Mobile vehicle travel control device

Abstract

A vehicle travel control device according to the present invention can be fixed to a fixed position on a vehicle, and includes a wire having one end housed inside and the other end extending outward to be fixed to a fixed position on a user's body, and being wound up or unwound linearly with tension in response to the user's movement, and a control signal generator that generates a control signal for controlling the travel of the vehicle.

Description

[Technical field]

[0001] The present invention relates to a mobile object travel control device capable of controlling a mobile object so that the mobile object travels while maintaining a constant distance from a user. [Background technology]

[0002] In recent years, as unmanned and automated systems in manufacturing processes have become more common due to the advancement of industrial society, there is a growing need to minimize human intervention in cargo transport processes. In response to this need, various transport device technologies based on autonomous driving have emerged, such as unmanned transport carts that carry cargo and travel automatically.

[0003] Conventional conveying devices, including the conveying device disclosed in Korean Patent No. 1,227,160, are generally applied to large-scale production lines and processes for mass production of products by automatically detecting guide rails, conveyor belts, etc. formed along a travel path, and can improve work efficiency. However, such conventional conveying devices have technical and economic limitations in terms of application to small work sites and the transport of relatively small amounts of light-weight goods, and are difficult to use by general users rather than at work sites.

[0004] Therefore, in order to solve these problems associated with conventional transport devices, the inventor has invented a mobile body driving control device that can easily control mobile bodies that transport relatively small amounts of lightweight objects, such as shopping carts and strollers, and can be implemented at low cost. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Korean Patent No. 1,227,160 Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention has been devised to solve the above-mentioned problems, and aims to provide a mobile body travel control device that can easily control a mobile body that transports a relatively small number of lightweight objects and can be implemented at low cost.

[0007] The present invention also aims to provide a moving body travel control device capable of controlling a moving body so that the moving body travels while maintaining a constant distance from a user.

[0008] The present invention also aims to provide a mobile body driving control device that provides various driving modes that define the positional relationship between the user and the mobile body, and can easily control the mobile body according to the driving mode selected by the user. [Means for solving the problem]

[0009] The mobile object travel control device according to the present invention can be fixed to a certain position of a mobile object, and includes a wire having one end housed inside and the other end extending outside to be fixed to a certain position of a user, and being wound or unwound linearly with tension according to the movement of the user, and a control signal generating unit that generates a control signal for controlling the travel of the mobile object.

[0010] In one embodiment, the control signal generating unit generates a control signal to control the moving body so that the moving body runs while maintaining a predetermined distance range from the user based on the unwinding length and unwinding angle of the wire, and transmits the generated control signal to a running device of the moving body.

[0011] In an embodiment, the vehicle driving control device may further include a driving mode determination unit that determines one of at least one predefined driving mode before the vehicle starts driving.

[0012] In one embodiment, each of the at least one driving mode can define a positional relationship between the moving object and the user.

[0013] In one embodiment, the driving mode may include at least one of a forward driving mode in which the moving body drives in front of the user, a backward driving mode in which the moving body drives behind the user, a right side horizontal driving mode in which the moving body drives alongside the user on the right side, and a left side horizontal driving mode in which the moving body drives alongside the user on the left side.

[0014] In one embodiment, the control signal generation unit can generate a control signal to control the moving body so that the moving body runs while maintaining the positional relationship and the separation distance range defined in the determined running mode.

[0015] In an embodiment, the driving mode determination unit may determine one of a plurality of driving modes based on a driving mode selection signal input by the user.

[0016] In one embodiment, the vehicle driving control device further includes a rotation detection sensor that senses a rotation direction of the vehicle driving control device, and the driving mode determination unit may determine one of a plurality of driving modes based on the rotation direction sensed by the rotation detection sensor.

[0017] In an embodiment, the vehicle travel control device may further include a fixed position detection sensor for detecting a position where the vehicle travel control device is coupled to the vehicle, and the driving mode determination unit may determine one of a plurality of driving modes based on the coupling position detected by the fixed position detection sensor.

[0018] In one embodiment, the control signal generating unit defines a user's reference position according to the determined driving mode, derives user position information based on the reference position for each previously set time unit based on the unwinding length and unwinding angle of the wire that change according to the movement of the user, and generates the control signal based on the derived user's position information.

