KR20180074555A - Guidance robot - Google Patents

Abstract

The present invention relates to a guide robot, comprising: a case having a combining hole; and a door type display structure capable of opening and closing the combining hole, thereby easily approaching a body part having main electric parts. Moreover, the guide robot comprises: a mounting plate combined with a main frame; a slide guide and a guide plate combined with the mounting plate; and a plurality of link type combining device combined with one side of the guide plate and connected with a display unit, wherein the display unit slides and rotates to open and close the combining hole. Therefore, there is no need to disassemble and carry the display unit when the guide robot is repaired.

Description

Guide Robot {GUIDANCE ROBOT}

The present invention relates to a guidance robot.

The application fields of robots are generally classified into industrial, medical, space, and submarine applications. For example, in the mechanical processing industry such as automobile production, robots can perform repetitive tasks. In other words, if you teach the work of the human arm only once, many industrial robots that repeat the same operation for a few hours are already in operation.

In addition, a technique in which a camera is mounted on a robot has already been widely implemented. The robot can recognize the position or recognize the obstacle by using the camera. In addition, displaying the photographed image on the display unit is sufficiently implemented.

Meanwhile, with the recent explosive increase in airport users and efforts to make a leap to smart airports, plans have been developed to provide services through robots in airports.

When an artificial intelligent robot is introduced to the airport, it can be expected that the robots can perform the unique role of the person who could not replace the existing computer system, thereby contributing to the quantitative and qualitative improvement of the provided services.

Generally, the robot is provided with a screen unit, that is, a display unit, for providing service information to a user. The display unit can be moved to a position convenient for the user. For example, the display unit may be mounted on the main body of the robot to adjust the height in the vertical direction.

The following is a list of prior literature information.

1. Registration number: 10-1243262 (Registration date: March 07, 2013)

   Title: Intelligent display device

Referring to the prior art, there is provided a screen unit mounted on the main body for providing service information to a user and a driving unit for moving the screen unit up or down. The screen angle can be adjusted automatically according to the viewing angle of the user. The screen unit and the driving unit are coupled to each other in a rail shape so as to be able to move up and down.

In the above-mentioned prior art, when the apparatus is required to be repaired or the like, access to the driving unit for fixing the screen unit or access to the main body connected to the driving unit can not be easily performed by the screen unit and the driving unit, respectively. That is, there is an inconvenience that the main body portion of the main body is opened by releasing the engagement of the screen portion and releasing the fastening of the driving portion.

The display unit (display) is coupled to the driving unit. Therefore, when the screen portion is completely separated from the main body and replaced with another screen portion or repaired, disassembly is not easy.

Also, even if the screen unit is disassembled, it is necessary to move the screen unit to a separate space for repairing the main body and the driving unit. However, there is an inconvenience to the movement of the screen due to the heavy weight of the screen portion.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a guide robot which can solve the problem that the position where the main electric components are installed is closed in the guide robot structure to which the display unit is fastened,

Another object of the present invention is to provide a guide robot capable of solving the inconvenience of separately carrying a heavy display when repair is required in a guide robot structure in which a display is fastened.

It is still another object of the present invention to provide a guide robot capable of solving the structural problem of the display unit which is difficult to install so as to be rotatable with respect to the main body due to the interference of the display unit which is inclined along the inclined case.

It is still another object of the present invention to provide a guide robot capable of solving the problem of inconvenience of separation or disassembly of the display unit in the guide robot structure in which the display is fastened.

The guide robot according to an embodiment of the present invention includes a case having a coupling hole and a door-type display structure capable of opening and closing the coupling hole, so that access to the body part having the main electric component can be facilitated.

The guide robot according to an embodiment of the present invention includes a mounting plate coupled to a main frame, a slide guide and a guide plate coupled to the mounting plate, a plurality of link mechanisms coupled to one side of the guide plate, By providing the apparatus, the display unit can be slidably moved and pivoted to open or close the engagement hole. Therefore, in the case of repairing the guide robot, it is not necessary to disassemble and transport the display unit separately.

The guide robot according to an embodiment of the present invention is provided with a movement guide device in a body part, and the movement guide device includes a guide plate, a guide rail for sliding out the guide plate, and a coupling device coupled to the guide plate Since a plurality of links are rotatably connected to the coupling apparatus, the display unit can be installed so as to be rotatable without interference between the configurations. In addition, a sufficient rotation angle of the display unit can be ensured.

The guide robot according to the embodiment of the present invention is provided with a plurality of links and a mounting portion to be coupled to the display portion in the moving guide device coupled to the mounting plate so that only the fastening member is dismounted from the mounting portion, have.

According to the present invention, since the access to the body part where the main electrical parts are located is easy, the main electrical parts can be easily cleaned and replaced, so that the manageability of the guide robot can be improved.

According to the present invention, there is no need to separately dismantle and transport a heavy display unit, so that difficulty in repairing the guide robot can be reduced and simplified. Therefore, there is an effect that the time for repairing the guide robot can be shortened.

According to the present invention, since the repairing time of the guide robot is shortened and the difficulty of repairing is reduced, the labor cost for repairing can be reduced, and the cost is reduced.

According to the present invention, since the manageability of the guide robot is improved, the life expectancy of the guide robot can be increased, and labor productivity and efficiency can be improved.

According to the present invention, the guide unit can be freely pivoted without interfering with other structures by the guide unit having the guide plate and the link and the joint that can be drawn out through the sliding movement, thereby facilitating the management of the guide robot and improving the convenience .

According to the present invention, it is possible to completely separate the display unit by separating the fastening member connecting the display unit to the attachment plate of the fastening unit, and various display units can be easily fastened to the fastening unit. That is, the display unit can be easily replaced. Therefore, the guide robot according to the present invention has the advantages of expandability that can continuously upgrade the configuration and flexibility to easily combine various configurations.

According to the present invention, the convenience of the user is improved in a place where the floating population is large through the guide robot.

According to the present invention, since the display unit can be easily separated or combined, the accessibility to the internal configuration of the guide robot can be further improved.

1 is a front perspective view showing an appearance of a guide robot according to an embodiment of the present invention;
2 is a rear perspective view showing the appearance of the guide robot according to the embodiment of the present invention.
FIG. 3 is a perspective view showing an inner structure of a guide robot according to an embodiment of the present invention,
4 is an enlarged view showing a part of the configuration of the guide robot according to the first embodiment of the present invention;
5 is an enlarged view showing a part of the configuration of the guide robot according to the second embodiment of the present invention.
6 is an enlarged view showing the coupling device of the guide robot according to the embodiment of the present invention.
7 is an enlarged view showing a connection relationship between the movement guide device of the guide robot and the slide guide according to the first embodiment of the present invention.
8 is a cross-sectional view showing a state where the opening device of the guide robot and the insertion member are engaged with each other according to the embodiment of the present invention.
9 is a sectional view showing a state in which the opening device of the guide robot and the insertion member are separated from each other according to the embodiment of the present invention
FIG. 10 is a rear perspective view showing a step of opening the display unit of the guide robot according to the embodiment of the present invention. FIG.
FIGS. 13 to 15 are views showing a process of opening the display unit of the guide robot according to the embodiment of the present invention,
16 is a perspective view showing a part of the configuration of the guide robot according to the third embodiment of the present invention;
17 is an exploded view
18 is a perspective view showing a part of the configuration of the guide robot according to the third embodiment of the present invention;
19 is a perspective view showing a movement guide device of a guide robot according to a third embodiment of the present invention;
20 to 22 are views showing a stepwise process of separating the display part of the guide robot according to the third embodiment of the present invention

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings.

Hereinafter, a guide robot according to an embodiment of the present invention will be described in detail with reference to the drawings. The guidance robot of the present invention can provide a user who uses the airport, a guidance service or airport information. Hereinafter, the guide robot will be described on the basis of an embodiment using the airport for the detailed explanation.

FIG. 1 is a front perspective view showing the appearance of a guide robot according to an embodiment of the present invention, FIG. 2 is a rear perspective view showing an appearance of a guide robot according to an embodiment of the present invention, FIG. Fig. 3 is a perspective view showing an inner structure of the guide robot with its case removed.

1 to 3, the guiding robot 1 according to the present invention may include a main body 10 and a display unit 20.

