Mobility operated based on a footplate and method of controlling the same

Abstract

A moving device operated based on a footplate according to one embodiment and a control method thereof may include a footplate assembly comprising an obstacle sensor group that generates sensing data based on the distance to an obstacle within a sensing range and a footplate, a base body movably and rotatably coupled to the footplate assembly and comprising a stopper assembly and a driving unit, and a control unit that performs at least one of movement or rotation of the moving device using the driving unit based on a change in position between the footplate assembly and the base body caused by operation of the footplate assembly by a user riding the moving device, and actsuates the stopper assembly to restrict movement of at least a part of the footplate assembly away from the base body in response to detecting an obstacle based on the sensing data of the obstacle sensor group.

Description

Technology Field

[0001] Below, a technology is provided that allows for more efficient detection of obstacles in the driving direction by attaching a sensor to a moving and rotating control unit, and prevents the control unit from moving in the driving direction when there is an obstacle in the driving direction. Background Technology

[0003] Personal Mobility (PM) refers to a single-person means of transportation that operates at low speeds, primarily powered by electricity. Examples of personal mobility devices include electric bicycles, electric wheels (e.g., unicycles, two-wheeled vehicles, and Segways), electric scooters, and electric skateboards. While electric vehicles are also eco-friendly similar to personal mobility devices, they have the disadvantage of being unable to avoid traffic congestion, energy loss, and parking difficulties. Consequently, personal mobility devices have been gaining popularity as they are more eco-friendly, offer better energy efficiency, and can avoid traffic congestion and parking problems. Furthermore, demand for personal mobility has increased recently due to a reluctance to use public transportation caused by the COVID-19 pandemic. Since contactless transportation is expected to become more prevalent in the future, technological development for personal mobility is proceeding even more actively.

[0004] The background technology described above is possessed or acquired by the inventor in the process of deriving the content of the disclosure of the present application, and cannot necessarily be considered as prior art disclosed to the general public prior to the filing of this application. Prior art literature

[0006] Korean Registered Patent Publication 10-1673166 (published November 1, 2016) discloses a walking assistance device for a person with a walking disability. Japanese Published Patent Publication 2022-131438 (published September 7, 2022) discloses an electric vehicle. The problem to be solved

[0007] A moving device operated based on a footrest according to one embodiment and a control method thereof may include a footrest assembly that includes an obstacle sensor group, and a base body that is movably and rotatably coupled to the footrest assembly that includes a stopper assembly.

[0008] A moving device and a control method based on a footrest according to one embodiment can determine the direction of movement by operating a footrest assembly and simultaneously detect obstacles.

[0009] A moving device and a control method based on a footrest according to one embodiment are such that when an obstacle is present in the immediate front, the driving motor of the drive unit is stopped and the stopper assembly is driven as the obstacle is detected using an obstacle sensor group, and the forward operation of the footrest assembly is performed outside the base body, so the forward operation of the footrest assembly cannot be performed.

[0010] However, technical challenges are not limited to the technical challenges described above, and other technical challenges may exist. means of solving the problem

[0012] A moving device operated based on a footplate according to one embodiment may include a footplate assembly comprising an obstacle sensor group that generates sensing data based on the distance to an obstacle within a sensing range and a footplate, a base body movably and rotatably coupled to the footplate assembly and comprising a stopper assembly and a driving unit, and a control unit that performs at least one of movement or rotation of the moving device using the driving unit based on a change in position between the footplate assembly and the base body caused by operation of the footplate assembly by a user riding the moving device, and actsuates the stopper assembly to restrict movement of at least a part of the footplate assembly away from the base body in response to detecting an obstacle based on the sensing data of the obstacle sensor group.

[0013] The base body further includes one or more shafts coupled to a shaft unit so as to be linearly movable along the shaft axis direction, the footrest assembly is movably and rotatably coupled to the shaft unit, and the stopper assembly, when operated by the control unit, can allow movement along a first direction of the shaft unit and prevent movement along a second direction opposite to the first direction.

[0014] The stopper assembly comprises a plurality of stopper links, a plunger connected to the plurality of stopper links, and a solenoid member configured to generate a magnetic force in the first direction when current is supplied by the control unit, and the plurality of stopper links may form inclines that hinder the movement of the shaft unit by protruding from the inner surface of the base body toward the shaft by the movement of the plunger along the first direction by the magnetic force when the magnetic force is generated based on the supply of current.

[0015] The first direction above is the direction in which the shaft unit retracts relative to the seat of the base body, and the second direction above may be the direction in which the shaft unit advances relative to the seat.

