invention.

[0041] In one embodiment, the moving body traveling control device 100 may include a fixing device (not shown) for fixing and coupling to the moving body 10. Here, the fixing device can be implemented by various known devices such as snap components, clamping components, and adhesive components.

[0042] In one embodiment, the moving body traveling control device 100 can be fixed at any one position of the front side, the rear side, the left side, and the right side with respect to the traveling direction of the moving body 10. For example, as Figure 1 shown, the moving body traveling control device 100 can be fixed at the rear side above the moving body 10. For another example, as Figure 10 shown, the moving body traveling control device 100 can be fixed at the front of the moving body 10.

[0043] On the other hand, the exact position and the coupling method of the moving body traveling control device 100 coupled to the moving body 10 should be interpreted as not being limited, and of course, it can be deformed in various directions. For example, when the moving body 10 is a baby carriage, the moving body traveling control device 100 can be coupled to a handle portion formed at the rear side of the baby carriage.

[0044] Referring to Figure 2 , the moving body traveling control device 100 of the present invention may include a wire 110, and the wire 110 has a predetermined tension and extends in the length direction. Here, one end of the wire 110 is accommodated inside the moving body traveling control device 100, and the other end extends outward and can be fixed at a predetermined position of the user 20.

[0045] In one embodiment, a user fixing device 111 may be arranged at the other end of the wire 110 for fixing at a predetermined position of the user 20. Here, the user fixing device 111 can be implemented by various known devices, such as snap components, clamping components, or adhesive components, etc., or can be formed into a predetermined shape for the user to hold.

[0046] In one embodiment, the other end of the wire 110 can be fixed to the clothing worn by the user 20 by using the user fixing device 111. In another embodiment, the user fixing device 111 is clamped by the user, and thus the other end of the wire 110 can be fixed to the hand of the user 20.

[0047] The wire 110 forms a tension as the user 20 moves, and can be wound or unwound in a straight line shape. The moving body travel control device 100 of the present invention can generate a control signal for controlling the travel of the moving body 10 based on the unwound length and unwound angle of the wire 110 that can change as the user 20 moves.

[0048] Referring to Figure 3 , the moving body travel control device 100 of the present invention may include: a wire 110, a control signal generation unit 120, and a travel mode determination unit 130. Here, the control signal generation unit 120 and the travel mode determination unit 130 may have a memory for storing data and a processor for processing data, and may execute the moving body travel control method described below.

[0049] The control signal generation unit 120 generates a control signal for controlling the travel of the moving body 10. Here, the control signal generation unit 120 generates a control signal based on the unwound length and unwound angle of the wire 110 to control the moving body 10, and may transmit the generated control signal to the travel device 11 of the moving body 10.

[0050] In one embodiment, the control signal generation unit 120 may generate a control signal to control the moving body 10 so that the moving body 10 travels while maintaining a set distance range from the user 20. For example, when the distance between the moving body 10 and the user 20 is set to 1 m and the error range is set to 0.2 m, the control signal generation unit 120 may generate a control signal to control the moving body 10 so that the moving body 10 travels while maintaining a distance of 0.9 to 1.1 m from the user 20.

[0051] Hereinafter, the process of the control signal generation unit 120 of the present invention generating a control signal will be described in detail.

[0052] Referring to Figure 3 , the control signal generation unit 120 may include: a length calculation unit 121, an angle calculation unit 122, a position calculation unit 123, and a signal generation unit 124.

[0053] The length calculation unit 121 can calculate the unwound length of the wire 110 that is wound or unwound as the user moves. To this end, the length calculation unit 121 may include rotating members 211, 311 and rotation amount measurement sensors 212, 312.

