KR102456437B1 - Intelligent autonomous charging system having authentication and security function of indoor autonomous driving robot - Google Patents

Abstract

The present invention relates to an intelligent autonomous charging system having authentication and security functions for an indoor autonomous robot, which is to improve authentication and security functions in a connection process between an indoor autonomous robot and a charging station. The intelligent autonomous charging system of the present invention comprises: an indoor autonomous robot for performing data exchange through a docking operation and paring through autonomous driving when connection authentication of a robot charging station is completed by a request for docking and charging in response to a Bluetooth signal periodically received from the robot charging station when battery charging is required; and a robot charging station for periodically transmitting the Bluetooth signal to the outside, receiving access authentication information from the indoor autonomous robot to perform an access authentication procedure, performing the data exchange through pairing when the connection authentication is completed, and supplying power to the docked indoor autonomous robot.

Description

INTELLIGENT AUTONOMOUS CHARGING SYSTEM HAVING AUTHENTICATION AND SECURITY FUNCTION OF INDOOR AUTONOMOUS DRIVING ROBOT

An embodiment of the present invention relates to an intelligent autonomous charging system having authentication and security functions of an indoor autonomous driving robot.

Recently, as well as industrial robots used in industries, robots are being put to practical use as housework or office assistants in buildings such as general homes, offices, and government offices.

A representative example corresponding to this may be an indoor autonomous driving robot such as a cleaning robot, a guide robot, and a crime prevention robot. Basically, robots that perform their own functions while moving within a given indoor space can be called mobile robots.

These indoor autonomous driving robots are operated by electric energy supplied from a built-in battery. The robot needs to charge the battery with electrical energy supplied from the charging station. The indoor autonomous driving robot according to the prior art recognizes the location of the charging station in various ways, and charging proceeds by docking it.

In order for such an indoor autonomous driving robot to dock, a wireless connection with a charging station must be preceded, and in the process of exchanging data after wireless connection, control may be seized through hacking. There is a high risk of leakage of important personal information collected and stored in the process of carrying out the operation, leading to a malicious crime.

Registered Patent Publication No. 10-2366328 (Registration Date: February 17, 2022) Registered Patent Publication No. 10-0843806 (Registration Date: June 27, 2008)

An embodiment of the present invention provides an intelligent autonomous charging system with improved authentication and security functions in a connection process between an indoor autonomous driving robot and a charging station.

The intelligent autonomous charging system having the authentication and security function of the indoor autonomous driving robot according to the embodiment of the present invention requests docking and charging in response to a Bluetooth signal periodically received from the robot charging station when battery charging is required. An indoor autonomous driving robot that performs a docking operation through autonomous driving and data exchange through pairing when the connection authentication of the charging station is completed, and controls the charging operation of the robot charging station in a docked state; and periodically transmitting a Bluetooth signal to the outside, receiving access authentication information from the indoor autonomous driving robot, performing a connection authentication procedure, performing data exchange through pairing upon completion of connection authentication, and docking the indoor autonomous driving robot It includes a robot charging station that supplies power to the device.

In addition, it is connected to the robot charging station, and the connection authentication information of the indoor autonomous driving robot, the connection state between the indoor autonomous driving robot and the robot charging station, the docking state, the charging state, and the abnormal charging termination state are obtained from the robot charging station, respectively. It may further include a control server for collecting and monitoring.

In addition, the indoor autonomous driving robot receives the residual amount data from the battery module, compares the numerical value between the received residual amount data and the reference residual amount data stored in advance, so that the numerical value of the residual amount data is less than the numerical value of the reference residual amount data Bluetooth activation control module to activate the Bluetooth function in case of; Activated by the Bluetooth activation control module to receive a Bluetooth signal received from the robot charging station, and transmit a docking and charging request signal including connection authentication information in response to the received Bluetooth signal to communicate with the robot charging station a robot Bluetooth module that performs a pairing procedure and exchanges data through encrypted communication with the robot charging station upon completion of pairing; When the connection authentication of the robot charging station is completed, the robot charging station moves to the docking position where the robot charging station is installed using at least one of a camera, a lidar sensor, an ultrasonic sensor, and an infrared sensor, and a docking operation for the docking point of the robot charging station is performed. an autonomous driving module that performs; and charging the battery module through a power supply terminal installed at a docking point of the robot charging station, receiving the charging state data from the battery module, and transferring the charging state data to the robot charging station through the robot Bluetooth module, the charging state data Accordingly, it may include a robot charging control module that generates a connection release signal for disconnecting the robot charging station and transmits it to the robot Bluetooth module.

