KR102581155B1 - Flying care robot system - Google Patents

Abstract

A flying care robot system is provided. The flying care robot system according to an embodiment of the present invention is installed at the corner of the area to be cared for and includes a support base with a winch built into the bottom, a first wire connected to the winch and operating in a horizontal direction to wind or unwind, and a first wire connected to the first wire. A rigging part that flies to a random position when the winch is driven, a second wire provided on the lower side of the rigging part that winds or unwinds in the vertical direction, and the position is moved in the horizontal and vertical directions through the first wire and the second wire. It includes a care robot that performs a specific task requested by the care recipient, and a control unit that communicates with and controls the support, rigging unit, and care robot.

Description

Flying care robot system

The present invention relates to a flying care robot system, and in particular, to a flying care robot system that can perform a specific task for patient care while flying in the air over a care target area by a wire driving method.

Recently, robots have been appearing to care for elderly people and patients with limited mobility. Demand for these care robots is increasing due to the advantage of being able to replace care workers. The main function of a care robot is to provide convenience to care recipients by autonomously driving within a specific area and performing specific tasks.

However, since conventional care robots are configured to travel on the floor, various objects installed in specific indoor spaces act as obstacles, resulting in many obstacles to driving depending on the operating space. Therefore, there is a need for a method to minimize driving obstacles caused by obstacles.

KR 10-2412945 B1

In order to solve the problems of the prior art as described above, an embodiment of the present invention seeks to provide a flying care robot system that can perform a specific task for patient care while flying in the air over the care target area by a wire driving method. do.

According to one aspect of the present invention for solving the above problem, a support bar installed at the corner of the care target area and having a winch built into the lower part; A first wire connected to the winch and wound or unwound in a horizontal direction; A rigging part coupled to the first wire and flying to a random position as the winch is driven; a second wire provided on the lower side of the rigging unit and operated to be wound or unwound in a vertical direction; a care robot that moves horizontally and vertically through the first wire and the second wire to perform a specific task requested by the care recipient; And a control unit that communicates with the support, the rigging unit, and the care robot to control each; a flying care robot system including a is provided.

In one embodiment, the support includes a base supported in at least two directions on the floor; A receiving portion provided on the upper side of the base to accommodate the winch; An extension part provided on the upper side of the receiving part and whose length is adjusted; an opening provided at the top of the extension part; and a pulley provided in the opening so that the first wire is discharged to the outside of the extension part.

In one embodiment, the rigging unit includes an upper body coupled to the first wire and having a hollow portion on the inside; A square frame provided in the hollow part; A universal joint coupled to the inside of the square frame to stabilize the shaking of the upper body; A coupler provided at a corner of the upper body to which the first wire is coupled; A lower body provided on the lower side of the upper body and having a built-in lifting motor that provides driving force for the second wire and a rotation motor that rotates with respect to the upper body; And a connection part connecting the universal joint and the lower body.

In one embodiment, the care robot includes a display unit; A sensor provided on the front of the display unit to recognize an object; a body provided on one side of the display unit to which the second wire is coupled; a count weight provided on the other side of the body and operating to maintain the balance of the body when adjusting the angle of the display unit; a support frame coupled to both sides of the body and provided on the lower side; and a gripper provided at the lower end of the support frame to perform the specific task.

In one embodiment, the gripper includes a camera gimbal, tiltable gripper, suction gripper, surveillance light, and speaker and is interchangeable.

In one embodiment, the flying care robot system may further include a hook provided on the lower side of the gripper to lift a hook attached to an object.

In one embodiment, the specific task may be to move to the location of the target object according to the request of the care recipient, pick up the target object, and provide it to the care recipient.

In one embodiment, the flying care robot system may further include a manipulation unit operated by the care recipient. Here, the manipulation unit may request the specific task of the care robot by communicating with the control unit.

In one embodiment, the support has a built-in power supply and can supply power to the care robot through the first wire.

In one embodiment, if the target object moved by the care robot is greater than or equal to a threshold, the control unit fixes the second wire and controls the object to rise by driving the first wire. .