[0054] In one embodiment, asFigure 4 and 5 As shown in 5 , the rotating members 211 and 311 are formed in a cylindrical shape and are connected to one end of the wire 110 so that the wire 110 is wound or unwound outside the rotating members 211 and 311. Here, when the rotating members 211 and 311 rotate in either the clockwise direction or the counterclockwise direction, the wire 110 can be unwound from the rotating members 211 and 311, and when rotating in the other direction, the wire 110 can be wound. In one embodiment, an elastic member (e.g., a spring) may be provided inside the rotating members 211 and 311 so that the wire 110 can maintain a predetermined tension in response to the movement of the user.

[0055] In one embodiment, the rotation amount measurement sensors 212 and 312 are connected to the rotating members 211 and 311 and can measure the rotation amount of the rotating members 211 and 311 generated due to the winding or unwinding of the wire 110. Here, the rotation amount measurement sensors 212 and 312 may correspond to potentiometers. When the rotating shaft rotates with the change of the rotation displacement, the internal sliding piece moves on the resistor, and then outputs a voltage proportional to the rotation amount.

[0056] In one embodiment, the length calculation unit 121 can calculate the unwinding length of the wire 110 proportional to the rotation amount of the rotating members 211 and 311 measured from the rotation amount measurement sensors 212 and 312.

[0057] The angle calculation unit 122 can calculate the unwinding angle of the wire 110 wound or unwound with the movement of the user. For this purpose, the angle calculation unit 122 may include a rotating member 221 or a sliding member 321 and rotation angle measurement sensors 222 and 322.

[0058] In one embodiment, as Figure 4 shown, the rotating member 221 can be configured to allow the wire 110 to pass through and can rotate corresponding to the winding or unwinding angle of the wire 110. Here, the rotation angle measurement sensor 222 is connected to the rotating member 221 and can measure the rotation angle of the rotating member 221 formed due to the change in the unwinding angle of the wire 110. The rotation angle measurement sensor 222 may correspond to an encoder. A rotation encoding ring with equally spaced grooves rotates together with the rotating member 221, and the number of passed grooves is calculated to measure the rotation amount.

[0059] In another embodiment, as Figure 5 shown, the sliding member 321 can be configured to allow the wire 110 to pass through and can slide corresponding to the winding or unwinding angle of the wire 110. Here, the rotation angle measurement sensor 322 is connected to the sliding member 321, and based on the moving distance of the sliding member 321 generated due to the change in the unwinding angle of the wire 110, the rotation angle can be measured.

[0060] On the other hand, the related embodiments of the structure for calculating the extended length and extended angle of the calculation line 110 are not intended to limit the scope of the present invention. However, the structure for calculating the extended length and extended angle of the calculation line 110 can certainly be implemented in a manner different from the embodiments.

[0061] Based on the extended length and extended angle of the line 110 that change as the user 20 moves, the position calculation unit 123 can derive the position information of the user 20 in each set time unit. Here, the time unit for deriving the position information corresponds to the time unit for generating the control signal. For example, it can be set to 20 ms.

[0062] In one embodiment, the position calculation unit 123 can derive the position information of the user 20 by using the extended length Sl calculated by the length calculation unit 121 and the extended angle Sa calculated by the angle calculation unit 122. Here, the position information of the user 20 can correspond to the coordinate information defined in the x - y orthogonal coordinate system.

[0063] In one embodiment, the position calculation unit 123 can calculate the position information of the user 20 by using the following mathematical formula 1.

[0064] (Mathematical formula 1)

[0065] (x,y) = (Sl * cos(Sa), Sl * sin(Sa))

[0066] Here, the center of the coordinates can be defined as the position of the moving body travel control device 100 or the other end of the line 110, that is, the position of the user 20.

[0067] Based on the extended length Sl and extended angle Sa of the line 110, the signal generation unit 124 can generate a control signal for controlling the moving body 10. Here, the signal generation unit 124 can generate a control signal to control the moving body 10 to travel while maintaining a set distance range from the user 20.

[0068] In one embodiment, the control signal can include at least one of a speed control signal and a steering control signal of the moving body 10.