The main body 10 may include a case 31, 32, 33, 34 forming an outer appearance of the guide robot 1. [

The case includes a top cover 31 disposed on the upper side, a first middle cover 32 disposed on the lower side of the top cover 31, a second middle cover 32 disposed on the lower side of the first middle cover 32, 33 and a bottom cover 34 disposed below the second middle cover 33.

The top cover 31 is located at the uppermost end of the guide robot 1 and may have a dome shape. The top cover 31 may be located at a lower height (e.g., 142 cm) than the adult adult's key for easy command input from the user. The top cover 31 may be configured to rotate 360 degrees.

The top cover 31 may include an operation unit 41 on one side of the front cover.

The operation unit 41 may perform a function of receiving a command from a user. For this purpose, the operation unit 41 may include a touch monitor for receiving a touch input from a user.

The operation unit 41 may further include a subject recognition sensor. The object recognition sensor may include a 2D camera and an RGBD sensor. The 2D camera may be a sensor for recognizing a person or an object based on a two-dimensional image. Also, the RGBD sensor (Red, Green, Blue, Distance) may be a sensor for acquiring a person's position or a face image.

Although not shown, the operation unit 41 may further include a physical button for directly receiving a command from a user.

The top cover 31 may further include a microphone 42a disposed at an upper portion of the operation unit 41. [ The microphone 42a receives a command of an audio signal from a user. For example, the microphone 42a may be formed at four points at any point on the upper end of the top cover 31 in order to correctly receive a voice command from the user. Therefore, even if the guide robot 1 is stopped as well as traveling, it is possible to correctly receive a voice guidance request from the user.

In the present embodiment, the top cover 31 can be rotated so that the operating portion 41 faces the running direction while the guide robot 1 is running. When the guide robot 1 receives a command (for example, voice command) from the user while driving, the top cover 31 can be rotated toward the direction in which the user is located.

Alternatively, when the guide robot 1 receives an instruction from the user while driving, the top cover 31 can rotate in the direction opposite to the traveling direction of the guide robot 1. [ That is, the top cover 31 may be rotated in a direction in which the display unit 20 is viewed. Accordingly, the user can operate the operation unit 41 while viewing the airport information or the like displayed on the display unit 20. [

The top cover 31 may further include an emergency operation button 47. The emergency operation button 47 can perform a function of immediately stopping the operation of the guide robot 1 while the guide robot 1 is stopped or running.

On the other hand, the first middle cover 32 is disposed on the lower side of the top cover 31. The first middle cover 32 may have a cylindrical shape having a larger diameter as it goes down from the upper portion. Various electronic components including the board can be accommodated in the first middle cover 33.

And an RGBD sensor 42b may be provided on the first middle cover 32. [ The RGBD sensor 42b may sense a collision between the guidance robot 1 and an obstacle while the guidance robot 1 is running. For this purpose, the RGBD sensor 42b may be positioned in a direction in which the guide robot 1 travels, that is, in front of the first middle cover 32. [ For example, the RGBD sensor 42b may be located on the uppermost side of the first middle cover 32, taking into account the obstacle or human's key present in front of the guide robot 1. [

The first middle cover 32 may further include a speaker 44. The speaker 44 may perform a function of informing the user of airport related information by voice.

The first middle cover 32 includes a seating portion 32a in which the display portion 20 is mounted and a coupling hole 32b formed in the opening portion by the display portion 20, ).

The seating portion 32a and the engagement hole 32b may be formed on a rear surface of the first middle cover 32 on which the display unit 20 is disposed. In other words, the seat portion 32a and the engagement hole 32b may be located behind the main body 10.

The seating part 32a may have a plate shape so that the display part 20 is seated. For example, the seating portion 32a can support the display portion 20 by seating the lower surface of the coupling portion 22 of the display portion 20.

The coupling hole 32b may be formed as an opening that coincides with an outer circumference of a coupling portion 22 to be described later. Therefore, the engaging hole 32b can be shielded or opened through the engaging portion 22.

The coupling hole 32b is closed through a closing operation of a display unit 20 to be described later. At this time, the display unit 20 and the main body 10 are integrally coupled. The coupling hole 32b is opened through an opening operation of a display unit 20 to be described later. At this time, the display unit 20 and the main body 10 are separated from each other.

The coupling hole 32b can facilitate the repair and management of the guide robot 1. [ In detail, the body portion 60 of the main body 10 is located inside the first middle cover 32, and the main electrical components of the guide robot 1 are intensively arranged in the body portion 60 . Therefore, when the guide robot 1 needs to be cleaned, repaired, managed, or the like, it is possible to easily access the main electrical components through the engaging portion 32b formed on the rear surface of the first middle cover 32 have.

The first middle cover 32 may form a camera hole connected to the stereo camera 43. The camera hole is a hole for the operation of the stereo camera 43 installed inside the main body 10. [ The camera hole may be formed at a lower front side of the first middle cover 32. Accordingly, the stereo camera 43 can photograph the forward area of the guide robot 1 through the camera hole.

On the other hand, the second middle cover 33 is disposed below the first middle cover 32. Like the first middle cover 32, the second middle cover 33 may have a cylindrical shape having a larger diameter from the upper to the lower side.

The second middle cover 33 may include a first cutout 46a. The first incision 46a may be formed on the front surface of the second middle cover 33. [ The first incision portion 46a is a portion that is incised in the second middle cover 33 so that the front rider 71 can operate.

The front rider (71) is located inside the second middle cover (33). The first incision 46a may be formed along the circumference of the second middle cover 33 at a position corresponding to the position of the front rider 71. [ Accordingly, the front rider 71 can be exposed to the outside by the first cutout 46a.

In addition, the second middle cover 33 may further include a second cutout 46b.

The second cutout portion 46b may be formed on the rear surface of the second middle cover 33. [ The second cutout portion 46b is a portion cut from the second middle cover 33 so that a rear rider 72, which will be described later, is operable. Specifically, the second cut portion 46b may be cut at a predetermined length in the radial direction from the rear surface of the second middle cover 33. [ Here, the rear rider 72 is positioned inside the second middle cover 33. The second cut portion 46b may be formed along the periphery of the second middle cover 33 at a position corresponding to the position of the rear rider 72. Accordingly, the rear rider 72 can be exposed to the outside by the second cutout portion 46b.

In this embodiment, the first incision 46a may be spaced apart from the second incision 46b so as not to be connected to the second incision 46b. The first incision 46a may be located above the second incision 46b.

The second middle cover 33 may further include an ultrasonic sensor 45. The ultrasonic sensor 45 may be a sensor for determining the distance between the obstacle and the guide robot 1 using ultrasonic signals. The ultrasonic sensor 45 may perform a function of detecting an obstacle in proximity to the guide robot 1. For example, the ultrasonic sensor 45 may include a plurality of ultrasonic sensors 45 for detecting obstacles in all directions close to the guide robot 1. The plurality of ultrasonic sensors 45 may be spaced apart from each other around the lower end of the second middle cover 33.

Meanwhile, the bottom cover 34 is disposed below the second middle cover 33. The bottom cover 34 may have a cylindrical shape whose diameter decreases from the upper portion to the lower portion. Inside the bottom cover 34, a main wheel, a secondary wheel, and the like may be accommodated.

The display unit 20 is connected to the main body 10 of the guide robot 1 and can be installed in one direction of the main body 10. [ For example, the display unit 20 is installed at the rear of the guide robot 1 and may be formed long in the vertical direction.

The display unit 20 may be installed on one side of the case opposite to the moving direction of the main body 10 so that the guide robot 1 performs a guidance function such as a boarding gate. The display unit 20 may include a curved surface display. Through the curved display, it is possible to display time information (e.g., airport gate inquiry information, route guidance service information, etc.) related to the service currently provided.

The display unit 20 further includes a display cover 21 for receiving the curved display. The curved surface display may be received in the display cover 21. The display cover 21 may be positioned behind the first middle cover 32.

The display unit 20 may include a coupling unit 22 protruding toward the main body 10. In another aspect, the engaging portion 22 may constitute a part of a case connected to the main body 10. In detail, the coupling portion 22 is formed to correspond to the coupling hole 32b formed in one surface of the first middle cover 22, and the coupling hole 32b can be closed.