[0016] The stopper assembly further includes an elastic member configured to generate an elastic force directed toward the second direction with respect to the plunger, and while current is supplied to the solenoid member, the elastic member is compressed, and when the current supply to the solenoid member is interrupted by the control unit, the plunger retracts toward the second direction by the restoring force of the compressed elastic member, thereby removing the inclinations formed by the plurality of stopper links.

[0017] The obstacle sensor group includes a plurality of distance sensors, and the control unit can control the operation of the stopper assembly based on whether the distance between the moving device and the obstacle is close and whether the stopper assembly is operated using the plurality of distance sensors when an obstacle is sensed using the obstacle sensor group.

[0018] The control unit may stop the operation of the drive unit when the obstacle is less than a threshold distance from the footrest assembly based on distance data sensed based on the plurality of distance sensors.

[0019] The control unit can drive the stopper assembly when the obstacle is less than a threshold distance from the footrest assembly based on distance data sensed based on the plurality of distance sensors, and can release the drive of the stopper assembly depending on whether the stopper assembly is driven when the obstacle is greater than or equal to the threshold distance from the footrest assembly based on distance data sensed based on the plurality of distance sensors.

[0020] The control unit can, based on distance data sensed based on the plurality of distance sensors, release the drive of the stopper assembly to resume forward driving of the moving device when the obstacle is greater than a threshold distance from the footrest assembly and the stopper assembly is driven, determine whether the distance between the moving device and the obstacle is close, and then, after releasing the drive of the stopper assembly, drive the drive unit by sensing the obstacle using the obstacle sensor group.

[0021] A method for controlling a moving device operated based on a footrest according to one embodiment may include the steps of: performing at least one of movement or rotation of the moving device using a drive unit within the base body based on a position change between the footrest assembly and the base body caused by the operation of the footrest assembly by a user riding on the moving device; detecting an obstacle using an obstacle sensor group; and, when an obstacle is detected by the obstacle sensor group, controlling the operation of the stopper assembly based on whether the distance between the moving device and the obstacle is close and whether the stopper assembly is operated using a plurality of distance sensors included in the obstacle sensor group.

[0022] The step of controlling the operation of the stopper assembly may include the step of driving the stopper assembly when the obstacle is less than a threshold distance from the footrest assembly based on distance data sensed based on the plurality of distance sensors, and the step of releasing the operation of the stopper assembly depending on whether the stopper assembly is driven when the obstacle is greater than or equal to the threshold distance from the footrest assembly based on distance data sensed based on the plurality of distance sensors.

[0023] The step of driving the stopper assembly may include the step of supplying current to a solenoid member so that a plurality of stopper links protrude from the inner surface of the base body toward the shaft by movement along a second direction of the plunger by magnetic force, thereby forming inclines that hinder the movement of the shaft unit.

[0024] The step of releasing the drive of the stopper assembly may include the step of stopping the supply of current to the solenoid member so that the inclinations formed by the plurality of stopper links are removed by the retraction of the plunger by the restoring force of the compressed elastic member while current is supplied to the solenoid member.

[0025] The above second direction may be the direction in which the shaft unit advances relative to the seat of the base body.

[0026] The first direction above may be the direction in which the shaft unit retracts relative to the seat of the base body. Effects of the invention

[0028] A moving device operated based on a footrest according to one embodiment and a control method thereof, wherein a footrest assembly includes an obstacle sensor group and a base body movably and rotatablely coupled to the footrest assembly includes a stopper assembly, thereby enabling more efficient detection of obstacles in the direction of travel and preventing the operating part from moving in the direction of travel when there is an obstacle in the direction of travel.

[0029] A moving device and a control method based on a footrest according to one embodiment can determine the direction of movement and simultaneously detect obstacles by operating the footrest assembly, so a wide range of coverage is not required, and thus blind spots where obstacles are not detected may not be formed.