In addition, the robot charging station periodically transmits a Bluetooth signal to the outside, receives a docking and charging request signal including access authentication information from the indoor autonomous driving robot, and performs a connection authentication procedure based on the access authentication information and a station Bluetooth module that is paired with the indoor autonomous driving robot when connection authentication is completed and performs data exchange through encrypted communication with the indoor autonomous driving robot; When the connection authentication of the indoor autonomous driving robot is completed, a charging circuit is connected to control power to be supplied to the docked indoor autonomous driving robot, and charging state data is received from the indoor autonomous driving robot to receive charging information of the indoor autonomous driving robot. a station charging control module for generating and controlling the power supply to be terminated by blocking the charging circuit when receiving a connection release signal from the indoor autonomous driving robot; and a power supply module docked with the indoor autonomous driving robot and configured to supply and cut off power by controlling the charging circuit according to a control signal from the station charging control module.

In addition, when the indoor autonomous driving robot is activated by the Bluetooth activation control module, before transmitting the docking and charging request signal through the robot Bluetooth module, the remaining amount data and the connection authentication information are collected and docked, respectively. and a robot wireless Internet communication module for transmitting a charging sequence request signal to the control server, wherein the control server receives the docking and charging sequence request signal from the robot wireless Internet communication module, When receiving a docking and charging request signal for a robot, a sequence code indicating a docking and charging sequence for the indoor autonomous driving robot is allocated to each indoor autonomous driving robot based on the received residual data, and the assigned Each of the sequence codes are returned to the robot wireless Internet communication module, and the robot Bluetooth module, after receiving the sequence code, includes the received sequence code in the docking and charging request signal to the robot charging station and the robot charging station determines the charging order of the indoor autonomous driving robot according to the sequence code, and performs a connection authentication procedure with the indoor autonomous driving robot so that the indoor autonomous driving robot is charged according to the determined charging order. can proceed.

In addition, the indoor autonomous driving robot receives the indoor position information of the autonomous driving module based on ROS (Robot Operation System) according to the preset reference position information, which is the position coordinate of the robot charging station, and the driving information of the autonomous driving module. and a robot indoor location information generating module that generates and transmits the robot indoor location information to the robot wireless Internet communication module so as to be transmitted to the control server, wherein the control server determines that the remaining battery level of the indoor autonomous driving robot is within the same category, By using the indoor location information, the charging priority of the indoor autonomous driving robot is determined in the order of distance from the robot charging station, and the sequence code is assigned to each indoor autonomous driving robot, and the assigned sequence code is applied to the robot. Each can reply to the wireless Internet communication module.

According to the present invention, it is possible to provide an intelligent autonomous charging system with improved authentication and security functions in the connection process between an indoor autonomous driving robot and a charging station.

1 is a view showing the overall configuration of an intelligent autonomous charging system having authentication and security functions of an indoor autonomous driving robot according to an embodiment of the present invention.
2 is a block diagram showing the configuration of an indoor autonomous driving robot according to an embodiment of the present invention.
3 is a block diagram showing the configuration of a robot charging station according to an embodiment of the present invention.
4 is a diagram illustrating an operation sequence of an intelligent autonomous charging system having an authentication and security function of an indoor autonomous driving robot according to an embodiment of the present invention.
5 and 6 are diagrams illustrating a method of determining a charging priority of an indoor autonomous driving robot according to an embodiment of the present invention.
7 and 8 are diagrams illustrating a PIN change technology for improving security authentication of an intelligent autonomous charging system having an authentication and security function of an indoor autonomous driving robot according to an embodiment of the present invention.

Terms used in this specification will be briefly described, and the present invention will be described in detail.

The terms used in the present invention have been selected as currently widely used general terms as possible while considering the functions in the present invention, but these may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

In the entire specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated. In addition, terms such as "... unit" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software. .

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the embodiments of the present invention. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

1 is a view showing the overall configuration of an intelligent autonomous charging system having authentication and security functions of an indoor autonomous driving robot according to an embodiment of the present invention, and FIG. 2 is a configuration of an indoor autonomous driving robot according to an embodiment of the present invention. 3 is a block diagram showing the configuration of a robot charging station according to an embodiment of the present invention.