The flying care robot system according to an embodiment of the present invention flies the care robot in the air using a wire drive method through a corner support, thereby improving usability by minimizing travel obstacles caused by obstacles placed in the care target area. You can do it.

In addition, the flying care robot system according to an embodiment of the present invention is located in the air and displays by adjusting the angle according to the position of the subject, so that the subject can comfortably watch the image even while lying down, thereby improving convenience.

In addition, the flying care robot system according to an embodiment of the present invention is installed with the support stand standing at the corner of the target area, making it easy to install due to its simple structure, thereby improving workability.

In addition, the flying care robot system according to an embodiment of the present invention is equipped with a sensor to recognize objects, so that the care recipient can easily find and deliver the desired object, thereby expanding the care mission.

In addition, the flying care robot system according to an embodiment of the present invention can provide physical assistance to patients by grabbing objects through grippers or hooks and moving them to the care recipient, thereby replacing care personnel.

In addition, the flying care robot system according to an embodiment of the present invention can stably elevate a heavy body by lifting the weight with a hook or raising it with a support, thus expanding the scope of application.

In addition, the flying care robot system according to an embodiment of the present invention has a power unit on the support and supplies power to the care robot through a cable, so that the care robot can be used continuously without charging, thereby improving the usage time.

In addition, the flying care robot system according to an embodiment of the present invention can be utilized in various ways according to the needs or characteristics of the care recipient by providing and exchanging grippers for specific purposes, thereby improving expandability.

1 is a configuration diagram of a flying care robot system according to an embodiment of the present invention.
Figure 2 is a schematic diagram of a flying care robot system according to an embodiment of the present invention.
Figure 3 is a top perspective view of the support of the flying care robot system according to an embodiment of the present invention.
Figure 4 is a perspective view showing the connection configuration between the rigging part of the flying care robot system and the care robot according to an embodiment of the present invention.
Figure 5 is a perspective view of the rigging part of the flying care robot system according to an embodiment of the present invention.
Figure 6 is a perspective view of an example of a care robot in a flying care robot system according to an embodiment of the present invention.
Figure 7 is a perspective view of another example of a care robot in a flying care robot system according to an embodiment of the present invention.
Figure 8 is a perspective view of another example of a care robot in a flying care robot system according to an embodiment of the present invention.

Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. The present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts not related to the description are omitted, and identical or similar components are given the same reference numerals throughout the specification.

Hereinafter, the flying care robot system according to an embodiment of the present invention will be described in more detail with reference to the drawings. Figure 1 is a configuration diagram of a flying care robot system according to an embodiment of the present invention, and Figure 2 is a schematic diagram of a flying care robot system according to an embodiment of the present invention.

Referring to Figures 1 and 2, the flying care robot system 100 according to an embodiment of the present invention includes a support 110, a first wire 120, a rigging part 130, a second wire 140, It may include a care robot 150, an operation unit 170, and a control unit 180.

The flying care robot system 100 is a system for providing convenience to care recipients by performing various missions. It flies in the air by hanging a robot capable of going up and down on a three-dimensional winch system and performs preset specific tasks to care for the recipient. It is a system for doing this. Here, the care recipient may be a person who mainly lives in bed, such as an elderly person or a patient with limited mobility. For example, the flying care robot system 100 may be a home care robot, but is not limited to this and may be a care robot system for use in a hospital room, silver town, or nursing home room.

This flying care robot system 100 may be an optimal system for viewing and condition care of indoor patients because the care robot 150 can permanently float in the air. At this time, the care robot 150 can perform the role of a companion based on AI through an emotional expression screen, a small projector, a gripper arm, a hook for moving a heavy body, an interactive speaker, etc. For example, the care robot 150 can provide simple physical assistance to the care recipient.