[0069] More specifically, referring to Figure 6 , when the distance between the moving body 10 and the user 20 is set to R, the signal generation unit 124 can generate a control signal based on the extended length Sl and extended angle Sa of the line 110 to control the moving body 10 to travel while maintaining a distance of R from the user 20. In one embodiment, the signal generation unit 124 can generate a control signal by using the following mathematical formula 2.

[0070] (Mathematical formula 2)

[0071] V = (R - Sl) * Vg

[0072] W = Sa * Wg

[0073] (V: Moving body speed, W: Moving body angular velocity, R: Spacing distance, Sl: Deployment length, Sa: Deployment angle, Vg: Speed gain, Wg: Angle gain)

[0074] For example, when setting the moving body 10 to travel while maintaining a spacing distance R of 1 m in front of the user 20, the signal generation unit 124 confirms the deployment length Sl and the deployment angle Sa every 20 ms, and can generate a control signal for the traveling device 11 that can control the movement of the moving body 10 per unit time based on the above mathematical formula 2. Refer to Figure 6 and Mathematical formula 2. When the position of the user is closer than R (that is, when the deployment length is less than R), the signal generation unit 124 calculates that the speed control signal V for moving the moving body 10 forward can be transmitted to the traveling device 11. In addition, when the position of the user moves to the right, the signal generation unit 124 calculates that the steering control signal W for moving the moving body 10 to the left can be transmitted to the traveling device 11. Through the operation of this signal generation unit 124, the moving body 10 can travel while maintaining the set spacing distance range from the user 20.

[0075] In one embodiment, the signal generation unit 124 can generate a control signal based on the position information of the user 20 calculated by the position calculation unit 123. More specifically, the signal generation unit 124 can calculate the speed and steering control signals by using the mathematical formula 2 with the deployment length Sl and the deployment angle Sa as variables. Different from this, the speed and steering control signals can be calculated by using the position coordinates of the user 20 derived from the deployment length Sl and the deployment angle Sa as variables.

[0076] Hereinafter, a method of generating a control signal by the mobile body travel control device 100 according to various travel modes will be described according to an embodiment of the present invention.

[0077] Refer to Figure 3 , the mobile body travel control device 100 may include a travel mode determination unit 130, and the travel mode determination unit 130 determines any one of at least one defined travel mode before the mobile body 10 travels.

[0078] In one embodiment, the travel mode may define the positional relationship between the mobile body 10 and the user 20. Here, the travel mode may include at least one of a forward travel mode, a rearward travel mode, a right horizontal travel mode, and a left horizontal travel mode.

[0079] Regarding the travel mode of the present invention, refer to Figure 7 andFigure 8 A more detailed description will be given. Figure 7 and Figure 8 FIG. is a reference diagram for explaining a driving mode of an embodiment of the present invention.

[0080] Referring to Figure 7 (A), the forward driving mode can be defined as making the moving body 10 drive in front of the user 20. That is, in the forward driving mode, the user 20 is behind the moving body 10. If the user 20 moves forward, the extended length of the line 110 is shortened, thereby controlling the moving body 10 to move forward. It is a mode in which the moving body 10 drives at a predetermined distance in front of the user 20. Here, if the user moves to the right, corresponding to the change in the extended angle of the line 110, the moving body 10 is controlled to turn to the left, and then the moving body 10 can move forward in front of the user 20.

[0081] Referring to Figure 7 (B), the rear driving mode can be defined as making the moving body 10 drive behind the user 20. That is, in the rear driving mode, the user 20 is in front of the moving body 10. If the user 20 moves forward, the extended length of the line 110 is extended, thereby controlling the moving body 10 to move forward. It is a mode in which the moving body 10 drives at a predetermined distance behind the user 20. Here, if the user moves to the left, corresponding to the change in the extended angle of the line 110, the moving body 10 is controlled to turn to the right, and then the moving body 10 can move backward behind the user 20.