[0030] A moving device operated based on a footrest according to one embodiment and a control method thereof can stop driving in the forward direction electronically, physically, and structurally by detecting an obstacle using an obstacle sensor group when an obstacle is present in the immediate front, causing the driving motor of the driving unit to stop and the stopper assembly to be driven, and since the forward operation of the footrest assembly is performed outside the base body, the forward operation of the footrest assembly cannot be performed. Brief explanation of the drawing

[0032] FIG. 1 illustrates a moving device according to one embodiment. FIG. 2 exemplarily illustrates the sensing direction and range of an obstacle sensor group of a moving device according to one embodiment. FIG. 3a illustrates an exemplary top view of a base body of a moving device according to one embodiment, FIG. 3b illustrates an exemplary perspective view of the interior of the base body, and FIG. 3c illustrates an exemplary side view of a footrest assembly and a base body combined. FIG. 4a illustrates an exemplary top view of a base body when a moving device according to one embodiment is operated for forward driving, and FIG. 4b illustrates an exemplary case in which a moving device according to one embodiment drives forward. FIG. 5a illustrates an exemplary top view of a base body when a moving device according to one embodiment is operated for reverse driving, and FIG. 5b illustrates an exemplary case in which a moving device according to one embodiment drives in reverse. FIG. 6a illustrates an exemplary top view of a base body when a moving device according to one embodiment is operated for rotational movement in a counterclockwise direction, and FIG. 6b illustrates an exemplary case in which a moving device according to one embodiment rotates in a counterclockwise direction. FIG. 7a illustrates an exemplary top view of a base body when a moving device according to one embodiment is operated for clockwise rotational movement, and FIG. 7b illustrates an exemplary case in which a moving device according to one embodiment rotates clockwise. FIG. 8a illustrates an exemplary top view of a base body when a moving device according to one embodiment is operated to stop, and FIG. 8b illustrates an exemplary case when a moving device according to one embodiment stops. FIG. 9 illustrates, exemplarily, a case in which a shaft unit is located in front of a stopper assembly in a moving device according to one embodiment. FIG. 10 illustrates, exemplarily, a stopper assembly of a moving device according to one embodiment. FIG. 11 exemplarily illustrates the forward operation of a footrest assembly of a moving device according to one embodiment. FIG. 12 illustrates an exemplary flowchart of a method for controlling a moving device according to one embodiment. Specific details for implementing the invention

[0033] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Accordingly, actual implementations are not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or substitutions included in the technical concept described by the embodiments.

[0034] Terms such as "first" or "second" may be used to describe various components, but these terms should be interpreted solely for the purpose of distinguishing one component from another. For example, the first component may be named the second component, and similarly, the second component may be named the first component.

[0035] When it is stated that a component is "connected" to another component, it should be understood that it may be directly connected to or coupled with that other component, or that there may be other components in between.

[0036] The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, terms such as "comprising" or "having" are intended to specify the existence of the described features, numbers, steps, actions, components, parts, or combinations thereof, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0037] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this specification.

[0038] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are given the same reference numeral regardless of the drawing number, and redundant descriptions thereof will be omitted.

[0039] FIG. 1 illustrates a moving device according to one embodiment.

[0040] The moving device (100) may include a footplate assembly (110), a base body (120), a control unit, and a seat (130).

[0041] The footrest assembly (110) may include an obstacle sensor group (111) and a footrest (112) that generate sensing data based on the distance to an obstacle within a sensing range. The obstacle sensor group (111) is described in detail later in FIG. 2. The footrest (112) may support the foot of a occupant so that the occupant can operate the footrest assembly (110) using their foot for driving the mobile device (100).

[0042] The base body (120) is movably and rotatably coupled to the footrest assembly (110) and may include a driving unit (121) and a stopper assembly (122). The driving unit (121) may include a wheel for driving the moving device (100) and may be configured on the outer lower part of the base body (120). This may mean that the footrest assembly (110) and the seat (130) are configured on the outer upper part of the base body (120), and the driving unit (121) is configured on the outer lower part of the base body (120). The internal configuration of the base body (120) will be described in detail later in FIG. 3.

[0043] The control unit performs at least one of movement or rotation of the moving device using a drive unit (121) based on a change in position between the footrest assembly (110) and the base body (120) caused by the operation of the footrest assembly (110) of a user riding on the moving device, and can actuate a stopper assembly (122) to restrict movement of at least a part of the footrest assembly (110) away from the base body in response to detecting an obstacle based on sensing data of the obstacle sensor group (111). The stopper assembly (122) is described in detail later in FIG. 10. The control unit may be configured below the seat (130), but is not limited thereto. The seat (130) is configured on the base body (120) spaced apart from the footrest assembly (110) and can be seated on by a passenger.

[0044] FIG. 2 exemplarily illustrates the sensing direction and range of an obstacle sensor group within a moving device according to one embodiment.

[0045] FIG. 2(a) shows the sensing direction and range of the obstacle sensor group when the footrest assembly faces forward, and FIG. 2(b) shows the sensing direction and range of the obstacle sensor group when the footrest assembly rotates partially clockwise while driving.