The support 110 may be installed at a corner of the area to be cared for. For example, the support 110 may be installed with four approximately square vertices. At this time, the support 110 may have a winch (not shown) built into the lower part. The winch (not shown) is for driving the first wire 120 and may be composed of a motor and a drum. In addition, the winch (not shown) is equipped with a torque sensor to detect whether there is an abnormal torque when the first wire 120 is driven, and can stop the entire operation when the abnormal torque is detected. This support 110 will be described in more detail with reference to FIG. 3 .

The first wire 120 is connected to a winch (not shown) built into the support 110 and can be wound or unwound in the horizontal direction. At this time, the first wire 120 may extend from each support 110 and be coupled to the rigging portion 130. Here, the first wire 120 can adjust the horizontal position of the rigging unit 130 by winding or unwinding the first wire 120 from a winch (not shown) of each support 110. For example, the first wire 120 may be wound around the support 110 on the side of the moving direction of the rigging unit 130 and unwound from the support 110 on the opposite side of the moving direction.

The rigging unit 130 is coupled to the first wire 120 and can be flown to an arbitrary position by driving a winch (not shown) built into the support 110. That is, the rigging unit 130 can fly in the space between the supports 110 by the first wire 120. In this specification, flying and flight are used with the same meaning. This rigging unit 130 will be described in more detail with reference to FIGS. 4 and 5 .

The second wire 140 is provided on the lower side of the rigging unit 130 and can be wound or unwound in the vertical direction. At this time, the second wire 140 may extend from the rigging part 130 and be coupled to the care robot 150. Here, the second wire 140 can adjust the vertical position of the care robot 150 by winding or unwinding from the rigging unit 130. That is, the second wire 140 allows the care robot 150 to move up and down. For example, the second wire 140 is released when the care robot 150 descends to pick up a target object or deliver an object to a care recipient, and the care robot 150 moves the target object or delivers the object to the care recipient. If it rises to its original position after delivering it, it may be wound up. The second wire 140 may be composed of three pieces to facilitate maintaining the balance of the care robot 150. At this time, the three second wires 140 may be arranged at an equal angle with the center as the starting point.

The care robot 150 can be moved horizontally and vertically through the first wire 120 and the second wire 140. That is, the care robot 150 can move between arbitrary positions in the three-dimensional space between the supports 110. At this time, the care robot 150 may perform a specific task requested by the care recipient. Here, the specific task may be to move to the location of the target object according to the request of the care recipient, pick up the target object, and provide it to the care recipient. For example, specific tasks may include carrying water to the person receiving care, finding and pointing out a specific object, and delivering medicine. At this time, the care robot 150 can be linked to the water cup dispenser and water purifier through IoT. Additionally, the care robot 150 may be linked to a medicine dispenser and IoT.

In addition, the care robot 150 expresses emotions or information through a screen, displays status through ear-shaped lighting, inputs and outputs voice through a speaker and microphone, or provides 3D information through a Time of Flight (ToF) sensor. It can be equipped with the function of determining the location of space. This care robot 150 will be described in more detail with reference to FIGS. 6 to 8 .

The manipulation unit 170 may be operated by the care recipient. At this time, the manipulation unit 170 may request a specific task of the care robot 150 by communicating wirelessly with the control unit 180. For example, the control unit 170 may be provided separately or may be used by installing an application (APP) on the care recipient's smartphone. The manipulation unit 170 may be equipped with conversation partner functions such as chat GPT (Generative Pre-trained Transformer) and TTS (Text-To-Speech). Alternatively, the manipulation unit 170 may also be provided through the display unit 151 of the care robot 150. In addition, various functions of the care robot 150 can be added by installing the application (APP).

The control unit 180 is communicatively connected to the support unit 110, the rigging unit 130, the care robot 150, and the manipulation unit 170 to control the overall operation of the flying care robot system 100. To this end, the support 110, the rigging unit 130, the care robot 150, the manipulation unit 170, and the control unit 180 may be provided with a wireless communication unit. In addition, of course, the support 110 and the control unit 180 may communicate by wire. At this time, the control unit 180 can control the flying care robot system 100 according to instructions from the operation unit 170 by the care recipient. For example, the control unit 180 may control a winch (not shown) of each support 110 to adjust the horizontal position of the rigging unit 130. Additionally, the control unit 180 may control the rigging unit 130 or the care robot 150 to raise and lower the care robot 150. Additionally, the control unit 180 may control the care robot 150 to perform its mission.