[0019] In one embodiment, the control signal may include at least one of a speed control signal and a steering control signal for the vehicle. Effect of the Invention

[0020] The mobile object travel control device according to the present invention can easily control a mobile object that transports a relatively small number of lightweight objects, such as a shopping cart or a stroller, and can be embodied at low cost.

[0021] Furthermore, the moving object travel control device according to the present invention can control the moving object so that the moving object travels while maintaining a constant distance from the user.

[0022] In addition, the mobile body driving control device of the present invention provides various driving modes in which the positional relationship between the user and the mobile body is defined, and the mobile body can be easily controlled according to the driving mode selected by the user. [Brief description of the drawings]

[0023] [Figure 1] 1 is a reference diagram for explaining a moving body travel control device according to the present invention; [Diagram 2] FIG. 2 is a reference diagram for explaining a wire according to an embodiment of the present invention. [Diagram 3] 1 is a block diagram for explaining components of a mobile object travel control device according to an embodiment of the present invention; [Figure 4] 10 is a reference diagram for explaining a length calculation unit and an angle calculation unit according to an embodiment of the present invention. FIG. [Diagram 5]13A and 13B are reference diagrams for explaining a length calculation unit and an angle calculation unit according to another embodiment of the present invention. [Figure 6] 4 is a reference diagram for explaining a method of generating a control signal according to an embodiment of the present invention; [Figure 7] FIG. 4 is a reference diagram for explaining a driving mode according to an embodiment of the present invention. [Figure 8] FIG. 4 is a reference diagram for explaining a driving mode according to an embodiment of the present invention. [Figure 9] 5 is a reference diagram for explaining the operation of a driving mode determination unit according to an embodiment of the present invention. FIG. [Figure 10] 11 is a reference diagram for explaining a method of generating a control signal according to an embodiment of the present invention when a right-side horizontal traveling mode is set; FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] The detailed description of the present invention is intended to fully explain the present invention to those having ordinary skill in the art. Throughout the specification, when a part is described as "including" a certain component or as "characterized" by a certain structure or shape, this means that it can include other components, structures, and shapes, without excluding other components or excluding other structures and shapes, unless otherwise specified to the contrary.

[0025] Furthermore, the term "module" in the specification means a unit that processes one or more functions or operations, which may be embodied in hardware or software, or a combination of hardware and software.

[0026] Since the present invention can be modified in various ways and can have various embodiments, a specific embodiment will be presented and described in detail in the detailed description. However, this is not intended to limit the content of the invention related to the embodiment, and it should be understood that the present invention encompasses all modifications, equivalents, or alternatives included in the spirit and technical scope of the present invention.

[0027] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention and a moving body travel control device according to various embodiments of the present invention will be described in detail with reference to FIGS.

[0028] FIG. 1 is a reference diagram for explaining a mobile body driving control device according to the present invention, FIG. 2 is a reference diagram for explaining a wire according to one embodiment of the present invention, and FIG. 3 is a block diagram for explaining the components of a mobile body driving control device according to one embodiment of the present invention.

[0029] 1, a vehicle travel control device 100 according to the present invention is a device that can be fixed at a certain position of a vehicle 10 and generates a control signal for controlling travel of the vehicle 10. Here, the vehicle travel control device 100 can be configured to include a housing capable of accommodating a plurality of components therein.

[0030] In one embodiment, the moving body 10 refers to a device having wheels on the underside for moving the position and a running device 11 for driving and controlling the wheels. Here, the moving body 10 corresponds to a transport means for transporting a specific object, such as a cart, a stroller, a carrier, etc., equipped with a running device. However, such examples do not limit the scope of the present invention, and any device that can be moved by a running device even if it does not function to transport an object should be construed as the moving body 10 according to the present invention.

[0031] In one embodiment, the movable body travel control device 100 may be configured to include a fixing device (not shown) for fixedly connecting with the movable body 10. Here, the fixing device may be realized by various known devices such as a ring member, a clamp member, an adhesive member, etc.

