WO2022114380A1 - 사용자의 특정행동을 인식하여 작동하는 루틴 기반의 카트 시스템 및 그 시스템을 이용한 카트 제어방법 - Google Patents
사용자의 특정행동을 인식하여 작동하는 루틴 기반의 카트 시스템 및 그 시스템을 이용한 카트 제어방법 Download PDFInfo
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- WO2022114380A1 WO2022114380A1 PCT/KR2020/019411 KR2020019411W WO2022114380A1 WO 2022114380 A1 WO2022114380 A1 WO 2022114380A1 KR 2020019411 W KR2020019411 W KR 2020019411W WO 2022114380 A1 WO2022114380 A1 WO 2022114380A1
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- cart
- user
- recognizes
- imu sensor
- specific action
- Prior art date
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Classifications
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Definitions
- the present invention relates to a routine-based cart system that recognizes and operates a user's specific behavior, and a cart control method using the system, and more particularly, when performing a specific behavior corresponding to a specific behavior of a user stored in the cart, a remote control
- a routine-based cart system that recognizes and analyzes a specific behavior of a user with it is technology
- a device for transporting a golf bag or luggage on a golf course is called a golf cart, and such a golf cart is divided into a manual cart pushed by a person and an unmanned driving cart that automatically drives by tracking the location of the person.
- registration number 10-2038317 (special) a cart body that runs automatically by the control module 200;
- a collision avoidance sensor for recognizing an object to prevent a collision, a GPS sensor for providing location information of the cart body, a slope sensor for recognizing and controlling a slope, and field information of the operation area and operation restriction area of the golf course are stored.
- a memory unit a tracking unit for tracking and tracking the terminal in real time, and receiving the location information of the terminal and calculating the distance to the terminal based on the field information of the golf course stored in the memory unit to control the movement of the cart body
- a control module comprising a control unit, a communication module for transmitting and receiving the terminal, and a distance measuring unit for measuring a distance between the control module and the terminal;
- a server for transmitting field information of the golf course to the memory unit; It includes; a terminal selectively or real-time interlocking with the control module, and at one side of the cart body, three or more fixed nodes are configured, including a fixed node that is connected to the control module and serves as a reference for coordinates at a position spaced apart from each other After the distance measurement unit sequentially calculates the distance between each fixed node and the terminal, substituting it into a trilateration algorithm to obtain the x and u coordinate values of the terminal, and determining the x and u coordinate values as the location value of the terminal , After
- the terminal sends a poll to the control module and receives a pollack from the control module.
- roundrobin is restarted, and the terminal receives range_report after sending range to the control module. If range_report is not received within 10ms after range transmission, it times out and autonomous driving is possible based on accurate location information where roundrobin is restarted.
- a golf cart system is disclosed.
- the above technology mainly describes that the user's terminal is tracked in real time, but the error range of the location value of the terminal is minimized using a trilateration algorithm to enable accurate autonomous driving.
- the position value of the remote control is accurately transmitted and the set distance is moved while being held, but unless the remote control or the user directly gives a stop signal to the golf cart, it is always set It has a problem of following while driving from the rear while maintaining a distance.
- This problem is large and large as the golf cart recognizes and tracks the user's remote control in real time according to the set distance (a certain distance) when the user moves for a round in a situation where the user does not give a stop command to the golf cart during rounding. It has a problem that inevitably causes small safety accidents and many difficulties during a round of golf.
- the user must recognize the remote control possessed by the user, drive while maintaining a certain distance, and then move again after approaching the golf cart to hit the shot. There is a need.
- the present invention has been devised to solve the problems of the prior art, and the cart is linked with the remote control possessed by the user, recognizes the remote control, and can be automatically operated while maintaining a certain distance, but the inside of the cart
- a specific behavior of the user that recognizes and analyzes a specific behavior of a user with a remote control by loading an algorithm corresponding to a specific behavior in the It was completed as a technical task with an emphasis on providing a routine-based cart system that recognizes and operates a cart and a cart control method using the system.