[0046] In mobility (or mobile robots), obstacle detection is a critical factor in preventing collisions with obstacles during operation. Generally, since sensors mounted on mobility devices are installed in fixed positions, manufacturers have utilized either a large number of high-cost sensors to scan a wide area or a configuration of three sensors—one each on the left, right, and front—to scan the maximum area with a minimal number of sensors. However, this approach increases production costs and can lead to blind spots where obstacles are not detected due to the spaced-out sensors.

[0047] To solve this, a moving device (100) according to one embodiment may arrange an obstacle sensor group (111) so that their detection ranges overlap in the driving direction of the footrest assembly (110). For example, the obstacle sensor group (111) may be composed of three sensors, but is not limited thereto. Additionally, the obstacle sensor group (111) may use an optical or ultrasonic ToF sensor that calculates the distance to an obstacle by measuring the time of flight (TOF: Time Of Flight) of light or ultrasound directed forward that is reflected back from the obstacle. As shown in FIG. 2(a), the footrest assembly (110) is controlled to move forward in the front, and accordingly, the obstacle sensor group (111) can also detect an obstacle in the front. Additionally, as shown in FIG. 2(b), if the footrest assembly (110) is controlled to move forward while partially rotating clockwise, the obstacle sensor group (111) can also detect an obstacle while partially rotating clockwise. Generally, mobility devices cover a wide range (e.g., 180 degrees) in the forward direction using a plurality of fixed sensors and perform obstacle detection. However, the moving device (100) according to one embodiment can detect obstacles using an obstacle sensor group (111) while the direction of movement is determined by the operation of the footrest assembly (110), so it does not require a wide range of coverage, and thus a blind spot may not be formed. Additionally, the moving device (100) may additionally include a second obstacle sensor group facing the rear to detect obstacles in the rear when moving backward.

[0048] FIG. 3a illustrates an exemplary top view of a base body of a moving device according to one embodiment, FIG. 3b illustrates an exemplary perspective view of the interior of the base body, and FIG. 3c illustrates an exemplary side view of a footrest assembly and a base body combined.

[0049] The base body (120) may further include a shaft (123) and a shaft unit (124).

[0050] The shaft (123) may be one or more components (e.g., a pair) and may be coupled to a shaft unit (124) so ​​as to be linearly movable along the shaft axis. For example, if the shaft (123) is composed of two or more components, each shaft (123) may be installed at a predetermined distance apart. The shaft unit (124) may be fitted into the shaft (123) by forming a through hole in the portion coupled to the shaft (123), but is not limited thereto. Each shaft unit (124) may move differently from one another along the axis. Additionally, the shaft unit (124) may be coupled to the footrest assembly (110) using a bearing (127), thereby enabling movement and rotational operation of the footrest assembly (110). Furthermore, a shaft fixing part (128) may be disposed at the end of the shaft (123) to be coupled to the base body (120).

[0051] When the shaft unit (124) is positioned at the center (e.g., reference point) of the shaft (123), the moving device (100) may be in a stationary state. The moving device (100) can perform forward, backward, counterclockwise rotation, and clockwise rotational movement as the shaft unit (124) is moved by the foot assembly (110). To this end, the base body (120) may further include a distance sensor (125) capable of detecting the position of the shaft unit (124) and a distance sensor reflector (126). The distance sensor (125) may be placed on the inner side of the base body (120), and the distance sensor reflector (126) may be placed on the side of the shaft unit (124) corresponding to the placement position of the distance sensor (125). The distance sensor (125) can generate a distance value by detecting the distance to the distance sensor reflector (126) that changes as each shaft unit (124) moves. For example, the distance between the distance sensor reflector (126) of the first shaft unit and the corresponding distance sensor (125) can be denoted as d1, and the distance between the distance sensor reflector (126) of the second shaft unit and the corresponding distance sensor (125) can be denoted as d2. Accordingly, the distance sensor (125) can generate a distance value based on the amount of change of each d1 and d2. The control unit can determine the driving direction of the moving device (100) based on the generated distance value. Additionally, the base body (120) can additionally include a sensor that detects the movement speed of the shaft unit (124) to also determine the driving speed of the moving device (100).

[0052] When operated by a control unit, the stopper assembly (122) may allow movement of the shaft unit (124) along a first direction (310) and prevent movement along a second direction (320) opposite to the first direction (310). The first direction (310) may be the direction in which the shaft unit (124) moves backward relative to the seat (130) of the base body, and the second direction (320) may be the direction in which the shaft unit (124) moves forward relative to the seat. This means that the first direction (310) may be the direction in which the moving device (100) moves backward, and the second direction (320) may be the direction in which the moving device (100) moves forward. Accordingly, by using the stopper assembly (122) to fix the shaft unit (124) so ​​that it can no longer move forward, the forward movement of the moving device (100) can be stopped.