[0032] In one embodiment, the mobile object travel control device 100 may be fixed to any one of the front, rear, left, and right positions based on the traveling direction of the mobile object 10. For example, the mobile object travel control device 100 may be fixed to the rear side of the upper surface of the mobile object 10 as shown in Fig. 1. As another example, the mobile object travel control device 100 may be fixed to the front surface of the mobile object 10 as shown in Fig. 10.

[0033] Meanwhile, the exact position and manner in which the vehicle travel control device 100 is connected to the vehicle 10 should not be construed as being limited, and it goes without saying that various modifications are possible. For example, if the vehicle 10 corresponds to a stroller, the vehicle travel control device 100 may be connected to a handle portion formed on the rear side of the stroller.

[0034] 2, the vehicle travel control device 100 according to the present invention may include a wire 110 extending in a longitudinal direction with a certain tension. Here, one end of the wire 110 may be housed inside the vehicle travel control device 100, and the other end may extend outside and be fixed to a certain position of the user 20.

[0035] In one embodiment, the other end of the wire 110 may be provided with a user fixing device 111 for fixing the wire 110 at a certain position on the user 20. Here, the user fixing device 111 may be embodied as various known devices such as a ring member, a clamp member, or an adhesive member, or may be formed into a predetermined shape that can be held by the user.

[0036] In one embodiment, the other end of wire 110 can be secured to clothing worn by user 20 by user securing device 111. In another embodiment, the other end of wire 110 can be secured to the hand of user 20 by user securing device 111 being grasped by the user.

[0037] The wire 110 can be wound or unwound linearly with tension in response to the movement of the user 20. The mobile object traveling control device 100 according to the present invention can generate a control signal for controlling the traveling of the mobile object 10 based on the unwound length and unwound angle of the wire 110, which can change in response to the movement of the user 20.

[0038] 3, a vehicle travel control device 100 according to the present invention may include a wire 110, a control signal generating unit 120, and a travel mode determining unit 130. Here, the control signal generating unit 120 and the travel mode determining unit 130 may include a memory for storing data and a processor for processing data, and may perform a vehicle travel control method described below.

[0039] The control signal generating unit 120 generates a control signal for controlling the traveling of the moving body 10. Here, the control signal generating unit 120 generates a control signal for controlling the moving body 10 based on the unwinding length and unwinding angle of the wire 110, and can transmit the generated control signal to the traveling device 11 of the moving body 10.

[0040] In one embodiment, the control signal generating unit 120 may generate a control signal to control the moving body 10 so that the moving body 10 runs while maintaining a previously set separation distance range from the user 20. For example, if the separation 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 generating unit 120 may generate a control signal to control the moving body 10 so that the moving body 10 runs while maintaining a separation distance of 0.9 to 1.1 m from the user 20.

[0041] Hereinafter, a process in which the control signal generator 120 according to the present invention generates a control signal will be described in detail.

[0042] Referring to FIG. 3, the control signal generator 120 may include a length calculator 121, an angle calculator 122, a position calculator 123, and a signal generator .

[0043] The length calculation unit 121 can calculate the unwound length of the wire 110 that is wound or unwound in response to the movement of the user. To this end, the length calculation unit 121 can be configured to include rotating members 211, 311 and rotation amount measuring sensors 212, 312.

[0044] In one embodiment, as shown in Figures 4 and 5, the rotating members 211, 311 may be formed in a cylindrical shape and connected to one end of the wire 110, and configured so that the wire 110 is wound or unwound on the outside of the rotating members 211, 311. Here, when the rotating members 211, 311 rotate in one of a clockwise and counterclockwise direction, the wire 110 may be unwound from the rotating members 211, 311, and when the rotating members rotate in the other direction, the wire 110 may be wound. In one embodiment, an elastic member (e.g., a spring, etc.) may be provided on the inside of the rotating members 211, 311 to enable the wire 110 to maintain a constant tension in response to the movement of the user.

[0045] In one embodiment, the rotation amount measuring sensor 212, 312 is connected to the rotating member 211, 311 and can measure the amount of rotation of the rotating member 211, 311 due to winding or unwinding of the wire 110. Here, the rotation amount measuring sensor 212, 312 corresponds to a potentiometer that outputs a voltage proportional to the amount of rotation by moving an internal wiper on a resistor when the rotating shaft rotates in response to a change in rotational displacement.