- the present invention provides a cart system configured to track one or more remote controls carried by a user in real time, recognize the user and enable autonomous driving from the rear of the user while maintaining a set distance,
- the first IMU sensor unit 110 When recognizing one or more user-specific actions stored in the memory unit 130, the first IMU sensor unit 110 for transmitting the information to the control unit 240 of the cart, and the GPS sensor 120 for providing location information of the remote control; , a remote controller 100 comprising a first memory unit 130 including an algorithm 131 corresponding to the specific action, and a first communication module 140 for communicating with the second communication module 210;
- a second communication module 210 for communicating with the first communication module 140 on the inside or outside one side of the cart body having a driving means for driving the rear of the user through the data received from the distance measuring unit 230 ), a distance measuring unit 230 for measuring the distance to the user, and automatically controlling the driving of the cart 200, when receiving information that a specific action is recognized from the first IMU sensor 110, It is characterized in that it comprises a;
- the specific action is made by the user using a body or a tool, and the control unit 240 receives the signal when the first IMU sensor 110 recognizes the user's specific action while the cart 200 is stopped and receives the signal. It is characterized in that the cart 200 is driven.
- a second IMU sensor 250 that performs the same function as the first IMU sensor 110, but provides the information to the control unit according to the state of the moving road surface, and the first memory unit 130 ) is configured to further include a second memory unit 260 that performs the same function as the above, and when the first IMU sensor 110 does not recognize a user's specific action for a certain period of time, the second IMU sensor 250 is the user's It is characterized in that it recognizes a specific action and transmits the information to the control unit 240 .
- the time for the first IMU sensor 110 to recognize the user's specific action is 0.1 to 0.3 seconds, and the control unit 240 determines the recognition time of the first IMU sensor 110 and the user and the cart 200 . It is characterized in that it is configured to selectively set the distance.
- the remote control 100 includes a tracking driving mode 151 in which the cart 200 tracks the user in real time and enables autonomous driving while maintaining a certain distance behind the user, and the cart 200 includes the user's It is characterized in that the mode control unit 150 including a standby mode 153 for maintaining a standby state at the rear and a control mode 155 for selectively setting the cart 200 automatically or manually is configured.
- an alarm sounds It is characterized in that the sounding alarm unit 270 is configured.
- a method for controlling a cart using a routine-based cart system includes: a storing step (S100) in which the user stores one or more user specific behavior data in the memory unit 130 of the remote control 100; A recognition step (S200) of wirelessly connecting the remote control 100 and the cart 200 so that the cart 200 can be operated by recognizing the remote control 100; After the recognition step (S200), the cart 200 recognizes the remote control 100, then a real-time driving step (S300) of real-time driving while maintaining the distance set from the rear of the user by the distance measuring unit 230; Cart stop step (S400) of automatically stopping the cart 200 by the control unit 240 when the first IMU sensor 110 recognizes the specific action; After the cart stop step (S400), when the first IMU sensor 110 recognizes another specific action of the user, the cart re-driving step of automatically driving the cart 200 by the control unit 240 (S500) ); It is characterized in that it includes.
- the second IMU sensor 250 recognizes and controls the signal. It is characterized in that it is transmitted to 240 to stop or drive the cart 200 .
- the cart 200 recognizes the remote control 100 so that it can be driven, and it is characterized in that it is set to either a tracking driving mode or a manual driving mode.
- the original purpose of the cart system is maintained as it is, and the cart maintains a certain distance from the rear of the user.
- Autonomous driving is performed while the vehicle is in operation, but when a specific action of the user stored in the remote control or cart is recognized, the driving can be stopped or restarted, so that the user can autonomously stop or drive without giving a stop or restart command signal.
- It provides convenience in use, and when the user arbitrarily puts the cart and the remote control in standby mode, an alarm sounds when the cart and the remote control are farther than the set distance, so the location and standby mode of the cart are recognized and response to the situation can be smooth.
- each IMU sensor unit and memory unit are configured in the remote control or cart, so that if the remote control does not recognize the user, the cart can recognize it, which is a useful invention to prevent malfunction.
- FIG. 1 is a block diagram showing a preferred embodiment of the present invention
- FIG. 2 is a block diagram showing a preferred embodiment of the present invention.
- FIG. 3 is a flowchart showing a preferred embodiment of the present invention.