[0053] For reference, in Figs. 3a, 4a, 5a, 6a, 7a, and 8a, the top corresponds to the rear of the occupant, and the bottom corresponds to the front of the occupant.

[0054] FIG. 4a illustrates an exemplary top view of a base body when a moving device according to one embodiment is operated for forward driving, and FIG. 4b illustrates an exemplary case in which a moving device according to one embodiment drives forward.

[0055] The footrest assembly (110) and the base body (120) can be joined using a connecting part (129). The connecting part (129) may have a hole formed in a shape corresponding to the shape of the bearing (127) so that it can be fitted with the aforementioned bearing (127). The hole has a predetermined length so that the bearing can move within the hole, and as a result, the moving device (100) can move forward / backward as well as rotate clockwise / counterclockwise.

[0056] As shown in FIG. 4, when a passenger performs a forward operation in the 320 direction, the position of the connecting part (129) can also move forward from the position of the reference connecting part (129). Accordingly, since the change amount (△d1 and △d2) of d1 and d2 calculated by the distance sensor (125) corresponds to a value increasing from the reference point (d1 and d2), the moving device (100) can perform forward driving based on the change amount of d1 and d2 and a predetermined constant value.

[0057] FIG. 5a illustrates an exemplary top view of a base body when a moving device according to one embodiment is operated for reverse driving, and FIG. 5b illustrates an exemplary case in which a moving device according to one embodiment drives in reverse.

[0058] As shown in FIG. 5, when a passenger performs a reverse operation in the 310 direction, the position of the connecting part (129) can also move further back than the position of the reference connecting part (129). Accordingly, since the change amount (△d1 and △d2) of d1 and d2 calculated by the distance sensor (125) corresponds to a value decreasing from the reference point (d1 and d2), the moving device (100) can perform reverse driving based on the change amount of d1 and d2 and a predetermined constant value.

[0059] FIG. 6a illustrates an exemplary top view of a base body when a moving device according to one embodiment is operated for rotational movement in a counterclockwise direction, and FIG. 6b illustrates an exemplary case in which a moving device according to one embodiment rotates in a counterclockwise direction.

[0060] As shown in FIG. 6, when a passenger performs a counterclockwise rotation operation, the connecting part (129) can be rotated counterclockwise from the reference connecting part (129). Accordingly, the change amount (△d1) of d1 calculated by the distance sensor (125) corresponds to a value that increases from the reference point (d1), and the change amount (△d2) of d2 corresponds to a value that decreases from the reference point (d2). Therefore, the moving device (100) can perform a counterclockwise rotational drive (610) at an angle based on the change amounts of d1 and d2 and a predetermined constant value.

[0061] FIG. 7a illustrates an exemplary top view of a base body when a moving device according to one embodiment is operated for clockwise rotational movement, and FIG. 7b illustrates an exemplary case in which a moving device according to one embodiment rotates clockwise.

[0062] As shown in FIG. 7, when a passenger performs a clockwise rotation operation, the connecting part (129) can be rotated clockwise from the reference connecting part (129). Accordingly, the change amount (△d1) of d1 calculated by the distance sensor (125) corresponds to a value decreasing from the reference point (d1), and the change amount (△d2) of d2 corresponds to a value increasing from the reference point (d2). Therefore, the moving device (100) can perform clockwise rotation driving (710) at an angle based on the change amounts of d1 and d2 and a predetermined constant value.

[0063] FIG. 8a illustrates an exemplary top view of a base body when a moving device according to one embodiment is operated to stop, and FIG. 8b illustrates an exemplary case when a moving device according to one embodiment stops.

[0064] As shown in FIG. 8, when a passenger performs a stop operation, the connecting part (129) may be moved backward only on one side relative to the position of the reference connecting part (129). Accordingly, the change amount (△d1) of d1 calculated by the distance sensor (125) is a value decreasing from the reference point (d1), and the change amount (△d2) of d2 becomes zero (zero, 0), so the moving device (100) can stop and the passenger can disembark (810). Furthermore, not limited to this, the change amount (△d2) of d2 calculated by the distance sensor (125) is a value decreasing from the reference point (d2), and the change amount (△d1) of d1 becomes zero (zero, 0), so the moving device (100) can stop.