The engaging portion 22 may protrude from one surface of the display cover 21. For example, the engaging portion 22 may protrude from one side of the display cover 21 toward the main body 10. That is, the engaging portion 22 may protrude from one surface of the display cover 21 in a direction in which the first middle cover 32 is positioned.

The shape of the coupling portion 22 can be variously formed. However, since the engaging portion 22 is in close contact with the engaging hole 32b, the outer periphery of the engaging portion 22 may be coincident with the engaging hole 32b.

When the engaging portion 22 is viewed from the side, the engaging portion 22 may be formed flat in a direction perpendicular to the lower surface of the front portion coupled with the main body 10. [ That is, the front portion of the coupling portion 22 can form a standing plate shape.

When the engaging portion 22 is viewed from the side, the engaging portion 22 may be formed so that the rear portion connected to the display cover 21 is curved concavely. Accordingly, the rear portion of the engagement portion 22 can correspond to the contour of the display cover 21 that accommodates the display of the curved surface. Further, as described above, the lower surface of the engaging portion 22 can be seated in the seating portion 32a.

The display unit 20 may further include a reader connector hole 25, which is a hole connected to the internal space of the reader 55. In detail, the reader connection hole 25 may be formed by piercing the upper surface of the coupling portion 22. In addition, the reader connection hole 25 may be formed as an opening on the upper side of the coupling part 22 and the display cover 21. Accordingly, the user can insert a ticket or a mobile boarding pass to the inner space of the reader 55 through the reader connection hole 25 formed in the upper portion of the display unit 20.

The engaging portion 22 may include mounting grooves 22a and 22b which are engaged with the engaging devices 240 and 250 to be described later. The movement guide device 200 and the display unit 20 can be connected by the installation grooves 22a and 22b. Further, the installation grooves 22a and 22b can be fastened and fixed to the coupling device by separate fastening members.

The mounting grooves 22a and 22b may be formed by recessing the front portion of the coupling portion 22. [

Further, the installation grooves 22a and 22b may be formed in a plurality. For example, the installation grooves 22a and 22b may further include a first installation groove 22a and a second installation groove 22b formed below the first installation groove 22a.

The first installation groove 22a may be coupled to the first coupling device 240 to be described later and the second installation groove 22b may be coupled to the second coupling device 250 to be described later.

The display unit 20 may perform an open operation or a close operation for opening and closing the engagement hole 32b which is an opening of the main body 10. [ A detailed description thereof will be described later.

According to the embodiment of the present invention, the guide robot 1 may move along a predetermined path to guide the user to the path. Then, the user can see the display unit 20 installed behind the guide robot 1 while moving along the guide robot 1. That is, even if the guide robot 1 is traveling for guidance, it is possible to easily see the airport information displayed on the display unit 20 while following the guide robot 1.

The upper end of the display unit 20 may extend to the upper end of the first middle cover 32 and the lower end of the display 20 may extend to the second cutout 46b. If the display 20 is formed to cover the second incision 46b, the laser emitted from the rear rider 72 will strike the bottom of the curved display 21. As a result, the guide robot (1) may be unable to detect the distance to the obstacle located behind.

Define the direction. 3, the longitudinal direction is called the vertical direction or the axial direction, and the horizontal direction is called the radial direction. The axis direction is the center axis direction of the traveling unit 100 and is the same as the center axis direction of the head unit 50. [ The radial direction can be understood as a direction perpendicular to the axial direction. The direction of the virtual circle formed when the distance in the radial direction is rotated by the turning radius around the axial direction is referred to as a circumferential direction. The direction in which the stereo camera 43 is directed is referred to as forward, and the direction in which the display unit 20 is directed is referred to as rearward.

A main body 10 according to the present invention includes a traveling part 100 capable of traveling, a body part 60 located on the upper side of the traveling part 100 and having main electronic equipment, And a head portion 50 positioned at the center.

The traveling unit 100 may include a traveling unit having a main wheel connected to the motor, auxiliary wheels depending on the main wheel, and a bumper unit stacked on the traveling unit.

The traveling unit 100 may further include a support plate 120 for supporting the plurality of frames 62 and 63. The support plate 120 has a disk shape and can be coupled with a plurality of brackets for fixing the plurality of frames 62 and 63.

The traveling unit 100 may further include a rear rider 72 and a battery 110 for providing power. The battery 110 may supply power for driving the guide robot 1. [ Since the battery 110 occupies the largest weight of the entire weight of the guide robot 1, it may be located at a lower position in the main body 10.

The battery 110 may include a Li-Ion battery. However, the present invention is not limited thereto, and the battery 110 may include a battery other than a lithium-ion battery.

The rearward rider (Light Detection and Ranging) 72 may be a laser radar that performs position recognition by irradiating a laser beam and collecting and analyzing backscattered light among light absorbed or scattered by the aerosol . The rear rider 72 may be disposed on the rear side of the first plate 310, which will be described later. That is, the rear rider 72 may be disposed toward the rear of the guide robot 1. [ The rear rider 72 may be exposed to the outside through the second cut portion 46b formed in the second middle cover 33. [

The body part 60 is disposed on the upper side of the traveling part 100 and may include a plurality of frames 62 and 63. The plurality of frames 62 and 63 may be fixedly supported from the support plate 120 and extended to extend upward.

The plurality of frames 62, 63 may include main frames 62, 63 extending from the support plate 120 to the head portion 50.

The main frames 62 and 63 may support the display unit 20 and the head unit 50. The main frames 62 and 63 may include a first main frame 62 and a second main frame 63. In detail, the first main frame 62 and the second main frame 63 may have a column shape and be formed long in the vertical direction. The first main frame 62 and the second main frame 63 may be fixed to the upper surface of the support plate 120.

The first main frame 62 and the second main frame 63 may be equally spaced from both sides of the center of the support plate 120. In other respects, the first main frame 62 and the second main frame 63 may be laterally symmetrical with respect to the center of the support plate 120. The head portion 50 may be coupled to the upper ends of the first main frame 62 and the second main frame 63.

The body portion 60 may further include a body plate 61. The body plate 61 is penetrated by the main frames 62 and 63 and can be fitted at any point of the main frames 62 and 63. The body plate 61 may be positioned below a bisector with respect to a point bisecting the main frames 62 and 63. The body plate 61 has a disk shape and a hollow portion may be formed to minimize weight.

The body part 60 may include various boards (substrates) for controlling the overall operation of the guide robot 1. That is, core electronic equipment of the guide robot 1 may be disposed in the body part 60.

The body part 60 may include an AP board (Application Processor) 74. The AP board may be disposed on the upper surface of the body plate 61. The AP board can function as a device for managing the entire system of the hardware module of the guide robot 1, i.e., a control unit.

The plurality of frames may further include a sub-frame. The subframe may be formed on the lower side of the body plate 61 to support the body plate 61. The plurality of subframes are formed to be lower than the height of the main frames 62 and 63. Specifically, the subframe may include a first subframe and a second subframe.

The first sub-frame and the second sub-frame may have a columnar shape and be formed long in the vertical direction. The first sub-frame and the second sub-frame may be fixed to the upper surface of the support plate 120.

The first sub frame and the second sub frame are equally spaced rearward in the first main frame 62 and the second main frame 63 and are formed at positions lower than the body plate 61 . That is, the first sub-frame and the second sub-frame may be symmetrical with respect to the center of the support plate 120. The body plate 61 may be coupled to the upper ends of the first sub-frame and the second sub-frame.

In addition, the sub-frame 134 may further include a third sub-frame. The third sub-frame may be fixed to the upper surface of the support plate 120. And the third sub-frame may be disposed adjacent to the main frame. For example, the third surf frame may be spaced a predetermined distance forward from the center of the support plate 120. In other words, the third sub-frame may be positioned in front of the support plate 120, considering the center of gravity of the body plate 61. The body plate 61 may be coupled to an upper end of the third subframe.

The body portion 60 may further include mounting plates 64 and 65. The mounting plates 64 and 65 may have a plate-like shape and may be elongated in the vertical direction and may be coupled to the main frames 62 and 63.

The mounting plates 64 and 65 may include a first mounting plate 64 and a second mounting plate 65. For example, the first mounting plate 64 may be coupled to the first main frame 62, and the second mounting plate 65 may be coupled to the second main frame 63.