1 , an intelligent autonomous charging system 100 having authentication and security functions for an indoor autonomous driving robot according to an embodiment of the present invention includes an indoor autonomous driving robot 100, a robot charging station 200, and a control server ( 300) may include at least one of.

When the battery module 10 needs to be charged, the indoor autonomous driving robot 100 requests docking and charging in response to a Bluetooth signal periodically received from the robot charging station 200 to complete the connection authentication of the robot charging station. The docking operation through autonomous driving and data exchange through pairing (or bonding) are performed, and the charging operation of the robot charging station 200 can be controlled in the docked state.

To this end, as shown in FIG. 2 , the indoor autonomous driving robot 100 includes a Bluetooth activation control module 110 , a robot Bluetooth module 120 , an autonomous driving module 130 , a robot charging control module 140 , and a robot wireless It may include at least one of the Internet communication module 150 and the robot indoor location information generation module 160 .

The Bluetooth activation control module 110 receives the residual data from the battery module 10, compares the numerical values between the received residual data and the pre-stored reference residual data, so that the numerical value of the residual data is the numerical value of the reference residual data. If less than, you can activate the Bluetooth function. The indoor autonomous driving robot 100 according to this embodiment is not always connected (pairing or bonding) with the robot charging station 200 indoors for data or information security, but in a docking permission state or charging when charging is required. As it is connected in an allowable state and designed to exchange data with the robot charging station 200, the robot charging station ( 200) and is not paired or bonded. Accordingly, the Bluetooth activation control module 110 periodically receives the remaining amount data from the battery module 10 configured in the indoor autonomous driving robot 100, and then compares the received remaining amount data with the reference remaining amount data. It is determined whether the state is in the state, and when charging is required, the Bluetooth function of the robot Bluetooth module 120 is controlled to be activated so that docking and charging operations between the indoor autonomous driving robot 100 and the robot charging station 200 are subsequently performed. . In the above, a case where docking between the indoor autonomous driving robot 100 and the robot charging station 200 is required has been described as a case where the battery of the indoor autonomous driving robot 100 is required to be charged. In the process of automatically returning to the robot charging station 200 after completing this task (or driving), the docking and pairing process may be performed in the same manner.

The robot Bluetooth module 120 is activated by the Bluetooth activation control module 110 to receive a Bluetooth signal received from the robot charging station 200, and access authentication information (eg, in response to the received Bluetooth signal) , and a docking and charging request signal containing robot-specific identification information such as a MAC address) is transmitted to perform the pairing procedure with the robot charging station 200, and encrypted communication with the robot charging station 200 is performed when pairing is completed. data can be exchanged through

As described above, the robot charging station 200 transmits a Bluetooth signal at a predetermined period, where the Bluetooth signal is a signal for performing an advertising operation of the robot charging station 200 . More specifically, this embodiment applies Bluetooth Low Energy (BLE) technology, the indoor autonomous driving robot 100 serves as an observer, and the robot charging station 200 serves as an Advertiser (or Broadcaster). can play a role. Here, the Advertiser means a device that periodically sends the Non-Connectable Advertising Packet, and the Observer means a device that the Advertiser periodically scans to listen to the Non-Connectable Advertising Packet. This method is suitable for application in an environment in which a plurality of indoor autonomous driving robots 100 that are one robot charging station 200 are connected.

In this way, the robot charging station 200 periodically transmits a Bluetooth signal notifying the presence of the robot Bluetooth module 120 at regular intervals to receive (or scan) it, and the robot Bluetooth module 120 is in the Bluetooth function activation mode. Upon receiving the corresponding Bluetooth signal, it transmits a docking and charging request signal in response thereto so that the robot charging station 200 can receive the corresponding signal. Here, the docking and charging request signal includes access authentication information for pairing between the indoor autonomous driving robot 100 and the robot charging station 200, and the access authentication information includes the address, name, A PIN code for the profile and authentication process (can be set from 4 to 16 alphabetic characters, etc.) may be included. Such access authentication information may be exchanged and stored in each device during initial pairing, and may be used for pairing during subsequent connection.

The autonomous driving module 130 moves to a docking position where the robot charging station 200 is installed using at least one of the camera 31 , the lidar sensor 32 , the ultrasonic sensor 33 , and the infrared sensor 34 . and operates to be docked to the power supply terminal of the robot charging station 200 .