[0065] In the stopper assembly (122), the above description may apply when the shaft unit (124) is located behind the stopper assembly (122). However, movement in the second direction (320) can also be prevented even when the shaft unit (124) is located in front of the stopper assembly (122).

[0066] For reference, in Figs. 9a, 9b, 10a, and 10b, the left side corresponds to the rear of the occupant, and the right side corresponds to the front of the occupant.

[0067] FIG. 9 illustrates, exemplarily, a case in which a shaft unit is located in front of a stopper assembly in a moving device according to one embodiment.

[0068] FIG. 9a may show the state immediately after the stopper assembly (122) is actuated while the shaft unit (124) is positioned forward of the stopper assembly (122). FIG. 9b may show the shaft unit (124) moving along the inclined surface of the stopper assembly (122) while pressing against the stopper assembly (122). Such movement of the shaft unit (124) may be based on a backward operation by the occupant's footrest. FIG. 9c may show the stopper assembly (122) forming inclines again after the shaft unit (124) has moved backward relative to the stopper assembly (122). This may mean that regardless of the position of the shaft unit (124), movement along the first direction (310) is possible, but movement along the second direction (320) is not possible.

[0069] FIG. 10 illustrates, exemplarily, a stopper assembly of a moving device according to one embodiment.

[0070] FIG. 10a shows the stopper assembly (122) in an activated state, and FIG. 10b shows the stopper assembly (122) in an activated state.

[0071] The stopper assembly (122) may include a plurality of stopper links (1010), a plunger (1020), a solenoid member (1030), an elastic member (1040), and a stopper fixing part (1050).

[0072] According to one embodiment, a plurality of stopper links (1010) are composed of a first stopper link (1011) and a second stopper link (1012), but are not limited thereto, and the inclination formed by the plurality of stopper links (1010) can also form various angles. When a magnetic force is generated based on the supply of current, the plurality of stopper links (1010) can form inclinations that hinder the movement of the shaft unit (124) by protruding from the inner surface of the base body (120) toward the shaft (123) by the movement of the plunger (1020) along the second direction (320) by the magnetic force.

[0073] The plunger (520) is connected to a plurality of stopper links (1010) and can move in and out of the solenoid member (1030). The solenoid member (1030) can generate a magnetic force in a second direction (320) when current is supplied by a control unit.

[0074] An elastic member (1040) (e.g., a spring) can generate an elastic force directed toward the plunger in the first direction (310). The elastic member (1040) can be compressed while current is supplied to the solenoid member (1030). When the current supply to the solenoid member (1030) is interrupted by the control unit, the slopes formed by the plurality of stopper links (1010) can be removed by the plunger (1020) retracting in the first direction (310) by the restoring force of the compressed elastic member (1040). A stopper fixing part (1050) can fix the plurality of stopper links (1010) by connecting one end of the plurality of stopper links (1010) to the plunger (1020) so that the plurality of stopper links (1010) formed by the plunger (1020) can be fixed.

[0075] FIG. 11 exemplarily illustrates the forward operation of a footrest assembly of a moving device according to one embodiment.

[0076] FIG. 11a shows a case where the forward operation of the footrest assembly is performed, and FIG. 11b shows a case where the forward operation cannot be performed structurally because there is an obstacle in front.

[0077] The footrest assembly (110) may be formed such that its basic arrangement is such that its ends are aligned in a straight line on the base body (120). Afterward, the footrest assembly (110) may be partially exposed to the outside of the base body (120) as shown in FIG. 11a for forward operation. The footrest assembly (110) may be structurally restricted so that, as shown in FIG. 11b, if there is an obstacle (1100) in front, the footrest assembly (110) is blocked by the obstacle (1100), preventing further forward operation of the moving device (100). This may mean that if there is an obstacle (1100) in front, the moving device (100) must perform backward operation to move away from the area where the obstacle (1100) is located. Ultimately, if there is an obstacle (1100) in front, the forward movement of the moving device (100) can be physically restricted using the stopper assembly (122), and the forward movement of the moving device (100) can be structurally restricted based on the shape in which the footrest assembly (110) is operated.