[0082] Referring to Figure 8 (A), the right horizontal driving mode can be defined as making the moving body 10 drive side by side on the right side of the user 20. That is, in the right horizontal driving mode, the user 20 is on the left side of the moving body 10. If the user 20 moves forward, the moving body 10 is controlled to move forward corresponding to the change in the extended length and angle of the line 110. It is a mode in which the moving body 10 drives side by side at a predetermined distance on the right side of the user 20.

[0083] Referring to Figure 8 (B), the left horizontal driving mode can be defined as making the moving body 10 drive side by side on the left side of the user 20. That is, in the left horizontal driving mode, the user 20 is on the right side of the moving body 10. If the user 20 moves forward, the moving body 10 is controlled to move forward corresponding to the change in the extended length and angle of the line 110. It is a mode in which the moving body 10 drives side by side at a predetermined distance on the left side of the user 20.

[0084] In one embodiment, the driving mode determination unit 130 can determine any one of a plurality of driving modes based on a driving mode selection signal input by the user 20.

[0085] In one embodiment, the driving mode determination unit 130 may include a driving mode selection button 131, and the driving mode selection button 131 may be operated by a user. For example, as Figure 9 (A) shows, the driving mode selection button 131 may be arranged on the upper part of the mobile body driving control device 100 and can be operated by a user. Here, the driving mode determination unit 130 may determine a driving mode corresponding to the driving mode selection signal output from the driving mode selection button 131. The upper side of the driving mode selection button 131 may be defined as the forward driving mode, the lower side may be defined as the downward driving mode, the right side may be defined as the right horizontal driving mode, and the left side may be defined as the left horizontal driving mode.

[0086] In one embodiment, the driving mode determination unit 130 may receive a driving mode selection signal from a user terminal (e.g., a smart phone) operated by the user 20. Here, the driving mode determination unit 130 may determine a driving mode corresponding to the received driving mode selection signal.

[0087] In one embodiment, the driving mode determination unit 130 may determine any one of a plurality of driving modes based on the rotation direction of the mobile body driving control device 100. Here, the driving mode determination unit 130 may further include a rotation induction sensor 132 that senses the rotation direction of the mobile body driving control device 100.

[0088] For example, as Figure 9 (B) shows, the user fixes the mobile body driving control device 100 in front of the mobile body 10 and rotates the mobile body driving control device 100 in a specific direction, thereby enabling the selection of a driving mode. Here, if the mobile body driving control device 100 rotates to the left, the driving mode determination unit 130 determines the driving mode as the left horizontal driving mode, and if it rotates to the right, the driving mode determination unit 130 determines the driving mode as the right horizontal driving mode.

[0089] In one embodiment, the driving mode determination unit 130 may determine any one of a plurality of driving modes based on the coupling position detected by the fixed position detection sensor. Here, the driving mode determination unit 130 may further include a fixed position detection sensor for detecting the position where the mobile body driving control device 100 is coupled to the mobile body 10.

[0090] In one embodiment, the fixed position detection sensor may be implemented by at least one contact sensor provided on the side of the mobile body travel control device 100. Here, the travel mode determination unit 130 may determine the travel mode based on the contact direction of the mobile body travel control device 100. For example, if it is detected that the front of the mobile body travel control device 100 is in contact with the mobile body 10, the travel mode determination unit 130 determines that the mobile body travel control device 100 is fixed to the rear side of the mobile body 10, and may determine the travel mode as the forward travel mode. As another example, if it is detected that the left side surface of the mobile body travel control device 100 is in contact with the mobile body 10, the travel mode determination unit 130 determines that the mobile body travel control device 100 is fixed to the right side of the mobile body 10, and may determine the travel mode as the right horizontal travel mode.

[0091] In one embodiment, if a specific travel mode is determined by the travel mode determination unit 130, the control signal generation unit 120 may generate a control signal to control the mobile body 10 to travel while maintaining the positional relationship defined by the determined travel mode and within the set interval distance range. For this embodiment, a more detailed description will be made with reference to Figure 10 for a more detailed description.