In addition, in order for the indoor autonomous driving robot 100 to move to the robot charging station 200 and docked, first, it receives indoor location coordinate information from the robot charging station 200 through data exchange of the robot Bluetooth module 120, and (Indoor location coordinate information is continuously received until complete docking is completed), autonomous driving is performed based on the received information and the camera 31 and lidar sensor 32 to move to the robot charging station 200. have. Here, when the indoor autonomous driving robot 100 is far away from the robot charging station 200 , the position coordinates for the docking point for the indoor autonomous driving robot 100 to attempt precise docking with the robot charging station 200 . can be provided and moved to the corresponding point through autonomous driving. After the indoor autonomous driving robot 100 moves to the docking position or docking point, the lidar sensor 32, the ultrasonic sensor 33 and the infrared sensor are precisely connected to the docking point, that is, the power supply terminal of the robot charging station 200. (34) It is possible to precisely control the posture, angle, movement, etc. of the indoor autonomous driving robot 100 based on the data sensed through the can Since the movement and docking operation of the indoor autonomous driving module 130 corresponds to a well-known and conventional technique performed based on an algorithm for a docking operation with a station of a typical autonomous driving robot, a more detailed description will be omitted.

The robot charging control module 140 charges the battery module 10 through the power supply terminal of the robot charging station 200, receives the charging state data from the charging battery module 10, the robot Bluetooth module 120 ) to the robot charging station 200 , and according to the charging state data, a connection release signal for disconnecting the robot charging station 200 may be generated and transmitted to the robot Bluetooth module 120 . When the indoor autonomous driving robot 100 is docked and charging is performed by receiving power from the robot charging station 200 , the robot charging control module 140 periodically charges the battery module 10 from the battery module 10 . The state is checked, and when the battery module 10 is fully charged or reaches a preset time or charging capacity, it determines the charging completion based on the corresponding charging state data and generates a connection release signal through the robot Bluetooth module 120 It can be transmitted to the robot charging station 200 . Accordingly, the robot charging station 200 performs an operation for stopping power supply through the power supply terminal, the Bluetooth activation control module 110 also deactivates the Bluetooth function of the robot Bluetooth module 120, and the indoor autonomous driving robot 100 can be separated from the robot charging station 200 to perform the set mission again.

The detailed description of the robot wireless Internet communication module 150 and the robot indoor location information generation module 160 will be described in more detail through the description of a method for determining the charging priority of the indoor autonomous driving robot, which will be described later.

The indoor autonomous driving robot 100 according to the present embodiment is an industrial robot used in an industry, a robot for housework or office assistance in a building such as a general home, office, or government office (cleaning robot, guide robot, crime prevention robot), It can include indoor autonomous driving robots such as assisting or assisting humans, as well as simple repetitive tasks such as guide robots for performing guidance tasks in locations in contact with or close to humans, such as airports, terminals, shopping malls, etc. where there are no rules. And basically, while moving within a given indoor space, the robot performs its own unique function.

The robot charging station 200 periodically transmits a Bluetooth signal to the surrounding indoor autonomous driving robot 100, receives access authentication information from the indoor autonomous driving robot 100, performs a connection authentication procedure, and performs access authentication. Upon completion, data exchange is performed through pairing, and power can be supplied to the docked indoor autonomous driving robot 100 .

To this end, the robot charging station 200 connects at least one of a station Bluetooth module 210 , a station charging control module 220 , a power supply module 230 and a station Internet communication module 240 as shown in FIG. 3 . may include

The station Bluetooth module 210 periodically transmits a Bluetooth signal to the outside, receives a docking and charging request signal including access authentication information from the indoor autonomous driving robot 100, and a connection authentication procedure based on the access authentication information. , and when the connection authentication is completed, it is paired with the indoor autonomous driving robot 100 to perform data exchange through encrypted communication with the indoor autonomous driving robot 100 . The access authentication information received from the indoor autonomous driving robot 100 may include the address, name, and profile of each device required for the pairing process, and a PIN code for the authentication process (can be set from 4 to 16 alphabetic characters, etc.) In addition, such access authentication information may be exchanged and stored in each device during initial pairing, and may be used for pairing during subsequent connection. The indoor location coordinate information is information for the autonomous driving module 130 to move to the robot charging station 200 for docking, and is transmitted to the indoor autonomous driving robot 100 through data exchange with the robot Bluetooth module 120 . can be

On the other hand, the station Bluetooth module 210 may provide indoor location coordinate information to the indoor autonomous driving robot 100 through data exchange. It can be transmitted continuously and can be omitted.