- remote control 110 first IMU sensor unit
- first communication module 150 mode control unit
- tracking driving mode 153 standby mode
- the present invention recognizes and analyzes a specific action of a user with a remote control when a specific action corresponding to a specific action of the user stored in the cart is performed, and automatically stops the user without stopping the user with the remote control. It provides a routine-based cart system that recognizes and operates a cart and a cart control method using the system.
- FIGS. 1 to 4 the preferred configuration and operation of the present invention for achieving the above object will be described with reference to FIGS. 1 to 4 with reference to the accompanying drawings.
- the present invention is a cart system configured to track one or more remote controls possessed by a user in real time, recognize the user and enable autonomous driving from the rear of the user while maintaining a set distance, the remote control carried by the user (100) and the remote control 100, wireless communication, and autonomous driving in real time from the rear of the user according to a signal transmitted from the remote control 100, when recognizing a specific action of the user, the driving is stopped or restarted configured to be driven.
- the remote control 100 is substantially possessed by the user. Looking at its configuration, as shown in FIG. 1 , the first IMU sensor unit 110 , the GPS sensor 120 , the first memory unit 130 , and the first communication unit and a module 140 .
- the first IMU sensor unit 110 is configured to transmit the information to the control unit 240 of the cart 200 when recognizing one or more user-specific actions stored in the memory unit 130, so that the control unit 240 later Based on the information, the card 200 can be stopped or re-driven.
- the first IMU sensor unit 110 may be configured with one sensor or a plurality of various sensors having different characteristics in a complex organic coupling relationship to recognize a specific action of the user, and may be composed of a plurality of sensors. In this case, it is possible to increase the accuracy in recognizing the specific behavior.
- the control unit 240 may be composed of a sensor that detects a user's motion, a sensor that checks the user's body temperature, a sensor that recognizes the user's voice, etc.
- the error is minimized to prevent a malfunction of the cart 200 and to enable smooth operation.
- the GPS sensor 120 is configured to provide a movement path and location of the cart 200, and performs a normal GPS function, and the distance measurement unit of the cart 200 through the GPS sensor 120 Autonomous driving is possible while the 230 accurately identifies the location of the cart 200 and maintains a certain distance from the rear of the user.
- the memory unit 130 is configured to include an algorithm 131 corresponding to the specific action, and stores one or more specific actions stored by the user, and at the same time, the first IMU sensor unit 110 detects the specific action.
- the specific action is a specific action that stops the cart 200 through the algorithm 131, or restarts the operation. It provides criteria for identifying specific behaviors.
- the first communication module 140 is configured to communicate with the second communication module 210 configured in the cart 200, and after the first IMU sensor unit 110 recognizes a specific action of the user, a signal is transmitted to the cart. It is configured to transmit to the control unit 240 of 200 , and normal communication technologies of the first communication module 140 may be applied.
- the specific action may be made by the user using a body or a tool. For example, when the user looks back while the cart 200 recognizes the user's rear, the state of the cart 200 is stopped. It can also be recognized as a specific action that causes It may be possible to enable autonomous driving from the rear of the user.
- the cart 200 tracks the user in real time, and a tracking driving mode 151 that enables autonomous driving while maintaining a certain distance behind the user, and the cart 200
- a mode control unit 150 including a standby mode 153 for maintaining a standby state at the rear of the user and a control mode 155 for selectively setting the cart 200 automatically or manually is configured, Accordingly, it is possible to selectively set the required mode.
- the standby mode 153 means that the cart 200 is stopped by a specific action or the user arbitrarily presses the stop button to stand by.
- the cart 200 is configured to include a cart body, a second communication module 210, a distance measurement unit 230, and a control unit 240 as shown in FIG.
- the cart body is the same as that of a conventional cart, has a driving means, has a structure that can load various loads on the upper part, and has a second communication module 210, a distance measurement unit 230, a control unit ( 240) is configured to be attached or fixedly installed.
- the driving means includes a pair of wheels spaced apart from each other at a predetermined distance in front and rear, and a driving motor that is connected to each wheel or one wheel and a connecting means to transmit power therein is configured, It may be configured to be able to move automatically in the left and right directions, and it is preferable that the wheels configured in the front or rear have a structure that can change the direction in the left or right direction.