[0092] For example, if the user 20 fixes the mobile body travel control device 100 in front of the mobile body 10 and rotates the mobile body travel control device 100 in the right direction, the travel mode determination unit 130 senses the rotation direction through the rotation sensor 132, and may determine the travel mode as the right horizontal travel mode. Here, when the interval distance is set to 1 m, the control signal generation unit 120 uses the 1000 mm point on the left side of the mobile body travel control device 100 as the reference position ( Figure 10 A), and may confirm the extended length Sl and the extended angle Sa per time unit. Here, when the user 20 moves 300 mm forward ( Figure 10 B), the control signal generation unit 120 calculates the speed control signal V for moving the mobile body 10 forward by 300 mm and transmits it to the travel device 11. If the user 20 moves 300 mm forward and 150 mm to the left ( Figure 10 C), the control signal generation unit 120 calculates the speed control signal V for moving the mobile body 10 forward by 300 mm and 150 mm to the left and the steering control signal W and transmits them to the travel device 11. Through the operation of the control signal generation unit 120, the mobile body 10 and the user 20 can travel while maintaining the positional relationship defined by the travel mode and within the set interval distance range.

[0093] The mobile body travel control device 100 of the present invention controls the mobile body 10 to travel while automatically maintaining a predetermined distance from the user 20, and controls the mobile body 10 to travel at a position desired by the user 20, thereby greatly improving the convenience of the user 20. In addition, the present invention calculates the position of the user 20 using the line 110 connected to the user 20, and controls the mobile body 10 based on this position, thereby enabling low cost compared to the prior art.

[0094] As described above, the present invention has been described centering on the preferred embodiments, but those skilled in the art can understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention described in the claims.

Claims

1. A mobile body travel control device, which is fixed at a predetermined position of the mobile body, characterized in that Comprising: A wire, one end of which is received inside, and the other end extends outward and is fixed at a predetermined position of the user, and forms a tension as the user moves to wind or unwind in a straight line shape; and A control signal generation unit that generates a control signal for controlling the travel of the moving body; Wherein, the control signal generation unit generates a control signal based on the unwound length and unwound angle of the wire to control the moving body so that the moving body travels while maintaining a set distance range from the user, and transmits the generated control signal to the travel device of the moving body; The moving body travel control device further includes a travel mode determination unit that determines any one of at least one defined travel mode before the moving body travels, and the at least one travel mode respectively defines the positional relationship between the moving body and the user; The travel mode includes at least one of a forward travel mode, a rear travel mode, a right horizontal travel mode, and a left horizontal travel mode. Among them, the forward travel mode is that the moving body travels in front of the user; the rear travel mode is that the moving body travels behind the user; the right horizontal travel mode is that the moving body travels side by side on the right side of the user; the left horizontal travel mode is that the moving body travels side by side on the left side of the user; The moving body travel control device further includes a rotation induction sensor that senses the rotation direction of the moving body travel control device; the travel mode determination unit determines any one of multiple travel modes based on the rotation direction sensed by the rotation induction sensor.

2. The moving body travel control device according to claim 1, wherein The control signal generation unit generates a control signal to control the moving body so that the moving body travels while maintaining the positional relationship defined by the determined travel mode and the distance range.

3. The moving body travel control device according to claim 1, wherein The travel mode determination unit determines any one of multiple travel modes based on a travel mode selection signal input by the user.

4. The moving body travel control device according to claim 1, wherein The moving body travel control device further includes a fixed position detection sensor, The fixed position detection sensor is used to detect the position where the moving body travel control device is combined with the moving body; The travel mode determination unit determines any one of multiple travel modes based on the combined position detected by the fixed position detection sensor.

5. The moving body travel control device according to claim 2, wherein The control signal generation unit defines the reference position of the user according to the determined travel mode, Based on the unwound length and unwound angle of the wire that change as the user moves, to derive the position information of the user with respect to the reference position in each set time unit. Generate the control signal based on the derived location information of the user.

6. The mobile body travel control device according to claim 1, wherein the control signal includes at least one of a speed control signal and a steering control signal of the mobile body.

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