The station charging control module 220 controls power to be supplied to the docked indoor autonomous driving robot 100 by connecting a charging circuit when the connection authentication of the indoor autonomous driving robot 100 is completed, and the indoor autonomous driving robot 100 ) to generate charging information (charging management information) of the indoor autonomous driving robot, and when receiving a connection release signal from the indoor autonomous driving robot 100, the charging circuit is blocked to control the power supply to be terminated. can Here, the charging circuit serves as a switch connecting the power supply terminal and the power supply unit, and is controlled to be connected between the power supply terminal and the power supply unit by the station charging control module 220 when the connection authentication of the indoor autonomous driving robot 100 is completed. , when a connection release signal is received from the indoor autonomous driving robot 100 , the power supply terminal and the power supply unit are controlled to be separated so that the power supply to the indoor autonomous driving robot 100 is cut off.

The power supply module 230 is connected to the charging terminal of the indoor autonomous driving robot 100 when the indoor autonomous driving robot 100 is docked, and the charging circuit is controlled according to the control signal of the station charging control module 220 . Power can be turned on and off. Here, the control signal may include a charging start signal according to the completion of connection authentication of the indoor autonomous driving robot 100 and a charging end signal according to the connection release signal of the indoor autonomous driving robot 100, and according to the charging start signal The charging circuit is connected, and the charging circuit may be separated according to the charging end signal.

The station Internet communication module 240 is connected to the control server 300 through wired or wireless communication to collect connection authentication information of the indoor autonomous driving robot 100 from the station Bluetooth module 210, and not only the docking state but also the Charging information (charging state, abnormal charging end state, etc.) may be collected from the station charging control module 220 and transmitted to the control server 300 respectively.

As an example of a wireless communication network of the Internet network connecting the station Internet communication module 240 and the control server 300 , technical standards or communication methods for mobile communication (eg, Global System for Mobile communication (GSM)) ), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), Wideband CDMA (WCDMA), High Speed Downlink Packet Access (HSDPA) , High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), 5G, etc.) may include, but is not particularly limited to. In addition, an example of the wired communication network may be a closed network such as a local area network (LAN) or a wide area network (WAN), and preferably an open network such as the Internet. The Internet is a TCP/IP protocol and several services existing in its upper layers, namely HTTP (Hypertext Transfer Protocol), Telnet, FTP (File Transfer Protocol), DNS (Domain Name System), SMTP (Simple Mail Transfer Protocol), SNMP ( It refers to a worldwide open computer network structure that provides Simple Network Management Protocol), NFS (Network File Service), and NIS (Network Information Service).

The control server 300 is connected to the robot charging station 200 by wire or wirelessly, and from the robot charging station 200, access authentication information of the indoor autonomous driving robot 100, the indoor autonomous driving robot 100 and the robot charging It is possible to receive and monitor the connection progress state and the charging state (charging progress and charging completion state) between the stations 200 .

The control server 300 is connected to the robot charging station 200 to collect information or data collected by the indoor autonomous driving robot 100 , information accumulated in relation to a mission, and a connection progress state with the robot charging station 200 . , as a means for monitoring charging progress, charging completion status, etc., has the same configuration as a conventional web server or cloud server in terms of hardware, and has various configurations such as C, C++, Java, Visual Basic, Visual C, etc. in terms of software. It may include a program module that is implemented through a form language and performs various functions. In addition, it is provided in various ways depending on the operating system such as DOS, Windows, Linux, Unix, macintosh, Android, and iOS in general server hardware. It can be implemented using a web server program being developed.

4 is a diagram illustrating an operation sequence of an intelligent autonomous charging system having an authentication and security function of an indoor autonomous driving robot according to an embodiment of the present invention.

First, the indoor autonomous driving robot 100 periodically checks its battery level data between tasks, compares the remaining amount data with the preset reference level data, and recognizes that charging is required when the remaining amount is lower than the reference level. Thus, the Bluetooth function of the indoor autonomous driving robot 100 can be activated (A1).

At this time, the robot charging station 200 may periodically transmit a Bluetooth signal (B1).