The first mounting plate 64 and the second mounting plate 65 may be disposed to face each other. Here, the surface on which the first mounting plate 64 and the third mounting plate 65 face each other may be referred to as an inner surface. The first main plate 62 is coupled to the outer surface of the first mounting plate 64 and the second main frame 63 is coupled to the outer surface of the second mounting plate 65 .

The first mounting plate 64 may extend downward from the upper end of the first main frame 62. The second mounting plate 65 may extend downward from the upper end of the second main frame 63.

A lower portion of the first mounting plate 64 and a lower portion of the second mounting plate 65 may pass through the body plate 61. Also, the first mounting plate 64 and the second mounting plate 65 may be formed with a plurality of hollow portions for weight reduction.

The body unit 60 may further include an MCU (Micro Controller Unit) board. The MCU board may be located on the inner surface of the first mounting plate 64. The MCU board can control the overall driving of the guide robot 1 and may include a memory in which data supporting various functions of the guide robot 1 are stored.

The body portion 60 may further include a power supply board 75. The power board 75 may be positioned on the inner side of the first mounting plate 64. The power supply board can control that the power of the battery 117 is supplied to each component included in the guide robot 1. [

The body part 60 may further include a user interface board. The user interface board may be located on the inner surface of the first mounting plate 64. The user interface board can control an operation of a component responsible for user input and output.

The body 60 may further include a main PCB or a stereo board 73. The main PCB or the stereo board 73 is located below the body plate 61 and may be installed between the stereo camera 43 and the third auxiliary frame. The stereo board processes and processes sensed data collected from various sensors and cameras, and can manage data for recognizing the position of the guide robot 1 and for recognizing an obstacle.

In the present embodiment, the number of various boards (substrates) is not limited to the above number, but may be smaller or larger than the above number. Of course, the types of the boards are not limited to the above-described types of boards because they are described by way of example.

The body part 13 may further include a front rider 137. The front rider 137 may be a laser radar, which is a sensor that irradiates a laser beam and collects and analyzes backscattered light among light absorbed or scattered by the aerosol to perform position recognition. The front rider 137 may have the same configuration as the rear rider 118. However, the front rider 137 may be disposed on the front side of the second support plate 120. That is, the front rider 137 may be disposed toward the front of the guide robot 1. [ The front rider 137 may be exposed to the outside through the first cut-out portion 331 formed in the second middle cover 33.

The body part 13 may further include a stereo camera 137. The stereo camera 137 may perform a function of detecting an obstacle in front of the guide robot 1 together with the RGBD sensor 321.

The body part 60 may further include a movement guide device 200 capable of moving the display part 20 forward or backward through sliding movement. The moving guide device 200 can be coupled to the second mounting plate 65. A detailed description thereof will be described later.

The head portion 50 may be rotatably installed on the upper side of the body portion 60. The head portion 50 is coupled to the top cover 31 and the top cover 31 can be installed to be rotatable through the head portion 50. In addition, the head unit 50 may further include a rotation motor. The rotating motor can provide power for rotating the rotating member.

The head unit 50 may further include a reader 55. The reader 55 may have an opening at an upper portion of the coupling hole 32b. That is, the inner space of the reader 55 may be located above the coupling hole 32b. Therefore, the reader 55 can be connected to the reader connection hole 25 of the coupling part 22. [

When the display unit 20 is closed and the coupling hole 32b is closed, the reader connection hole 25 and the inner space of the reader 55 can be connected. Accordingly, the user can insert a ticket or the like into the reader 55 through the reader connection hole 25. [

The reader 55 may scan or recognize the user's passport, ticket, mobile bar code, and the like. Therefore, the information necessary for the user can be displayed on the display unit 20 based on the information obtained through the reader 55. [ For example, when the user inserts the mobile device into the reader 55 and recognizes the barcode of the mobile boarding pass, the display unit 20 displays the boarding gate to which the user should move based on the information obtained through the mobile boarding pass .

FIG. 4 is an enlarged view showing a part of the configuration of the guide robot according to the embodiment of the present invention, FIG. 5 is an enlarged view showing a part of the configuration of the guide robot according to another embodiment of the present invention, FIG. 7 is an enlarged view showing a connection relationship between a guide device and a slide guide of a guide robot according to an embodiment of the present invention. FIG. 7 is an enlarged view showing a coupling device of a guide robot according to an embodiment.

The first embodiment of the moving guide device 200 will be described in detail with reference to FIGS. 4 and 7. FIG.

The moving guide device 200 includes slide guides 220 and 221 provided on the inner side surface of the second mounting plate 65 and a guide plate 210 slidably inserted with the slide guides 220 and 221 .

The slide guides 220 and 221 may be formed as a frame extending longitudinally along the inner surface of the second mounting plate 65. The slide guides 220 and 221 may have a plurality of slides. For example, the slide guides 220 and 221 may include a first slide guide 220 inserted into the upper portion of the guide plate 210 and a second slide guide 221 inserted into the lower portion of the guide plate 210 .

The first slide guide 220 may protrude from the inner surface of the second mounting plate 65 by a predetermined distance and may extend in the vertical direction at the protruding end. For example, the first slide guide 220 may have a curved shape.

The second slide guide 221 may be positioned below the first slide guide 220. The second slide guide 220 may protrude from the inner surface of the second mounting plate 65 by a predetermined distance and may extend in the vertical direction at the protruding end. The second slide guide 220 may have the same shape as the first slide guide.

The guide plate 210 can be slid forward or backward in the main body 10 according to the guide of the slide guide 220. That is, the guide plate 210 can be slid forward or backward in the internal space of the body portion 60 formed by the first mounting plate 64 and the second mounting plate 65.

In another aspect, the guide plate 210 may be inserted into or withdrawn from the main body 10 through the sliding movement along the inner surface of the second mounting plate 65.

The guide plate 210 may have various shapes. For example, the guide plate 210 may be formed of a square plate.

The guide protrusions 211 and 212 may be formed on one side of the guide plate 210 to insert or connect the slide guides 220 and 221 to slide. One side of the guide plate 210 can be understood as a side facing the inner side surface of the second installation plate 65, that is, an outer side surface of the guide plate 210. Therefore, the guide connection portion can be positioned on the outer surface of the guide plate 210.

The guide connection portions 211 and 212 may be formed on the outer surface of the guide plate 210 to correspond to the slide guides 220 and 221. For example, the guide connection portions 211 and 212 may include a first guide connection portion 211 that slides by inserting the first slide guide 220 and a second guide connection portion 211 that slides by inserting the second slide guide 221. [ And may include a guide connecting portion 212.

The first guide connection part 211 and the second guide connection part 212 may be formed to correspond to the shapes of the first slide guide 220 and the second slide guide 221. For example, the first guide connection part 211 and the second slide guide 221 may be formed into a 'groove' shape from the outer side of the guide plate 210 so as to insert a ' can do.

The first guide connection part 211 and the second guide connection part 212 stably guide the guide plate 210 forward or backward in accordance with the guide of the first slide guide 220 and the second slide guide And can be slidingly moved.

The moving guide device 200 may further include an opening device 300 capable of restraining the guide plate 210 and an insertion member 351 drawn or drawn into the opening device 300.

The insertion member 351 may be provided on the front surface of the guide plate 210. The insertion member 351 is positioned on one side of the guide plate 310 facing the main body 10 when the guide plate 310 slides inside the main body 10 .

The insertion member 351 may have a protrusion shape and may include a plurality of insertion protrusions. The insertion member 351 may be installed on the guide plate 210 in correspondence with the position of the opening device 300.

The opening device 300 may be formed to allow the insertion member 351 to be drawn in or drawn out. Therefore, when the insertion member 351 is pulled in by the user's pushing and is engaged, the opening device 300 can be fixed so that the guide plate 210 is constrained and can not move backward. Further, the opening device 300 can be released from the engagement by the insertion pressure of the insertion member 351 by the secondary pressure of the user. At this time, the restraint of the guide plate 210 is released and the sliding movement of the guide plate 210 can be performed backward.

The opening device 300 may be installed on the inner surface of the second mounting plate 65. The opening device 300 may include a plurality of openings. For example, the opening device 300 may be positioned below the slide guides 220 and 221. At this time, the insertion member 351 may be positioned on the guide plate 210 corresponding to the corresponding position. Therefore, when the guide plate 210 is drawn into the main body 10 as much as possible, the insertion member 351 can be inserted into the opening device 300 to engage the opening device.