- the cart body is configured to increase its own durability as the material is generally made of steel or metal.
- the second communication module 210 is configured to communicate with the first communication module 140 on one side of the inside or outside of the cart body, and has the same configuration as the first communication module 140 and a separate detailed description is omitted. decide to do
- the distance measuring unit 230 is for measuring the distance to the user, and the cart 200 autonomously drives behind the user while maintaining a predetermined distance set through the distance measured from the distance measuring unit 230 . makes this possible
- the distance measuring unit 230 is set to the set distance, and the set distance The information is transmitted to the control unit 240 so that the cart 200 can be operated according to the value before and after.
- the control unit 240 is configured to automatically control the driving of the cart 200 , but to stop the cart 200 when receiving information that a specific action is recognized from the first IMU sensor 110 .
- the control unit 240 when the first IMU sensor unit 110 recognizes a specific action of the user stored in the memory unit 130 and transmits the signal to the control unit 240, the control unit 240 to stop the cart 200 .
- the cart 200 has a second IMU sensor 250 that performs the same function as the first IMU sensor 110, but provides the information to the control unit according to the state of the moving road surface.
- a second memory unit 260 that performs the same function as the first memory unit 130 is further included, and when the first IMU sensor 110 does not recognize a specific action of the user for a predetermined time, the The second IMU sensor 250 is configured to recognize a specific action of the user and transmit the information to the control unit 240 .
- the second IMU sensor unit 250 and the second memory unit 260 are If not, the second IMU sensor unit 250 and the second memory unit 260 may recognize the specific action to promote the smooth operation of the cart 200 .
- the priority of always recognizing the user's specific behavior is the first IMU sensor unit 110, and when the first IMU sensor unit 110 does not recognize the set user's specific behavior, the second IMU sensor unit ( 250) recognizes the user's specific behavior.
- the data stored in advance in the first memory unit 130 or the second memory unit 260 is used as an algorithm. It is determined whether it corresponds by When there is no signal received from the first memory unit 130, the second memory unit 260 and the signal are exchanged to finally recognize a specific action of the user and transmit the signal to the control unit 240, and the second IMU
- the sensor unit 250 can also send and receive signals with the second memory unit 260 as the first priority and the first memory unit 130 as the second priority, and transmit the signal to the control unit 240, and if necessary, the sensor units are ranked in the order Regardless, after transmitting the signal to both the first and second memory units 130 and 260 , if the received signal is the same again, the signal may be transmitted to the controller 240 .
- the first and second IMU sensors 110 and 250 of the present invention can be varied in various ways in recognizing a specific action, and the first and second IMU sensors 110 and 250 are connected to the first and second memory units ( 130 and 260), when a signal matching a specific action is received and transmitted to the control unit 240, the accuracy can be achieved.
- the first and second IMU sensors 110 and 250 and the first and second memory units 130 and 260 of the present invention are simply the first and second IMU sensors 110 and 250 or the first and second memory units 130, 260), when there is a malfunction or failure due to an external factor, it is possible to have two effects that can promote accuracy in recognizing a specific behavior as well as operating only the other configuration.
- the time for the first IMU sensor 110 to recognize the user's specific action is 0.1 to 0.3 seconds, and when the recognition time is exceeded, the second IMU sensor 250 is configured to recognize the user's specific action can do it
- control unit 240 can be configured to selectively set the recognition time of the first IMU sensor 110 and the distance between the user and the cart 200, so that various variations are possible depending on the purpose and purpose of use. can provide convenience in use.
- an alarm By configuring the alarm unit 270 to sound a sound, if the cart 200 is stopped and moves without performing a specific action, the cart 200 is mistaken for being running from the rear, or when the cart 200 is needed. Convenience can be provided by sounding an alarm when it deviates from a certain distance in case the user is far away from it.
- the cart 200 is configured with an image acquisition unit 280 capable of capturing images and photos of the user and other surrounding environments in real time, so as to acquire photos and images for various other situations that may occur.
- an image acquisition unit 280 capable of capturing images and photos of the user and other surrounding environments in real time, so as to acquire photos and images for various other situations that may occur.