Next, when the Bluetooth function is activated, a Bluetooth signal is received from the robot charging station 200 , and a signal for a request for docking of the indoor autonomous driving robot 100 is transmitted in response to the Bluetooth signal received from the robot charging station 200 . You can (A2).

Next, the robot charging station 200 receives the docking and charging request signal from the robot charging station 200 (B1), performs a connection authentication procedure according to the connection authentication signal included in the docking and charging request signal, and access authentication Upon completion, the corresponding access authentication information may be transmitted or uploaded to the control server 300 (B2). Accordingly, the control server 300 receives the connection authentication information of the indoor autonomous driving robot 100 and monitors the information on which indoor autonomous driving robot 100 docks to which robot charging station 200 to charge. can (C1).

Next, after the indoor autonomous driving robot 100 and the robot charging station 200 are connected through a pairing process, they can move through autonomous driving to a docking point using a lidar sensor and a camera. In addition, data exchange is performed, and through this, the robot charging station 200 can transmit the indoor position coordinates to the indoor autonomous driving robot 100 (B3), and the indoor autonomous driving robot 100 is based on the indoor position coordinates. After moving to the robot charging station 200, a more precise docking process can be performed using a lidar sensor, an infrared sensor, a photo sensor, etc. (A3).

Thereafter, the robot charging station 200 may start charging by connecting the charging circuit after the docking of the actual autonomous driving robot 100 is completed, and may transmit charging information accordingly to the control server 300 (B4, C2). In addition, the indoor autonomous driving robot 100 receives power from the robot charging station 200 and proceeds to charge (A4), and checks its own charging state to check whether sufficient charging has been made. When the time or charging capacity is reached, a connection release signal may be generated and transmitted to the robot charging station 200 (A5).

Accordingly, the robot charging station 200 receives the connection release signal from the indoor autonomous driving robot 100 and blocks (opens) the charging circuit to complete charging (B5), and the charging completion information is also provided by the control server 300 ) and can be reported (C2).

5 is a diagram illustrating a method of determining a charging priority based on the remaining battery level of an indoor autonomous driving robot according to an embodiment of the present invention.

The robot wireless Internet communication module 150, when activated by the Bluetooth activation control module 110, before transmitting the docking and charging request signal through the robot Bluetooth module 120, each of the remaining amount data and the connection authentication information It is possible to collect and transmit a docking and charging sequence request signal based on the collected data and information to the control server.

At this time, the control server 300 is connected to a plurality of indoor autonomous driving robots 100 through the robot wireless Internet communication module 150, respectively, and includes remaining amount data and connection authentication information from each indoor autonomous driving robot 100. It can receive docking and charging request signals.

In addition, the control server 300 receives the docking and charging sequence request signal from the robot wireless Internet communication module 150, but when receiving docking and charging request signals for a plurality of indoor autonomous driving robots 100, receive A sequence code indicating the docking and charging sequence for the indoor autonomous driving robot 100 is allocated to each indoor autonomous driving robot 100 based on each remaining amount data, and the assigned sequence code is assigned to the robot wireless Internet communication module 150. , and in this case, the sequence code assigned to each robot may be transmitted based on the identification information of the indoor autonomous driving robot 100 included in the access authentication information.

For example, the remaining battery level of the first indoor autonomous driving robot 100A is 25%, the remaining battery level of the second indoor autonomous driving robot 100B is 30%, and the remaining battery level of the third indoor autonomous driving robot 100C is is 15%, the third indoor autonomous driving robot 100C, the first indoor autonomous driving robot 100A, and the second indoor autonomous driving robot 100B, which have the lowest remaining battery power, are determined in the order of charging order, , MAC3, MAC1, MAC2 in the order of generating sequence codes representing charging priorities, respectively, can be delivered to each indoor autonomous driving robot 100 .

Accordingly, the station Bluetooth module 240 of the robot charging station 200 recognizes the sequence code included in the docking and charging request signal received for each indoor autonomous driving robot 100 for each indoor autonomous driving robot 100 and , after recognizing the charging order for a plurality of indoor autonomous driving robots 100A, 100B, and 100C with reference to the pre-stored sequence code reference data, the indoor autonomous driving robot 100 is performed in the order of MAC3, MAC1, and MAC2. In this case, the connection authentication procedure with the indoor autonomous driving robots 100A, 100B, and 100C may be performed, respectively. At this time, since the robot charging station 200 has received the connection authentication information from each indoor autonomous driving robot 100A, 100B, 100C, each indoor autonomous driving robot 100A, 100B, 100C is divided into Pairing control may be sequentially performed.