Details of the structure of the insertion member 351 and the opening device 300 will be described later.

Another embodiment (second embodiment) of the moving guide device 200 will be described in detail with reference to FIG. The second embodiment differs from the first embodiment in the configuration of the guide plate 210, the configuration of the slide guide 220, and the guide connection portion (not shown). In the second embodiment, the description of the configuration overlapping with that of the first embodiment is based on the description of the first embodiment.

The moving guide device 200 may include a guide plate 210 connected to coupling devices 240 and 250 to be described later. The guide plate 210 may have a plurality of hollow portions to reduce the weight. The guide plate 210 is connected to the second mounting plate 65 and can be inserted into or withdrawn from the inner space of the main body 10 through sliding movement.

The moving guide device 200 may further include roller guides 225 and 226 connecting the guide plate 210 and the second mounting plate 65.

The roller guides 225 and 226 may include upper rails 225a and 226a and lower rails 225b and 226b which are connected to the upper rails 225a and 226a by rollers. The plurality of roller guides 225 and 226 may be provided.

The roller guides 225 and 226 may include a first roller guide 225 coupled to an upper portion of the outer surface of the guide plate 210 and a second roller guide 226 connected to a lower portion of the outer surface of the guide plate 210. [ ). Therefore, the first and second roller guides 225 and 226 allow the guide plate 210 to perform stable sliding movement in forward and backward directions.

In this case, the first roller guide 225 may include an upper rail 225a connected to the upper portion of the guide plate 210 and a lower rail 225b connected to the second mounting plate 65 . Unlike the first roller guide 225, the second roller guide 226 includes a lower rail 226b connected to a lower portion of the guide plate 211 and a lower rail 226b connected to the second mounting plate 65 And may include an upper rail 226a.

The lower rail 225b of the first roller guide 225 connected to the second mounting plate 65 and the upper rail 226a of the second roller guide 226 are fixed and the guide plate The upper rail 225a of the first roller guide 225 and the lower rail 226b of the second roller guide 226 which are connected to the first roller guide 210 can be moved back and forth by the rollers.

The coupling devices 240 and 250 connected to the guide plate 210 will be described in detail with reference to FIG.

Referring to FIG. 6, the moving guide device 200 may further include coupling devices 240 and 250. In detail, the coupling devices 240 and 250 may be installed on the inner surface of the guide plate 210. That is, the coupling devices 240 and 250 may be positioned on one side of the guide plate 210 facing the power supply board 75. In addition, the coupling devices 240 and 250 may be located at the rear of the inner surface of the guide plate 210. Therefore, the coupling devices 240 and 250 can easily connect the display unit 20 located behind the main body 10.

The coupling devices 240 and 250 may include a plurality of coupling devices. In one example, the coupling devices 240 and 250 may include a first coupling device 240 and a second coupling device 250 positioned below the first coupling device 240.

The first coupling device 240 includes a first support plate 241 coupled to the guide plate 210, a first link 242 rotatably connected to the first support plate 241, A second link 243 rotatably connected to the second link 242 and a first attachment plate 246 connected to the second link 243 and coupled to the first attachment groove 21a of the display unit 20, . ≪ / RTI >

The first support plate 241 may be positioned above the inner surface of the guide plate 210. The first support plate 241 may be hinged to the first link 242 and the third link 244. That is, the first support plate 241 may form a pin joint with the first link 242 and the third link 244. Therefore, the first link 242 and the third link 244 can be rotated about 180 degrees about the support plate 241. [

The first link 242 may have a rectangular shape with an open center. At this time, one corner of the first link 242 is hinged to the first support plate 241, and the other corner of the symmetric position is hinged to the second link 243 at the center. Accordingly, the second link 243 is rotatable about the other corner of the first link 242 as a central axis.

In another aspect, the first link 242 may be rotatably connected to the first support plate 241 about the center axis. The second link 243 may be rotatably connected to the first link 242 about a central axis.

The second link 243 may have a rectangular rod shape. One end of the second link 243 may be connected to one end of the first link 242 and the other end of the second link 243 may be connected to the first attachment plate 246.

The first attachment plate 246 can be fastened to the first attachment groove 22a of the coupling part 22 by fastening. That is, one side of the first attachment plate 246 is connected to the second link 243, and the other side is connected to the first installation groove 22a.

The first attachment plate 245 may be fastened to the first installation groove 22a through a separate fastening member. Therefore, if the user desires to separate the display unit 20 from the guide robot 1, the first attachment plate 245 and the fastening member fastened to the first installation groove 22a can be easily dismounted have.

The first coupling device (240) A third link 244 spaced apart from the first link 242 and rotatably connected to the support plate 241 and a fourth link 245 pivotally connected to the third link 244 can do.

In another aspect, the third link 244 may be rotatably connected to the first support plate 241 about the center axis. The fourth link 245 may be rotatably connected to the third link 244 as a center axis.

The third link 244 may be positioned rearward of the first link 242. The third link 244 may have a rectangular shape that is opened at the center as the first link 242. However, the length of the third link 244 may be longer than the length of the first link 242. Accordingly, since the second link 243 is located in the open middle space of the third link 244 at a lower position than the fourth link 245, the second link 243 can be moved within a certain angle range.

One corner of the third link 244 is hinged to the support plate 241, and the other corner of the third link 244 is symmetrical to the one edge of the third link 244. Accordingly, the fourth link 245 is rotatable about the other corner of the third link 244 as a central axis.

The fourth link 245 may have the same rectangular bar shape as the second link 243. However, the length of the fourth link 245 may be shorter than the length of the second link 243. In detail, the second link 243 engages with the first link 242 at a position ahead of the fourth link 245, so that the length of the second link 243 is longer than the length of the fourth link 242 245 to be perpendicular to one plane of the first attachment plate 246.

One end of the fourth link 245 may be connected to one end of the third link 244 and the other end of the fourth link 245 may be connected to the first attachment plate 246. Here, the fourth link 245 may be separated from the second link 243 and connected to the first attachment plate 246.

In other words, the length of the first link 242 may be shorter than the length of the third link 244, and the length of the second link 243 may be shorter than the length of the fourth link 245 .

The second link 243 connected to the first link 242 can rotate in the open center space of the third link 244 and at the same time, And can be connected to one surface of the first mounting plate 246 which is flat. Therefore, since the first link 242 to the fourth link 245 can rotate in a range of a predetermined angle, the display unit 20 connected to the other surface of the attachment plate 246 has a different configuration So that it is possible to rotate at an angle within a certain range. In FIG. 6, the arrow solid line indicates a square in which the first link 242 to the fourth link 245 are rotated.

The second coupling device 250 includes a second support plate 251 positioned below the first support plate 241 and coupled to the guide plate 210 and a second support plate 251 coupled to the second support plate 251 A third link 254 rotatably connected to the second support plate 251 at a position spaced apart from the first link 252 so as to be rotatable around the first link 252, A second link 253 rotatably connected to the first link 252 about a central axis thereof, a fourth link 255 rotatably connected to the third link 254 about a center axis thereof, And a second attachment plate 256 coupled to the link 253 and the fourth link 255 at spaced apart locations.

The connection relationship between the configuration and the configuration of the second coupling device 250 is the same as that of the first coupling device 240. Thus, the redundant description of the second coupling device 250 is based on the description of the first coupling device 240.

FIG. 7 is an enlarged view showing a connection relation between the guide unit and the slide guide of the guide robot according to the embodiment of the present invention, FIG. 8 is a view showing the combination of the opening unit and the insertion member of the guide robot according to the embodiment of the present invention 9 is a cross-sectional view showing a state in which the opening device of the guide robot and the insertion member are separated from each other according to the embodiment of the present invention.

As described above, the moving guide device 200 may further include an opening device 300 and an insertion member 351. Hereinafter, the engagement and disengagement relationship between the opening device 300 and the insertion member 351 will be described in detail.

7 to 9, the movement guide device 200 according to the embodiment of the present invention is mounted on the inner side surface of the second installation plate 65, and the inner side surface of the second installation plate 65 And may further include an opening device 300 extending from one point to the rear. The opening device 300 may be positioned below the slide guides 220 and 221.