- the cart 200 can be configured with a display unit 290 that can check the image acquired from the image acquisition unit 280 in real time.
- the display unit 290 may be a device capable of confirming an image.
- the storing step (S100) is a step in which the user stores one or more specific action data of the user in the memory unit 130 of the remote control 100. By storing one or more specific actions, the cart is stopped later (S400) Alternatively, the cart 200 in the cart re-driving step (S500) is to form data so that it can be automatically stopped or re-driven.
- the storing step (S100) data related to the user's specific action (gesture, using a tool), etc. is stored in the first memory unit 130, and at this time, when the specific action is stored, the second memory unit It is preferable to store them together in 260.
- the recognition step (S200) is a step of wirelessly connecting the remote control 100 and the cart 200 to recognize the cart 200 so that the remote control 100 can be recognized and operated. It is possible to smoothly operate the cart 200 by receiving the signal.
- the one or more remote controllers 100 may wirelessly connect two or more remote controllers 100 at the same time. and to automatically connect wirelessly to the second remote control 100 when the power of the remote control 100 given the first priority is OFF, so that the cart 200 does not cause confusion in use.
- the cart 200 recognizes the remote control 100 so that it can be driven, but it is set to either a tracking driving mode or a manual driving mode, so that when used, the user You can use it by selectively setting a mode that suits the situation.
- the cart 200 recognizes the remote control 100 and then drives in real time while maintaining the distance set from the rear of the user by the distance measuring unit 230 is a step
- the control unit By 240 when the first IMU sensor 110 recognizes the specific action while the cart 200 recognizes the user from the rear of the user in real time and autonomously drives while maintaining a certain distance, the control unit By 240, the cart 200 is automatically stopped.
- the controller 240 automatically performs the cart 200 to drive
- the cart stopping step (S400) and the cart re-driving step (S500) if the first IMU sensor 110 does not recognize the user's specific action within a set time, the second IMU sensor 250 recognizes and the signal is transmitted to the control unit 240 to stop or drive the cart 200 .
- the cart 200 recognizes the remote control 100 in real time, tracks the user from behind, and after the user enters the hole , when moving in the direction of the cart 200 to take out the golf club, the cart 200 in tracking driving automatically stops and no longer tracking the user or the remote control, and the user performs all After finishing, you can press the restart button separately or perform a specific action to restart the cart to enable tracking.
- the cart system of the present invention can provide convenience in use by storing one or more specific actions most appropriate for the field in the first and second memory units 130 and 260 according to the purpose and field of using the cart. can be
- the original purpose of the cart system is maintained as it is, and the cart maintains a certain distance from the rear of the user.
- Autonomous driving is performed while the vehicle is in operation, but when a specific action of the user stored in the remote control or cart is recognized, the driving can be stopped or restarted, so that the user can autonomously stop or drive without giving a stop or restart command signal.
- It provides convenience in use, and when the user arbitrarily puts the cart and the remote control in standby mode, an alarm sounds when the cart and the remote control are farther than the set distance, so the location and standby mode of the cart are recognized and response to the situation can be smooth.
- each IMU sensor unit and memory unit are configured in the remote control or cart, so that if the remote control does not recognize the user, the cart can recognize it, which is a useful invention to prevent malfunction.
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Abstract
Description
Claims (9)
- 사용자가 소지하는 하나 이상의 리모컨을 실시간으로 추적하고, 상기 사용자를 인지하여 설정된 거리를 유지한 채로 사용자의 후방에서 자율주행이 가능하도록 구성되는 카트 시스템에 있어서,메모리부(130)에 저장된 하나 이상의 사용자 특정행동을 인식할 경우 그 정보를 카트의 제어부(240)로 전송하는 제1IMU센서부(110)와, 리모컨의 위치정보를 제공하는 GPS센서(120)와, 상기 특정행동과 대응하는 알고리즘(131)을 포함하는 제1메모리부(130)와, 상기 제2통신모듈(210)과 통신하기 위한 제1통신모듈(140)로 구성되는 리모컨(100);거리측정부(230)로부터 전송받은 데이터를 통해 사용자의 후방을 주행하기 위한 구동수단을 구비하는 카트몸체의 내부 또는 외부 일측에 상기 제1통신모듈(140)과 통신하기 위한 제2통신모듈(210)과, 사용자와의 거리를 측정하기 위한 거리측정부(230)와, 카트(200)의 구동을 자동적으로 제어하되, 상기 제1IMU센서(110)로부터 특정행동이 인식된 정보를 전송받을 시, 상기 카트(200)를 정지하도록 하는 제어부(240)로 구성되는 카트(200);를 포함하여 구성되는 것을 특징으로 하는 사용자의 특정행동을 인식하여 작동하는 루틴 기반의 카트 시스템.