6 is a diagram illustrating a method of determining a charging priority based on a distance of an indoor autonomous driving robot according to an embodiment of the present invention.

The robot indoor location information generation module 160 autonomously drives based on ROS (Robot Operation System) according to reference location information, which is the location coordinate of the preset robot charging station 200 , and driving information of the autonomous driving module 130 . The indoor location information of the module 130 may be generated and transmitted to the robot wireless Internet communication module 150 to be transmitted to the control server 300 . The autonomous driving module 130 is relatively from a preset reference position based on the number of rotations of the wheels, the driving distance, the driving direction, the driving route, the detection result of the lidar sensor 32, etc. based on the ROS (Robot Operation System). It is possible to grasp the relative coordinate information of the location, and thus the generated indoor location information can be generated.

On the other hand, if the control server 300 determines that the remaining battery level of the indoor autonomous driving robot 100 is within the same category, the distance to the robot charging station 200 using the indoor location information of the indoor autonomous driving robot 100 is used. The charging priority for the indoor autonomous driving robot 100 may be determined in descending order.

For example, as shown in FIG. 6 , the remaining battery levels of the first indoor autonomous driving robot 100A, the second indoor autonomous driving robot 100B, and the third indoor autonomous driving robot 100C are all 20% or preset. If it is within the error range, the distance from the robot charging station 200 is based on the indoor location information of the first indoor autonomous driving robot 100A, the second indoor autonomous driving robot 100B, and the third indoor autonomous driving robot 100C. Sequence codes representing charging priorities are generated in the order of the second indoor autonomous driving robot 100B, the first indoor autonomous driving robot 100A, and the third indoor autonomous driving robot 100C in the order of which is the furthest, respectively, MAC2 , MAC1, and MAC3, respectively, may be transmitted to each of the indoor autonomous driving robots 100 . That is, the second indoor autonomous driving robot 100B receives the sequence code indicating the first charging order, the first indoor autonomous driving robot 100A receives the sequence code indicating the second charging order, and the third indoor autonomous driving robot (100C) may receive a sequence code indicating the third charging order.

Accordingly, the station Bluetooth module 240 of the robot charging station 200 sequentially charges the plurality of indoor autonomous driving robots 100A, 100B, and 100C according to the sequence code received from the indoor autonomous driving robot 100 . The connection authentication procedure with the indoor autonomous driving robots 100A, 100B, and 100C may be performed so that this can be achieved. At this time, since the robot charging station 200 has received the connection authentication information from each indoor autonomous driving robot 100A, 100B, 100C, each indoor autonomous driving robot 100A, 100B, 100C is divided into Pairing control may be sequentially performed.

What has been described above is only one embodiment for implementing the intelligent autonomous charging system having the authentication and security function of the indoor autonomous driving robot according to the present invention, and the present invention is not limited to the above embodiment, but the following claims As claimed in the scope, without departing from the gist of the present invention, it will be said that the technical spirit of the present invention exists to the extent that various modifications can be made by anyone with ordinary knowledge in the field to which the invention pertains.

1000: intelligent autonomous charging system
100: indoor autonomous driving robot
110: Bluetooth activation control module
120: robot bluetooth module
130: autonomous driving module
140: robot charging control module
150: robot wireless Internet communication module
160: robot indoor location information generation module
200: robot charging station
210: station bluetooth module
220: station charging control module
230: power supply module
240: station internet communication module
300: control server
10: battery module
31: camera
32: lidar sensor
33: ultrasonic sensor
34: infrared sensor

Claims (6)