[0078] Additionally, the obstacle sensor group (111) may include a plurality of distance sensors. When an obstacle is sensed using the obstacle sensor group (111), the control unit may control the operation of the stopper assembly (122) based on whether the distance between the moving device (100) and the obstacle is close and whether the stopper assembly (122) is driven using the plurality of distance sensors. The control unit may stop the operation of the drive unit (121) when the obstacle is less than a threshold distance from the footrest assembly (110) based on distance data sensed based on the plurality of distance sensors. This may mean that the control unit drives the stopper assembly (122) when the obstacle is less than a threshold distance from the footrest assembly (110) based on distance data sensed based on the plurality of distance sensors, and releases the operation of the stopper assembly (122) depending on whether the stopper assembly (122) is driven when the obstacle is greater than or equal to the threshold distance from the footrest assembly (110) based on distance data sensed based on the plurality of distance sensors. The control unit can, based on distance data sensed based on a plurality of distance sensors, release the drive of the stopper assembly (122) to resume forward driving of the moving device when the obstacle is greater than a threshold distance from the footrest assembly and the stopper assembly is driven, determine whether the distance between the moving device and the obstacle is close, and after releasing the drive of the stopper assembly (122), drive the drive unit (121) by sensing the obstacle using the obstacle sensor group (111).

[0079] FIG. 12 illustrates an exemplary flowchart of a method for controlling a moving device according to one embodiment.

[0080] In step (1210), the control unit can perform at least one of movement or rotation of the moving device using a drive unit within the base body based on a change in position between the footrest assembly and the base body caused by the operation of the footrest assembly of the user riding on the moving device.

[0081] In step (1220), the control unit can detect obstacles using an obstacle sensor group.

[0082] In step (1230), when the control unit detects an obstacle in the obstacle sensor group, it can control the operation of the stopper assembly based on whether the distance between the moving device and the obstacle is close and whether the stopper assembly is driven using a plurality of distance sensors included in the obstacle sensor group.

[0083] In controlling the operation of the stopper assembly, the control unit can drive the stopper assembly when the obstacle is less than a threshold distance from the footrest assembly based on distance data sensed based on a plurality of distance sensors, and release the operation of the stopper assembly depending on whether the stopper assembly is driven when the obstacle is greater than or equal to the threshold distance from the footrest assembly based on distance data sensed based on a plurality of distance sensors.

[0084] In driving the stopper assembly, the control unit may supply current to a solenoid member such that a plurality of stopper links protrude from the inner surface of the base body toward the shaft by movement of the plunger along a second direction by magnetic force, thereby forming inclines that hinder the movement of the shaft unit. The second direction may be the direction in which the shaft unit advances relative to the seat of the base body.

[0085] In releasing the drive of the stopper assembly, the control unit may stop the supply of current to the solenoid member so that the inclinations formed by the plurality of stopper links are removed by the plunger retracting in a first direction by the restoring force of the compressed elastic member while current is supplied to the solenoid member. The first direction may be the direction in which the shaft unit retracts relative to the seat of the base body.

[0086] The embodiments described above may be implemented as hardware components, software components, and / or combinations of hardware and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing unit may execute an operating system (OS) and software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit may be described as being used as a single unit, but those skilled in the art will understand that the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. In addition, other processing configurations, such as parallel processors, are also possible.

[0087] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or instruct the processing unit independently or collectively. Software and / or data may be stored on any type of machine, component, physical device, virtual equipment, computer storage medium, or device so as to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on computer-readable recording media.

[0088] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either alone or in combination, and the program instructions recorded on the medium may be those specifically designed and configured for the embodiment or those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0089] The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

[0090] Although the embodiments have been described above with reference to the limited drawings, those skilled in the art can apply various technical modifications and variations based thereon. For example, appropriate results may be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents.