- 제 1항에 있어서,상기 특정행동은 사용자가 신체 또는 도구를 이용한 행동으로 이루어지고,상기 제어부(240)는 카트(200)가 정지된 상태에서 제1IMU센서(110)가 사용자의 특정행동을 인식하고 그 신호를 전송받으면 상기 카트(200)를 구동시키는 것을 특징으로 하는 사용자의 특정행동을 인식하여 작동하는 루틴 기반의 카트 시스템.
- 제 1항에 있어서,상기 카트(200)에는,상기 제1IMU센서(110)와 동일한 기능을 수행하되, 이동하는 노면의 상태에 따라 그 정보를 제어부로 제공하는 제2IMU센서(250)와, 상기 제1메모리부(130)와 동일한 기능을 수행하는 제2메모리부(260)가 더 포함 구성되고,상기 제1IMU센서(110)가 일정시간 동안 사용자의 특정행동을 인식하지 않을 경우 상기 제2IMU센서(250)가 사용자의 특정행동을 인식하고 그 정보를 제어부(240)로 전송하는 것을 특징으로 하는 사용자의 특정행동을 인식하여 작동하는 루틴 기반의 카트 시스템.
- 제 1항에 있어서,상기 제1IMU센서(110)가 사용자의 특정행동을 인식하는 시간은 0.1~0.3초로 구성되고,상기 제어부(240)는 상기 제1IMU센서(110)의 인식하는 시간과, 사용자와 카트(200)와의 거리를 선택적으로 설정할 수 있도록 구성되는 것을 특징으로 하는 사용자의 특정행동을 인식하여 작동하는 루틴 기반의 카트 시스템.
- 제 1항에 있어서,상기 리모턴(100)에는,상기 카트(200)가 사용자를 실시간 추적하며 상기 사용자의 후방에서 일정간격을 유지한채로 자율주행이 가능하도록 하는 추적주행모드(151)와,상기 카트(200)가 사용자의 후방에 대기 상태를 유지하는 대기모드(153)와,상기 카트(200)를 자동 또는 수동으로 선택적으로 설정하는 제어모드(155)를 포함하는 모드제어부(150)가 구성되는 것을 특징으로 하는 사용자의 특정행동을 인식하여 작동하는 루틴 기반의 카트 시스템.
- 제 5항에 있어서,상기 카트(200)에는,상기 리모컨(100)에 의해 카트(200)가 대기모드(153) 상태에서 리모컨(100) 또는 사용자와의 카트(200)의 거리가 1m 이상 멀어질 시, 경보음을 울리는 경보부(270)가 구성되는 것을 특징으로 하는 사용자의 특정행동을 인식하여 작동하는 루틴 기반의 카트 시스템.
- 제 1항 내지 제 6항 중 어느 한 항의 루틴 기반의 카트 시스템을 이용하되,사용자가 상기 리모컨(100)의 메모리부(130)에 하나 이상 사용자의 특정행동 데이터를 저장하는 저장단계(S100);상기 리모컨(100)과 카트(200)를 무선접속시켜 상기 카트(200)가 리모컨(100)을 인식하여 작동될 수 있도록 인식시키는 인식단계(S200);상기 인식단계(S200) 후 상기 카트(200)가 리모컨(100)을 인식한 다음, 거리측정부(230)에 의해 사용자의 후방에서 설정된 거리를 유지한 채로 실시간 구동하는 실시간 구동단계(S300);제1IMU센서(110)가 상기 특정행동을 인식 할 경우, 제어부(240)에 의해 자동적으로 카트(200)를 정지시키는 카트정지단계(S400);상기 카트정지단계(S400) 후, 상기 제1IMU센서(110)가 상기 사용자의 다른 특정행동을 인식할 경우, 상기 제어부(240)에 의해 자동적으로 카트(200)를 구동시키는 카트재구동단계(S500); 를 포함하는 것을 특징으로 하는 사용자의 특정행동을 인식하여 작동하는 루틴 기반의 카트 시스템을 이용한 카트 제어방법.