[0046] In one embodiment, the length calculation unit 121 can calculate the unwound length of the wire 110 in proportion to the amount of rotation of the rotating members 211 , 311 measured by the rotation amount measuring sensors 212 , 312 .

[0047] The angle calculation unit 122 can calculate the winding angle of the wire 110 that is wound or unwound in response to the movement of the user. For this purpose, the angle calculation unit 122 can be configured to include a rotating member 221 or a sliding member 321 and a rotation angle measurement sensor 222, 322.

[0048] 4, the rotating member 221 may be configured to have the wire 110 passing therethrough and to be rotatable in response to the winding or unwinding angle of the wire 110. Here, the rotation angle measuring sensor 222 is connected to the rotating member 221 and can measure the rotation angle of the rotating member 221 according to the change in the unwinding angle of the wire 110. The rotation angle measuring sensor 222 corresponds to an encoder that measures the amount of rotation by counting the number of grooves that a rotary encoder ring, on which grooves are formed at equal intervals, passes as the rotary encoder ring rotates together with the rotating member 221.

[0049] 5, the sliding member 321 can be configured so that the wire 110 passes through it and can slide in response to the winding or unwinding angle of the wire 110. Here, the rotation angle measuring sensor 322 is connected to the sliding member 321, and can measure the rotation angle based on the movement distance of the sliding member 321 due to the change in the unwinding angle of the wire 110.

[0050] On the other hand, the above-mentioned examples of the configuration for calculating the unwinding length and unwinding angle of the wire 110 are not intended to limit the scope of the present invention, and it goes without saying that the configuration for calculating the unwinding length and unwinding angle of the wire 110 can be embodied in a manner different from the above-mentioned embodiment.

[0051] The position calculation unit 123 can derive position information of the user 20 for each previously set time unit based on the unwinding length and unwinding angle of the wire 110 that change in accordance with the movement of the user 20. Here, the time unit for deriving the position information corresponds to the time unit for generating the control signal, and can be set to, for example, 20 ms.

[0052] In one embodiment, the position calculation unit 123 can derive position information of the user 20 using the unwinding length Sl calculated by the length calculation unit 121 and the unwinding angle Sa calculated by the angle calculation unit 122. Here, the position information of the user 20 corresponds to coordinate information defined in an xy Cartesian coordinate system.

[0053] In one embodiment, the position calculation unit 123 can calculate the position information of the user 20 using the following Equation 1.

[0054] [Formula 1] (x,y)=(Sl*cos(Sa),Sl*sin(Sa)) Here, the center of coordinates can be defined as the position of the vehicle driving control device 100 or the other end of the wire 110, that is, the position of the user 20.

[0055] The signal generating unit 124 can generate a control signal for controlling the moving body 10 based on the unwinding length Sl and the unwinding angle Sa of the wire 110. Here, the signal generating unit 124 can generate a control signal for controlling the moving body 10 so that the moving body 10 runs while maintaining a previously set separation distance range from the user 20.

[0056] In one embodiment, the control signal may include at least one of a speed control signal and a steering control signal for the vehicle 10 .

[0057] 6, when the separation distance between the moving object 10 and the user 20 is set to R, the signal generating unit 124 can generate a control signal for controlling the moving object 10 so that the moving object 10 runs while maintaining the distance R between the moving object 10 and the user 20, based on the unwinding length Sl and the unwinding angle Sa of the wire 110. In one embodiment, the signal generating unit 124 can generate the control signal using the following Equation 2.

[0058] [Formula 2] V=(R-Sl)*Vg W=Sa*Wg (V: moving body speed, W: moving body angular speed, R: separation distance, Sl: unwinding length, Sa: unwinding angle, Vg: speed gain, Wg: angle gain) For example, when the moving body 10 is set to run while maintaining a distance R of 1 m in front of the user 20, the signal generating unit 124 can check the unwinding length Sl and the unwinding angle Sa every 20 ms and generate a control signal capable of controlling the running device 11 of the moving body 10 for each time unit based on the above-mentioned Equation 2. Referring to FIG. 6 and Equation 2, when the user's position is closer than R (i.e., when the unwinding length is shorter than R), the signal generating unit 124 can calculate a speed control signal V for moving the moving body 10 forward and transmit it to the running device 11. Also, when the user's position moves to the right, the signal generating unit 124 can calculate a steering control signal W for moving the moving body 10 to the left and transmit it to the running device 11. Through such an operation of the signal generating unit 124, the moving body 10 can run while maintaining a previously set separation distance range from the user 20.