[0091] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

Claim 1 A moving device operated based on a footplate, comprising: a footplate assembly including an obstacle sensor group that generates sensing data based on the distance to an obstacle within a sensing range and a footplate; and a base body movably and rotatably coupled to the footplate assembly and comprising a stopper assembly and a driving unit. The apparatus comprises a control unit that performs at least one of movement or rotation of the apparatus using the drive unit based on a change in position between the footrest assembly and the base body caused by operation of the footrest assembly by a user riding on the apparatus, and actsuates the stopper assembly to restrict movement of at least a part of the footrest assembly away from the base body in response to detecting an obstacle based on the sensing data of the obstacle sensor group; the base body further comprises a shaft unit that enables the apparatus to drive as it is moved by the footrest assembly; and when the stopper assembly is actuated by the control unit, an inclination is formed by a plurality of stopper links within the stopper assembly, and when the shaft unit is positioned in front of the stopper assembly and moves from the front to the rear, it is possible to move while pressing the stopper assembly along the inclined surface of the inclination, and after moving to the rear, the inclination is formed again by the plurality of stopper links, thereby allowing the shaft unit to advance relative to the seat of the base body. A moving device that prevents movement in a certain direction and allows movement in a backward direction. Claim 2 A moving device according to claim 1, wherein the base body further comprises one or more shafts coupled to a shaft unit so as to be linearly movable along the shaft axis direction, the footplate assembly is movably and rotatably coupled to the shaft unit, and the stopper assembly, when operated by the control unit, forms an incline by the plurality of stopper links regardless of the position of the shaft unit to allow movement of the shaft unit in the direction in which the shaft unit retracts and prevent movement of the shaft unit in the direction in which the shaft unit advances opposite to the direction in which the shaft unit retracts. Claim 3 In paragraph 2, the stopper assembly comprises the plurality of stopper links, a plunger connected to the plurality of stopper links, and a solenoid member configured to generate a magnetic force in the direction in which the shaft unit advances when current is supplied by the control unit, and the plurality of stopper links form inclines that hinder the movement of the shaft unit by protruding from the inner surface of the base body toward the shaft by the movement of the plunger along the direction in which the shaft unit advances due to the magnetic force when the magnetic force is generated based on the supply of the current. Claim 4 delete Claim 5 A moving device according to claim 3, wherein the stopper assembly further comprises an elastic member configured to generate an elastic force directed toward the shaft unit in the direction of retraction of the plunger, and while current is supplied to the solenoid member, the elastic member is compressed, and when the current supply to the solenoid member is interrupted by the control unit, the plunger retracts in the direction of retraction of the shaft unit by the restoring force of the compressed elastic member, thereby removing the inclinations formed by the plurality of stopper links. Claim 6 A moving device according to claim 1, wherein the obstacle sensor group comprises a plurality of distance sensors, and the control unit controls the operation of the stopper assembly based on whether the distance between the moving device and the obstacle is close and whether the stopper assembly is driven, using the plurality of distance sensors when an obstacle is sensed using the obstacle sensor group. Claim 7 In claim 6, the control unit stops the operation of the drive unit when the obstacle is less than a threshold distance from the footrest assembly based on distance data sensed based on the plurality of distance sensors. Claim 8 A moving device according to claim 7, wherein the control unit drives the stopper assembly when the obstacle is less than a threshold distance from the footrest assembly based on distance data sensed based on the plurality of distance sensors, and releases the drive of the stopper assembly depending on whether the stopper assembly is driven when the obstacle is greater than or equal to the threshold distance from the footrest assembly based on distance data sensed based on the plurality of distance sensors. Claim 9 In claim 8, the control unit, based on distance data sensed based on the plurality of distance sensors, releases the drive of the stopper to resume forward driving of the moving device when the obstacle is greater than or equal to a threshold distance from the footrest assembly and the stopper is driven, determines whether the distance between the moving device and the obstacle is close, and after releasing the drive of the stopper, performs the drive of the drive unit by sensing the obstacle using the obstacle sensor group. Claim 10 A driving method for a moving device according to claim 1, comprising: a step of performing at least one of movement or rotation of the moving device using a driving unit within the base body based on a change in position between the footrest assembly and the base body caused by operation of the footrest assembly of a user riding on the moving device; a step of detecting an obstacle using an obstacle sensor group; and a step of, when an obstacle is detected by the obstacle sensor group, controlling the driving of the stopper based on whether the distance between the moving device and the obstacle is close and whether the stopper is driven using a plurality of distance sensors included in the obstacle sensor group. Claim 11 In claim 10, the step of controlling the driving of the stopper comprises: a step of driving the stopper when the obstacle is less than a threshold distance from the footrest assembly based on distance data sensed based on the plurality of distance sensors; and a step of releasing the driving of the stopper depending on whether the stopper is driven when the obstacle is greater than or equal to the threshold distance from the footrest assembly based on distance data sensed based on the plurality of distance sensors. Claim 12 A driving method according to claim 10, wherein the step of driving the stopper comprises the step of supplying current to a solenoid member such that a plurality of stopper links protrude from the inner surface of the base body toward the shaft by means of movement along the direction in which the shaft unit advances relative to the seat of the base body of the plunger by magnetic force, thereby forming inclines that hinder the movement of the shaft unit. Claim 13 In claim 10, the step of releasing the drive of the stopper comprises the step of stopping the supply of current to the solenoid member so that the inclinations formed by the plurality of stopper links are removed by the retraction of the plunger relative to the seat of the base body by the restoring force of the compressed elastic member while current is supplied to the solenoid member. Claim 14 delete Claim 15 delete

Images