The opening device 300 may include an insertion portion into which an insertion member 351 positioned on one surface of the guide plate 210 is inserted.

The opening device 300 may include an engaging member 315 that selectively engages the insertion member 351 during the insertion and extraction of the insertion member 351.

The insertion member 351 is provided on the front surface of the guide plate 210 facing the main body 10 and can be selectively coupled to the opening device 200.

The insertion member 351 includes a protrusion 351a inserted into the insertion portion and a rail connection portion 351b connecting the protrusion 351a to the guide plate 210. [ Here, the insertion member 351 may be defined as a part of the guide plate 210.

The rail connecting portion 351b has a shape extending forward from the guide plate 210 and the protruding portion 351a is coupled to one end of the rail connecting portion 351b. The protrusion 351a is spaced apart from the guide plate 210 by a predetermined distance.

The protruding portion 351a forms an opening end portion 351c which is open toward the front and in which the engaging member 315 is received. The latching member 315 forms a latching end 316 for latching the inner surface of the protrusion 351a. The latching members 315 may be spaced apart from each other.

The latching member 315 may be deformed in a direction in which the plurality of latching members 315 are brought close to each other in the process of being received in the protrusion 351a.

The latching end 316 may include a sloped surface so that the latching member 315 can be easily inserted into the opening end 351c. The inner surface of the projection 351a, which is engaged with the engagement end 316, has an inclined surface corresponding to the engagement end 316.

In the process of inserting the insertion member 351 into the opening device 300, the latching end 316 is inserted into the protrusion 351a while being guided along the opening end 351c. At this time, the plurality of engaging members 315 can be elastically deformed in a direction in which they are narrowed to each other.

When the latching member 315 is completely inserted into the protrusion 351a, the plurality of latching members are restored to the original direction and engaged with the inner surface of the protrusion 351a.

The opening device 300 is configured such that the pressing member 321 pressed by the insertion member 351 and the pressing member 321 are elastically moved in the process of moving the insertion member 351 backward The first elastic member 330 may include a first elastic member.

The pressing portion 321 and the first elastic member 330 may be provided on both sides of the opening device 300 at a plurality of positions.

The pressing portion 321 may include an inclined surface corresponding portion 321a which is inclined in one direction. The engaging member 315 forms at least a part of the engaging member 315 and the inclined surface 325 corresponding to the inclined surface corresponding portion 321a and the engaging member 315 can be elastically moved backward The second elastic member 340 may be provided. Here, the elastic modulus of the second elastic member 340 may be smaller than the elastic modulus of the first elastic member 330.

The operation of the insertion member 351 and the opening device 300 according to the above configuration will be briefly described.

When the display unit 20 is pushed forward to urge the engaging portion 22 of the display unit 20 into the engaging hole 32b, the guide plate 210 is moved along the slide guides 220 and 221 The insertion member 351 may be inserted into the interior of the opening device 300. In this case,

The latching member 351 is inserted into the protrusion 351a and the latching end 316 is engaged with the inner surface of the protrusion 351a. As a result, the guide plate 210 can be coupled to the slide guides 220 and 221, thereby fixing the guide plate 210 to the second mounting plate 65. Therefore, the engaging portion 22 of the display unit 20 can be retained in the inside of the coupling opening 32b.

Of course, one side of the coupling port 32b may be provided with a coupling unit such as a door catch, a magnetic latch, or the like. The coupling unit can be stably coupled to the display unit 20 and the main body 10 by coupling the coupling unit 22 and the coupling unit 32b with a magnet or a latch.

In a state where the insertion member 351 is coupled to the opening device 300, when the display unit 20 is pushed, the insertion member 351 can move backward, that is, in the direction in which the display is directed.

The insertion member 351 is moved while pressing the pressing portion 321, and the pressing portion 321 is moved backward. At this time, the first elastic member 330 is compressed.

As the pressing portion 321 is moved backward, the slope-corresponding portion 321a presses the slope 325.

In this process, a force applied to the inclined surface 325 in a rearward direction and a force applied in a direction to push down the plurality of engaging members 315 are applied. Therefore, the plurality of latching members 315 can be moved rearward while being deformed in a direction approaching each other.

The engaging end 316 is moved outwardly of the protrusion 351a while releasing the engagement with the protrusion 351a. At this time, the second elastic member 340 is compressed. When the pressing operation of the display unit 20 is stopped, the first elastic member 330 is restored to the original direction, and the pressing unit 321 pushes the protrusion 351a forward while being moved forward .

The protrusion 351a can be moved to the outside of the opening device 300 by the action of the pressing part 321 and can be separated from the opening device 300. [ As a result, the display unit 20 can be pulled backward by a predetermined distance.

When the display unit 20 is pulled, the engaging part 22 is separated from the engaging part 32b and the engaging part 22 is moved to the rear of the main body 10 together with the guide plate 210 Can be withdrawn.

That is, depending on the number of times the display unit 20 is pressed, the insertion member 351 and the opening device 300 can be selectively engaged. For example, the engaging portion 22 of the display unit 20 can be pulled into the main body 10 by a primary pressing action, and can be easily pulled out due to a secondary pressing action.

As a result, it is possible to solve the difficulty that the user has to apply a lot of force to draw out the display unit 20.

FIGS. 10 to 12 are rear perspective views showing a step of opening the display unit of the guide robot according to the embodiment of the present invention, and FIGS. 13 to 15 show a process of opening the display unit of the guide robot according to the embodiment of the present invention. It is a plan view showing stepwise from above.

10 shows a closed state in which the display unit 20 is integrally coupled to the main body 10 and FIG. 11 shows a state in which the display unit 20 is slid rearward by the guide plate 210. FIG. 12 shows a state in which the display unit 20 is rotated by the first coupling device 240 and the second coupling device 250 to open the main body 10 completely Fig.

FIG. 13 is a top view of the closed state of FIG. 10, FIG. 14 is a top view of the pulled state of FIG. 11, and FIG. 15 is a top view of the pivoting state of FIG.

10 to 15, an open operation or a close operation of the display unit 20 will be described in detail. As described above, the display unit 20 may perform an opening operation or a closing operation of opening and closing the engagement hole 32b, which is an opening of the main body 10.

The open operation means releasing the engagement between the display unit 20 and the main body 10 to open the engagement hole 32b.

The opening operation is started when the display unit 20 closes the engagement hole 32b of the main body 10.

The user can push the display unit 20 out of the engagement hole 32b of the main body 10. [ For example, when the user presses the display unit 20 forward, the insertion member 351 in the opening device 300 can be unlocked. The display unit 20 can be pulled backward, that is, outwardly of the coupling hole 32b by a certain distance due to the elastic force.

Thereafter, the user can pull the display unit 20 backward. The coupling device 240 or 250 connecting the coupling part 22 of the display 20 and the guide plate 210 of the moving guide device 200 may be provided with the pulling force to the display part 20, Pulling force can be transmitted. Therefore, the guide plate 210 can slide rearward. That is, the guide plate 210 can be drawn out from the coupling hole 32b according to the guide of the slide guide 220. [

When the guide plate 210 is pulled out from the coupling hole 32b to the maximum extent, the display unit 20 may be pulled out to the last room. This time may be called the pulled state of the display unit 20. [

Thereafter, the display unit 20 may be rotated clockwise or counterclockwise by the coupling devices 240 and 250. That is, the display unit 20 can be rotated at a predetermined angle through the rotation of the plurality of links 242.243, 244, 245, 252, 253, 254, and 255 provided in the coupling devices 240 and 250. Accordingly, the engagement hole 32b of the main body 10 can be completely opened according to the rotation of the display unit 20. [ It can be called an open state. In the open state, the open operation is terminated.

The closing operation means that the display unit 20 and the main body 10 are integrally coupled to close the coupling hole 32b.

The closing operation can be understood in the reverse order of the opening operation. Therefore, the closing operation starts in the open state. The user can rotate the coupling part 22 of the display part 20 in a reverse order so as to come to a position corresponding to the coupling hole 32b. At this time, the display unit 20 may be called a return to the normal position.