[0059] In one embodiment, the signal generating unit 124 can generate a control signal based on the position information of the user 20 calculated by the position calculating unit 123. More specifically, the signal generating unit 124 can calculate the speed control signal and the steering control signal using the above-mentioned formula 2 with the unwinding length Sl and the unwinding angle Sa as variables, and differently, the signal generating unit 124 can calculate the speed control signal and the steering control signal with the position coordinates of the user 20 derived based on the unwinding length Sl and the unwinding angle Sa as variables.

[0060] A method for generating control signals in accordance with various driving modes by the moving body driving control device 100 according to one embodiment of the present invention will be described below.

[0061] Referring to FIG. 3, the vehicle driving control device 100 may include a driving mode determination unit 130 that determines one driving mode from at least one driving mode that has already been defined before the vehicle 10 starts driving.

[0062] In one embodiment, the driving mode can define a positional relationship between the moving body 10 and the user 20. Here, the driving mode can be configured to include at least one of a forward driving mode, a backward driving mode, a right-side horizontal driving mode, and a left-side horizontal driving mode.

[0063] The driving modes according to the present invention will be described in more detail with reference to Figures 7 and 8. Figures 7 and 8 are reference diagrams for explaining the driving modes according to one embodiment of the present invention.

[0064] 7A, the forward running mode can be defined as the mobile body 10 running in front of the user 20. That is, the forward running mode is a mode in which the user 20 is located behind the mobile body 10, and when the user 20 moves forward, the mobile body 10 is controlled to move forward as the unwound length of the wire 110 becomes shorter, and the mobile body 10 runs at a certain distance in front of the user 20. Here, when the user moves to the right, the mobile body 10 is controlled to be steered to the left in response to a change in the unwound angle of the wire 110, and the mobile body 10 can move and run in front of the user 20.

[0065] 7(B), the backward running mode can be defined as the mobile body 10 running behind the user 20. That is, the backward running mode is a mode in which the user 20 is located in front of the mobile body 10, and when the user 20 moves forward, the mobile body 10 is controlled to move forward as the unwound length of the wire 110 becomes longer, and the mobile body 10 runs at a certain distance behind the user 20. Here, when the user moves to the left, the mobile body 10 is controlled to be steered to the right in response to a change in the unwound angle of the wire 110, and the mobile body 10 can move and run behind the user 20.

[0066] 8(A), the right-side horizontal traveling mode can be defined as the mobile body 10 traveling side by side on the right side of the user 20. That is, the right-side horizontal traveling mode is a mode in which the user 20 is positioned on the left side of the mobile body 10, and when the user 20 moves forward, the mobile body 10 is controlled to move forward in response to changes in the unwinding length and angle of the wire 110, and the mobile body 10 travels side by side with a certain distance to the right of the user 20.

[0067] 8(B), the left horizontal traveling mode can be defined as the mobile object 10 traveling side by side on the left side of the user 20. That is, the left horizontal traveling mode is a mode in which the user 20 is positioned on the right side of the mobile object 10, and when the user 20 moves forward, the mobile object 10 is controlled to move forward in response to changes in the unwinding length and angle of the wire 110, and the mobile object 10 travels side by side on the left side of the user 20 with a certain distance between them.

[0068] In one embodiment, the driving mode determination unit 130 may determine one of a plurality of driving modes based on a driving mode selection signal input by the user 20 .

[0069] In one embodiment, the driving mode determination unit 130 may be configured to include a driving mode selection button 131 operable by a user. For example, as shown in FIG. 9A, the driving mode selection button 131 may be provided on an upper portion of the vehicle driving control device 100, and the driving mode selection button 131 may be operated by a user. Here, the driving mode determination unit 130 may determine a driving mode corresponding to a 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 a forward driving mode, the lower side as a downward driving mode, the right side as a right horizontal driving mode, and the left side as a left horizontal driving mode.