- 제 7항에 있어서,상기 카트정지단계(S400) 및 카트재구동단계(S500)는,상기 제1IMU센서(110)가 사용자의 특정행동을 설정된 시간 내에 인식하지 못할 경우 제2IMU센서(250)가 인식하고 그 신호를 제어부(240)로 전송하여 카트(200)를 정지 또는 구동시키는 것을 특징으로 하는 사용자의 특정행동을 인식하여 작동하는 루틴 기반의 카트 시스템을 이용한 카트 제어방법.
- 제 7항에 있어서,상기 인식단계(S200)에서,상기 카트(200)가 리모컨(100)을 인식하여 주행할 수 있도록 하되,추적주행모드 또는 수동구동모드 중 어느 하나로 설정하는 것을 특징으로 하는 사용자의 특정행동을 인식하여 작동하는 루틴 기반의 카트 시스템을 이용한 카트 제어방법.
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CN202080107409.7A CN116457742A (zh) | 2020-11-27 | 2020-12-30 | 通过识别用户的特定行为来运行的基于常规动作的推车***及使用该***的推车控制方法 |
US18/038,782 US20240004406A1 (en) | 2020-11-27 | 2020-12-30 | Routine-based cart system operating by recognizing specific behavior of user, and cart control method using system |
EP20963774.3A EP4254125A1 (en) | 2020-11-27 | 2020-12-30 | Routine-based cart system operating by recognizing specific behavior of user, and cart control method using system |
CA3200007A CA3200007A1 (en) | 2020-11-27 | 2020-12-30 | Routine-based cart system operating by recognizing specific behavior of user, and cart control method using system |
JP2023532322A JP2023552142A (ja) | 2020-11-27 | 2020-12-30 | ユーザーの特定の行動を認識して作動する、ルーチンに基づくカートシステム及びそのシステムを用いたカートの制御方法 |
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- 2020-12-30 US US18/038,782 patent/US20240004406A1/en active Pending
- 2020-12-30 WO PCT/KR2020/019411 patent/WO2022114380A1/ko active Application Filing
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KR20160097894A (ko) * | 2015-02-10 | 2016-08-18 | 동서대학교산학협력단 | 비접촉성 사용자 인터페이스를 통한 사용자 지향 자율주행 쇼핑카트 시스템, 그리고 자유주행 쇼핑카트 제어방법 |
KR101783890B1 (ko) * | 2016-01-25 | 2017-10-11 | 경북대학교 산학협력단 | 이동 로봇 시스템 |
KR102038317B1 (ko) | 2017-11-21 | 2019-10-30 | 주식회사 티티엔지 | 정확한 위치정보를 기반으로 자율주행이 가능한 골프카트 시스템 및 그 시스템을 이용한 골프카트 제어방법 |
US20200108303A1 (en) * | 2018-10-04 | 2020-04-09 | Dish Network L.L.C. | Systems and methods for grounds monitoring |
KR20200054909A (ko) * | 2018-11-08 | 2020-05-20 | 엘지전자 주식회사 | 이동 로봇의 도난 방지 시스템 |
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US20240004406A1 (en) | 2024-01-04 |
JP2023552142A (ja) | 2023-12-14 |
KR102450997B9 (ko) | 2023-02-23 |
EP4254125A1 (en) | 2023-10-04 |
CN116457742A (zh) | 2023-07-18 |
KR20220074521A (ko) | 2022-06-03 |
AU2020478312A9 (en) | 2024-05-02 |
AU2020478312A1 (en) | 2023-06-22 |
KR102450997B1 (ko) | 2022-10-07 |
CA3200007A1 (en) | 2022-06-02 |
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