Thereafter, the user can push the display unit 20 forward. The guide plate 210 connected to the display 20 can slide forward toward the front by providing the user with a pushing force to the display unit 20. [ That is, the guide plate 210 can be inserted into the coupling hole 32b according to the guide of the slide guide 220. [

The main body 10 and the display unit 20 are separated from each other when the guide plate 210 is fully drawn into the engaging hole 32b and the lower surface of the engaging portion 22 is seated in the seating portion 32a. So as to form the closed state.

At this time, the insertion member 351 of the moving guide device 200 is pulled into the opening device 300 to be engaged. According to this, the display unit 200 can be stably fixed in the closed state. Then, the closing operation is ended.

The display unit 20 that opens and closes the coupling hole 32b of the main body 10 by the opening and closing operations performs a function of a door to the main body 10, Quot; door display unit " or " door-type display unit ".

FIG. 16 is a perspective view showing a part of the configuration of the guide robot according to the third embodiment of the present invention, FIG. 17 is an exploded view of FIG. 16, and FIG. 18 is a perspective view showing a part of the guide robot according to the third embodiment of the present invention And FIG. 19 is a perspective view showing a moving guide device of the guide robot according to the third embodiment of the present invention.

16 to 19, the guide robot according to the third embodiment of the present invention will be described in detail. The third embodiment differs from the first and second embodiments in that the display unit 20 can be easily detached or coupled from the moving guide device 200.

In the first and second embodiments, since the opening angle of the display unit 20 is small, only a part of the coupling hole 32b is opened, There is a problem that accessibility to access is somewhat low. However, according to the third embodiment, since the rotated display portion 20 can be easily separated or combined, it is possible to improve a poor accessibility to the main structure of the interior.

In the third embodiment, the description of the configuration overlapping with the first embodiment or the second embodiment contemplates the description of the first embodiment or the second embodiment.

The moving guide device 200 of the guide robot 1 according to the third embodiment of the present invention includes slide guides 220a and 221a coupled to the second mounting plate 65a, A first guide plate 210a coupled with the sliders 271 and 272, a stopper 270 restricting movement of the first guide plate 210a, and a second guide plate 210a And a second guide plate 210b connecting the display unit 20 and the second guide plate 210b.

In the third embodiment, the second mounting plate 65a is connected to one side of the main frames 62 and 63 and may have a vertical length corresponding to the vertical length of the guide plates 210a and 210b have. That is, the guide plates 210a and 210b may be formed to have a compact size corresponding to the sizes of the guide plates 210a and 210b.

The slide guides 220a and 221a may be coupled inward of the second mounting plate 65a. The slide guides 220a and 221a guide the first guide plate 210a through the movement of the sliders 271 and 272 so that the first guide plate 210a is extended can do. Here, the pull-out or pull-in direction can be understood as a back-and-forth direction.

A plurality of the slide guides 220a and 221a may be provided. The plurality of slide guides 220a and 221a may be spaced apart from each other in the vertical direction on the second mounting plate 65a. More specifically, the slide guides 220a and 221a include a first slide guide 220a coupled to the upper side of the second installation plate 65a and a second slide guide 220b coupled to the lower side of the second installation plate 65a. (Not shown).

The sliders 271 and 272 may slide along the extending direction of the slide guides 220a and 221a by inserting the slide guides 220a and 221a. The plurality of sliders 271 and 272 may be provided. More specifically, the sliders 271 and 272 include an upper slider 271 that slides along the extending direction of the first slide guide 220a, and a lower slider 272 that slides along the extending direction of the second slide guide 220b ). A plurality of the upper sliders 271 and the lower sliders 272 may be provided.

The sliders 271 and 272 may be inserted into the slide guides 220a and 221a at one side and fixedly coupled with the first guide plate 210a at the other side. Here, the sliders 271 and 272 may be slidably inserted by inserting the slide guides 220a and 221a in a direction in which the sliders 271 and 272 face the second mounting plate 65a.

The sliders 271 and 272 and the slide guides 220a and 221a may include a linear motion guide (LM guide).

The first guide plate 210a includes an upper slider coupling groove 273 coupled to the upper slider 271 in the direction of looking at the second mounting plate 65a and a lower slider coupled to the lower slider 272. [ Groove 274 as shown in FIG.

The upper slider coupling groove 273 may be positioned at the upper end of the first guide plate 210 and may correspond to the number of the upper sliders 271. The lower slider coupling groove 274 may be located at the lower end of the first guide plate 210 and may correspond to the number of the lower sliders 272.

The first guide plate 210a is drawn out to the outside of the coupling hole 32b by the linear movement of the sliders 271 and 272 coupled to the upper slider coupling groove 273 and the lower slider coupling groove 274, Lt; / RTI >

The second guide plate 65a may have a locking hole 66 formed at the center thereof. The latching hole 66 can be understood as a space in which the stopper 270 connected to the first guide plate 210a moves according to the drawing or drawing of the first guide plate 210a.

The first guide plate 210a may be formed in a 'C' shape to reduce weight. And the stopper 270 may be coupled to the recessed position.

The stopper 270 may be positioned at one side of the first guide plate 210a so as to move through the space of the latching hole 66 of the second mounting plate 65a. The stopper 270 may be moved depending on the linear movement of the first guide plate 210a in the forward and backward directions to move the latching hole 66.

The stopper 270 may be positioned at the front end of the first guide plate 210a so as to make contact with the rear end of the locking hole 66 at a maximum drawing distance of the first guide plate 210a. Therefore, the pull-out distance of the first guide plate 210a can be limited through the contact of the stopper 270.

This prevents the sliders 271 and 272 connecting the first guide plate 210a and the second mounting plate 65a from being detached from the slider guides 220a and 221a.

The first guide plate 210a may include a cut-off portion 275, a first assembly portion 276, and an insertion groove 276a which are in contact with the second guide plate 210b.

The cut-off portion 275, the first assembly portion 276 and the insertion groove 276a may be formed in the first guide plate 210a such that the second guide plate 210b is assembled and integrated with each other.

The cut-off portion 275 may be positioned at an upper end of the first guide plate 210a. In detail, the cut-off portion 275 may be formed by cutting a portion of the upper portion of the first guide plate 210a into an 'a' shape so that the upper portion of the second guide plate 210b is seated. For example, the cut-off portion 275 may be recessed vertically inward with respect to a vertex formed by a rear end portion and an upper end portion of the rectangular first guide plate 210a. The cut-off portion 275 may support the upper end of the second guide plate 210b from below.

The first assembly part 276 may be formed by recessing one side of the first guide plate 210a. In detail, the first assembly portion 276 may be formed as a depressed surface downward from the cut-off portion 275 to a point of the rear end of the first guide plate 210a.

That is, the first guide plate 210a may have a stepped surface such that the rear end located in the pull-out direction has a lower height than the front end which is the pull-in direction due to the first assembly portion 276. [ One surface of the first assembly portion 276 forming the step of the first guide plate 210a may be referred to as a first step surface.

The first assembly portion 276 may correspond to a second assembly portion 277 of a second guide plate 210b to be described later. That is, the first assembly portion 276 and the second assembly portion 277 may be formed so as to cooperate.

The first assembly portion 276 may abut and contact the second assembly portion 277 of the second guide plate 210b. At this time, one side of the first guide plate 210a may have a flat surface without a step by the contact between the first assembly portion 276 and the second assembly portion 277.

The first assembly part 276 and the second assembly part 277 may be coupled by a fixing member 280. The first guide plate 210a and the second guide plate 210b ) Can be combined.

The insertion groove 276a may be formed so as to extend downward from the first assembly portion 276 at a stepped surface. The stepped surface of the insertion groove 276a may have a width smaller than the width of the stepped surface of the first assembly portion 275. [

The insertion groove 276a may be formed to be stepped at a position spaced forward from the rear end of the first guide plate 210a. Accordingly, the first guide plate 210a may have an outer protrusion 276b at the rear end thereof.

The insertion groove 276a may be formed to correspond to a protrusion 277a of a second guide plate 210b to be described later. That is, the insertion groove 276a may be formed so as to fit the projection 277a of the second guide plate 210b.

The moving guide device 200 may further include a fixing member 280 coupling the first guide plate 210a and the second guide plate 210b.

The first assembly portion 276 may form a first fixture 278. The first fixture 278 can be understood as a position where the fixture member 280 for engaging the second guide plate 210b is inserted. The first fixtures 278 may be formed in plural numbers. The first fixing part 278 may be formed at a position corresponding to the second fixing part 279 of the second assembly part 277.