[0070] In one embodiment, the driving mode determination unit 130 may receive a driving mode selection signal at a user terminal (e.g., a smartphone) 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.

[0071] In one embodiment, the driving mode determination unit 130 may determine one of a plurality of driving modes based on a rotation direction of the vehicle driving control device 100. Here, the driving mode determination unit 130 may further include a rotation detection sensor 132 that senses the rotation direction of the vehicle driving control device 100.

[0072] For example, as shown in Fig. 9(B), the user can select a driving mode by fixing the mobile object driving control device 100 to the front of the mobile object 10 and rotating the mobile object driving control device 100 in a specific direction. Here, the driving mode determination unit 130 can determine the driving mode to be the left-side horizontal driving mode when the mobile object driving control device 100 rotates to the left, and can determine the driving mode to be the right-side horizontal driving mode when the mobile object driving control device 100 rotates to the right.

[0073] In one embodiment, the driving mode determination unit 130 may determine one of a plurality of driving modes based on a coupling position detected by a fixed position detection sensor. Here, the driving mode determination unit 130 may further include a fixed position detection sensor for detecting a coupling position of the vehicle driving control device 100 with the vehicle 10.

[0074] In one embodiment, the fixed position detection sensor may be embodied as at least one contact sensor provided on a side of the moving body travel control device 100. Here, the travel mode determination unit 130 may determine the travel mode based on the contact direction of the moving body travel control device 100. For example, when it is detected that the front side of the moving body travel control device 100 is in contact with the moving body 10, the travel mode determination unit 130 may determine that the moving body travel control device 100 is fixed to the rear side of the moving body 10 and may determine the travel mode to be the forward travel mode. As another example, when it is detected that the left side of the moving body travel control device 100 is in contact with the moving body 10, the travel mode determination unit 130 may determine that the moving body travel control device 100 is fixed to the right side of the moving body 10 and may determine the travel mode to be the right horizontal travel mode.

[0075] In one embodiment, when a particular driving mode is determined by the driving mode determination unit 130, the control signal generation unit 120 may generate a control signal for controlling the moving object 10 so that the moving object 10 drives while maintaining the positional relationship defined in the determined driving mode and the previously set separation distance range. This embodiment will be described in more detail with reference to FIG.

[0076] For example, when the user 20 fixes the moving object traveling control device 100 to the front of the moving object 10 and rotates the moving object traveling control device 100 to the right, the traveling mode determination unit 130 may detect the rotation direction through the rotation detection sensor 132 and determine the traveling mode as the right-side horizontal traveling mode. Here, when the separation distance is set to 1 m, the control signal generation unit 120 may check the unwinding length S1 and the unwinding angle Sa for each time unit, with a point 1000 mm to the left of the moving object traveling control device 100 as the reference position (FIG. 10A). Here, when the user 20 moves 300 mm forward (FIG. 10B), the control signal generation unit 120 may calculate a speed control signal V for moving the moving object 10 300 mm forward and transmit the calculated signal to the traveling device 11. If the user 20 moves 300 mm forward and 150 mm to the left (FIG. 10C), the control signal generator 120 can calculate a speed control signal V and a steering control signal W for moving the moving object 10 300 mm forward and 150 mm to the left, and transmit them to the traveling device 11. Through such an operation of the control signal generator 120, the moving object 10 can travel while maintaining the positional relationship between the user 20 and the moving object 10 defined in the traveling mode and the previously set separation distance range.

[0077] The moving object driving control device 100 according to the present invention controls the moving object 10 to automatically maintain a constant distance from the user 20, and controls the moving object 10 to drive at a position desired by the user 20, thereby greatly improving the convenience of the user 20. Furthermore, the present invention can be realized at a lower cost than the conventional technology by calculating the position of the user 20 using a wire 110 connected to the user 20 and controlling the moving object 10 based on the calculated position.