When battery charging is required, docking and charging are requested in response to the Bluetooth signal periodically received from the robot charging station, and when the connection authentication of the robot charging station is completed, docking operation through autonomous driving and data exchange through pairing are performed. an indoor autonomous driving robot that controls the charging operation of the robot charging station in a state of
It periodically transmits a Bluetooth signal to the outside, receives access authentication information from the indoor autonomous driving robot, performs a connection authentication procedure, performs data exchange through pairing when connection authentication is completed, and uses the docked indoor autonomous driving robot. a robot charging station that supplies power; and
It is connected to the robot charging station and collects the connection authentication information of the indoor autonomous driving robot, the connection state between the indoor autonomous driving robot and the robot charging station, the docking state, the charging state, and the abnormal charging termination state from the robot charging station, respectively. including a control server for monitoring;
The indoor autonomous driving robot,
Bluetooth activation control for receiving residual data from the battery module, comparing the numerical values between the received residual data and pre-stored reference residual data, and activating the Bluetooth function when the numerical value of the residual data is less than the numerical value of the reference residual data module;
Activated by the Bluetooth activation control module to receive a Bluetooth signal received from the robot charging station, and transmit a docking and charging request signal including connection authentication information in response to the received Bluetooth signal to communicate with the robot charging station a robot Bluetooth module that performs a pairing procedure and exchanges data through encrypted communication with the robot charging station upon completion of pairing; and
When activated by the Bluetooth activation control module, before transmitting the docking and charging request signal through the robot Bluetooth module, the remaining amount data and the connection authentication information are collected, respectively, and a docking and charging sequence request signal is sent to the control server including a robot wireless Internet communication module that transmits to
The control server receives the docking and charging sequence request signal from the robot wireless Internet communication module, and when receiving the docking and charging request signals for a plurality of indoor autonomous driving robots, each of the received residual data is based on the data. allocating a sequence code indicating the order of docking and charging for the indoor autonomous driving robot to each of the indoor autonomous driving robots, and returning the assigned sequence code to the robot wireless Internet communication module, respectively,
After receiving the sequence code, the robot Bluetooth module transmits the received sequence code to the docking and charging request signal to the robot charging station,
The robot charging station determines a charging order of the indoor autonomous driving robot according to the sequence code, and performs a connection authentication procedure with the indoor autonomous driving robot so that the indoor autonomous driving robot is charged according to the determined charging order An intelligent autonomous charging system with authentication and security functions for indoor autonomous driving robots.
delete The method of claim 1,
The indoor autonomous driving robot,
When the connection authentication of the robot charging station is completed, the robot charging station moves to the docking position where the robot charging station is installed using at least one of a camera, a lidar sensor, an ultrasonic sensor, and an infrared sensor, and a docking operation for the docking point of the robot charging station is performed. an autonomous driving module that performs; and
The battery module is charged through the power supply terminal installed at the docking point of the robot charging station, the charging state data is received from the battery module and transferred to the robot charging station through the robot Bluetooth module, and the charging state data is Intelligent autonomous charging with authentication and security function of an indoor autonomous driving robot, characterized in that it further comprises a robot charging control module that generates a connection release signal for disconnecting from the robot charging station and transmits it to the robot Bluetooth module system.
4. The method of claim 3,
The robot charging station,
It periodically transmits a Bluetooth signal to the outside, receives a docking and charging request signal including connection authentication information from the indoor autonomous driving robot, performs a connection authentication procedure based on the connection authentication information, and performs a connection authentication procedure based on the connection authentication information. a station Bluetooth module paired with an autonomous driving robot to exchange data through encrypted communication with the indoor autonomous driving robot;
When the connection authentication of the indoor autonomous driving robot is completed, a charging circuit is connected to control power to be supplied to the docked indoor autonomous driving robot, and charging state data is received from the indoor autonomous driving robot to receive charging information of the indoor autonomous driving robot. a station charging control module for generating and controlling the power supply to be terminated by blocking the charging circuit when receiving a connection release signal from the indoor autonomous driving robot; and
and a power supply module docked with the indoor autonomous driving robot and controlling the charging circuit according to a control signal from the station charging control module to supply and cut off power. An intelligent autonomous charging system with
delete The method of claim 1,
The indoor autonomous driving robot,
The indoor location information of the autonomous driving module is generated based on ROS (Robot Operation System) according to the preset reference position information, which is the position coordinate of the robot charging station, and the driving information of the autonomous driving module, and transmitted to the control server. Further comprising a robot indoor location information generation module to be transmitted to the robot wireless Internet communication module,
The control server is
When it is determined that the remaining battery level of the indoor autonomous driving robot is within the same category, the indoor autonomous driving robot is driven by determining the charging priority of the indoor autonomous driving robot in the order of distance from the robot charging station using the indoor location information. An intelligent autonomous charging system having an authentication and security function of an indoor autonomous driving robot, characterized in that allocating the sequence code for each robot and returning the allocated sequence code to the robot wireless Internet communication module.

Images