The fixing member 28 may be inserted into the first fixing part 278 and the second fixing part 279 to couple the first guide plate 210a and the second guide plate 210b.

The second guide plate 210b may be seated and supported so as to be in contact with the first assembly portion 276.

The second guide plate 210b may include a second assembly portion 277 and a protrusion 277a formed to correspond to the first assembly portion 276.

The second assembly portion 277 may be formed by recessing one surface of the second guide plate 210b from the front end to the rear end to one point. That is, one surface of the second plate 210b may have a step. Here, one surface of the second guide plate 210b may be understood as a surface contacting the first guide plate 210a.

One side of the second assembly portion 277 forming the step of the second guide plate 210b may be referred to as a second stepped surface. And the second stepped surface may be assembled to cooperate with the first stepped surface.

That is, the second assembly portion 277 may be formed to abut against the first assembly portion 276 and be formed to be formed.

The projecting portion 277a may be formed so that the stepped surface extends downward from the lower end of the second assembly portion 277. [ The stepped surface of the projecting portion 277a may have a width narrower than the width of the stepped surface of the second assembly portion 277. [

The stepped surface extended by the protrusion 277a may extend along the front end of the second guide plate 210b such that a groove 277b is formed inside the second guide plate 210b.

The inner groove 277b of the second guide plate 210b can be understood as a space into which the outer projection 276b of the first guide plate 210a is inserted.

In other words, the first guide plate 210a and the second guide plate 210b have a first assembly part 276 and a second assembly part 277 which are assembled and connected to each other. The second guide plate 210b may be mounted on the cut-off portion 275 of the first guide plate 210a.

The first guide plate 210a and the second guide plate 210b are provided with insertion grooves 276a and protrusions 277a in a corresponding shape in order to stably assemble the first guide plate 210a and the second guide plate 210b, An outer protrusion 276b of the second guide plate 210a and an inner groove 277b of the second guide plate 210b.

The first guide plate 210a and the second guide plate 210b are assembled together so that the second guide plate 210b coupled to the display unit 20 can be stably fixed and supported .

Particularly, since the second guide plate 210b is mounted on the upper side of the first guide plate 210a and inserted into the first assembly portion 276 to be assembled, The operator has the advantage that the display 20 can be stably supported and disassembled or assembled without applying a large force. Further, there is an advantage that it is possible to prevent the display 20 from dropping downward after the fixing member 280 is removed during the disassembling or assembling work.

The second guide plate 210b may be coupled to the first coupling device 240 and the second coupling device 250. The first coupling device 240 and the second coupling device 250 may be vertically spaced apart from one side of the second guide plate 210b. For example, the first coupling device 240 may be positioned on the upper end of the second guide plate 210b and the second coupling device 250 may be positioned on the lower end of the second guide plate 210b As shown in Fig.

The second guide plate 210b may be connected to the display unit 20 by the first and second coupling devices 240 and 250. The description of the first coupling device 240 and the second coupling device 260 is omitted from the description of the first and second embodiments.

20 to 22 are diagrams showing a step of separating the display unit of the guide robot according to the third embodiment of the present invention. The separation step of the display unit 20 will be described with reference to FIGS. 20 to 22. FIG.

In the third embodiment of the present invention, as in the first and second embodiments, the guide plates 210a and 210b are slid rearward and the display unit 20 is moved to the first coupling device 240 and the second coupling device 240 2 coupling device 250 to open the coupling hole 32b.

At this time, when the display unit 20 is drawn out to the maximum distance, the stopper 270 comes into contact with the rear end of the latching hole 66 of the second mounting plate 65a to prevent further drawing out.

The operator can access the internal configuration through the open coupling hole 32b. However, if the user needs to manage a large-sized configuration of the internal configuration or requires additional equipment for management, It is necessary to separate the display portion 20 when the operation is difficult with only the open coupling hole 32b.

At this time, the operator can manually unfasten the fastening member 280 that engages the first guide plate 210a and the second guide plate 210b.

The restraint of the first guide plate 210a and the second guide plate 210b disappears due to the disengagement of the fixing member 280 and the second guide plate 210b is disengaged from the first guide plate 210a As shown in Fig.

When the operator lifts the display unit 20 upward, the second assembly unit 277 can slide upward along the first assembly unit 276. The display unit 20, the first and second coupling units 240 and 250, and the second guide plate 210b may be separated from the first guide plate 210a.

In addition, after the operation is completed, the separated display unit 20 can be assembled in the reverse order of the above-described separation order, and then the engagement hole 32b can be closed again.

According to this, since the operator can easily separate or assemble the display unit 20, the convenience of the operation can be improved. That is, there is an advantage that the management of the guide robot 1 becomes convenient.

In addition, accessibility to the internal structure through the coupling hole 32b can be further improved through easy separation of the display unit 20. [

10: main body 20: display portion
50: head part 60:
100: traveling part 200: moving guide device

Claims (20)

A case in which a coupling hole is formed;
A body located inside the case; And
And a display unit connected to the main body and opening and closing the coupling hole,
The main body includes:
A running portion having a plurality of wheels and a support plate;
A body having a main frame and a plurality of boards extending upward from the support plate; And
And a head portion supported by the main frame.
The method according to claim 1,
The display unit includes:
display;
A display cover for receiving the display at a rear portion thereof;
And a coupling portion protruding from a front surface of the display cover.
3. The method of claim 2,
Wherein the display comprises a curved display,
Wherein the display cover is recessed to correspond to the curved surface display.
3. The method of claim 2,
And the coupling hole is opened and closed by the coupling portion.
5. The method of claim 4,
Wherein the case includes a seating portion formed below the coupling hole,
And the lower surface of the engaging portion is seated on the seating portion.
The method according to claim 1,
The body part
A mounting plate coupled to the main frame;
A slide guide disposed on the mounting plate;
A guide plate connected to the slide guide and slidingly moved; And
Further comprising a coupling device located at one side of the guide plate and engaged with the display unit.
The method according to claim 6,
The body part
An insertion member positioned on one side of the guide plate; And
Further comprising an opening device located on the mounting plate and engaging with the insertion member.
8. The method of claim 7,
Wherein the insertion member and the opening device are selectively engaged according to the number of times the display unit is pressed.
The method according to claim 6,
The coupling device includes:
A support plate coupled to the guide plate;
A first link rotatably connected to the first support plate;
A second link pivotally connected to the first link; And
And one end connected to the second link and the other end connected to the display unit.
10. The method of claim 9,
The coupling device includes:
A third link pivotally connected to the support plate and spaced apart from the first link; And
And a fourth link rotatably connected to the third link.
11. The method of claim 10,
Wherein the first link and the third link are formed in a rectangular shape having an open center,
Wherein a length of the first link is shorter than a length of the third link,
And the length of the second link is longer than the length of the fourth link.
The method according to claim 6,
The display unit includes:
Wherein the guiding plate slides forward and backward by the guide plate and rotates about the guide plate by the engaging device to open and close the engaging hole.
A driving unit having a plurality of wheels;
A body portion provided on the upper side of the traveling portion and having a movement guide device slidingly moved forward and backward;
A case formed with a coupling hole through which the body is exposed to cover the body part; And
And a door portion connected to the movement guide device and opening or closing the engagement hole.
14. The method of claim 13,
The door portion
display;
A display cover for receiving the display; And
And a coupling portion protruding from the display cover to open and close the coupling hole.
14. The method of claim 13,
Wherein the door unit is rotatably connected to the movement guide unit.
15. The method of claim 14,
Wherein the body further comprises a mounting plate on which a latching hole is formed for restricting the drawing of the movement guide device.
17. The method of claim 16,
The moving guide device includes:
A slide guide coupled to the mounting plate;
A slider which slides by inserting the slide guide; And
And a guide plate connected to the slider and movable forward and backward.
18. The method of claim 17,
Wherein the movement guide device further includes a stopper that contacts the engagement hole to restrict a pull-out distance.
18. The method of claim 17,
Wherein the guide plate comprises:
A first guide plate coupled to the slider; And
And a second guide plate inserted and connected to the first guide plate.
20. The method of claim 19,
And the second guide plate is connected to the door portion.

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