[0078] While the present invention has been described above with reference to preferred embodiments, it should be understood that the present invention can be modified and changed in various ways without departing from the spirit and scope of the present invention as defined in the following claims. [Explanation of symbols]

[0079] 10 Mobile 11 Running gear 20 users 100 Mobile body travel control device 110 Wire 111 User Fixation Device 120 Control signal generator 121 Length calculation unit 122 Angle calculation unit 123 Position calculation section 124 Signal Generator 130 Driving mode determination unit 131 Driving mode selection button 132 Rotation Sensor 133 Fixed Position Sensor 211 Rotating parts 212 Rotational amount measuring sensor 221 Rotating parts 222 Rotation angle measurement sensor 311 Rotating parts 312 Rotational amount measurement sensor 321 Sliding members 322 Rotation angle measurement sensor

Claims

1. A moving body travel control device that can be fixed to a fixed position on a moving body, A wire having one end housed inside and the other end extending outside and fixed at a certain position of the user, and wound or unwound linearly with tension in response to the user's movements; A control signal generating unit that generates a control signal for controlling travel of the moving body; a driving mode determination unit that determines one of at least one predefined driving modes before the moving body travels; a rotation detection sensor that senses a rotation direction of the moving body travel control device, The control signal generating unit generating a control signal for controlling the moving body so that the moving body runs while maintaining a preset separation distance range from the user based on the unwinding length and unwinding angle of the wire, and transmitting the generated control signal to a running device of the moving body; The driving mode determination unit is determining one of a plurality of driving modes based on the rotation direction sensed by the rotation detection sensor; Mobile vehicle driving control device.

2. Each of the at least one driving mode includes: The mobile body travel control device according to claim 1 , wherein a positional relationship between the mobile body and the user is defined.

3. The driving mode is a forward running mode in which the moving body runs in front of the user; a rear running mode in which the moving body runs behind the user; a right-side horizontal running mode in which the moving object runs alongside the user on the right side of the user; a left horizontal running mode in which the moving object runs alongside the user on the left side of the user; The moving body travel control device according to claim 2, characterized in that it is configured to include at least one of the above.

4. The control signal generating unit The mobile body travel control device according to claim 2 , further comprising: a control signal for controlling the mobile body so that the mobile body travels while maintaining the positional relationship and the separation distance range defined in the determined travel mode.

5. The driving mode determination unit is 2. The mobile body travel control device according to claim 1, wherein one of a plurality of travel modes is determined based on a travel mode selection signal input by the user.

6. A mobile body travel control device that can be fixed to a fixed position on a mobile body, A wire having one end housed inside and the other end extending outside and fixed at a certain position of the user, and wound or unwound linearly with tension in response to the user's movements; A control signal generating unit that generates a control signal for controlling travel of the moving body; a driving mode determination unit that determines one of at least one predefined driving modes before the moving body travels; a fixed position detection sensor for detecting a position where the moving body travel control device is coupled to the moving body, The control signal generating unit generating a control signal for controlling the moving body so that the moving body runs while maintaining a preset separation distance range from the user based on the unwinding length and unwinding angle of the wire, and transmitting the generated control signal to a running device of the moving body; The driving mode determination unit is The vehicle travel control device determines one of a plurality of travel modes based on the connection position detected by the fixed position detection sensor.

7. A mobile body travel control device that can be fixed to a fixed position on a mobile body, A wire having one end housed inside and the other end extending outside and fixed at a certain position of the user, and wound or unwound linearly with tension in response to the user's movements; A control signal generating unit that generates a control signal for controlling travel of the moving body; a driving mode determination unit that determines one of at least one predefined driving modes before the moving body travels; Each of the at least one driving mode includes: A positional relationship between the moving object and the user is defined; The control signal generating unit generating a control signal for controlling the moving body so that the moving body runs while maintaining a preset separation distance range from the user based on the unwinding length and unwinding angle of the wire, and transmitting the generated control signal to a running device of the moving body; The control signal generating unit generating a control signal for controlling the moving object so that the moving object runs while maintaining the positional relationship and the separation distance range defined in the determined running mode; The control signal generating unit Defining a reference position of a user according to the determined driving mode; deriving user position information based on the reference position for each previously set time unit based on a wire unwinding length and an unwinding angle that vary in accordance with the movement of the user; A mobile object travel control device that generates the control signal based on the derived user position information.

8. The control signal is 2. The moving body travel control device according to claim 1, further comprising at least one of a speed control signal and a steering control signal for the moving body.

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