In this way, the flying care robot system 100 according to an embodiment of the present invention flies the care robot in the air using a wire drive method through a corner support, thereby minimizing travel obstacles caused by obstacles placed in the care target area. Therefore, usability can be improved.

Figure 3 is a top perspective view of the support of the flying care robot system according to an embodiment of the present invention.

Referring to FIGS. 1 and 3 , the support 110 may include a base 112, a receiving portion 114, an extension portion 116, an opening 118, and a pulley 119.

The base 112 may be supported on the floor in at least two directions. For example, the base 112 may include a straight bar configured at a right angle to maintain the balance of the support 110 installed upright. Of course, the base 112 can be supported in three directions to support the rear of the support 110. Here, the rear refers to the outer side of the area specified by the support 110.

The receiving portion 114 is provided on the upper side of the base 112 and can accommodate a winch (not shown). That is, the receiving portion 114 may be provided to have a specific volume to accommodate a winch (not shown). In addition, the receiving portion 114 can maintain the upright position of the support 110 by placing the center of gravity of the support 110 at the lower side.

The extension part 116 is provided on the upper side of the receiving part 114 and can be adjusted in length. For example, the extension 116 may be comprised of two frames 116a and 116b so that the second frame 116b is inserted into or extracted from the first frame 116a. That is, the length of the extension portion 116 can be adjusted by inserting the second frame 116b into the first frame 116a or extracting it from the first frame 116a. Of course, the extension portion 116 may be composed of three or more frames.

The extension portion 116 has a hollow portion inside so that the first wire 120 can be disposed. That is, the extension portion 116 may function as a passage through which the first wire 120 is connected to the winch (not shown) of the receiving portion 114.

The opening 118 may be provided at the top of the extension portion 116. That is, the opening 118 may be provided at the top of the second frame 116b. This opening 118 may function as an inlet passage for the first wire 120.

The pulley 119 is provided in the opening 118 so that the first wire 120 can be mounted thereon. That is, the first wire 120 may be mounted on the pulley 119 so that it is discharged to the outside of the extension portion 116. The pulley 119 reduces friction and facilitates winding and unwinding when the first wire 120 moves vertically in the extension part 116 and then changes its direction horizontally on the outside of the extension part 116. It can be rotated to

The flying care robot system 100 can be easily installed by setting the support stand 110 configured as described above at the corner of the care target area and then adjusting the length of the extension portion 116.

In this way, the flying care robot system 100 according to an embodiment of the present invention is installed with the support stand standing at the corner of the target area, making it easy to install due to its simple structure, thereby improving workability.

Meanwhile, the support 110 may have a built-in power supply unit (not shown). For example, the power supply unit (not shown) may be accommodated with a winch (not shown) in the receiving unit 114. At this time, the power supply unit (not shown) may supply power to the care robot 150 through the first wire 120. For example, the power supply unit (not shown) is connected to the care robot 150 through the first wire 120 extending from one of the supports 110 and the first wire 120 extending from the other one of the supports 110. Power can be supplied.

In this way, the flying care robot system 100 according to an embodiment of the present invention has a power unit on the support and supplies power to the care robot through a cable, so it can be used continuously without charging the care robot, thereby improving usage time. You can do it.

Figure 4 is a perspective view showing the connection configuration of the rigging part of the flying care robot system and the care robot according to an embodiment of the present invention, and Figure 5 is a perspective view of the rigging part of the flying care robot system according to an embodiment of the present invention.

Referring to Figures 4 and 5, the rigging part 130 includes an upper body 131, a square frame 132, a universal joint 133, a coupler 134, a lower body 135, and a connection part 136. It can be included.

The upper body 131 is provided in a substantially square shape and can be coupled to the first wire 120. At this time, each corner of the upper body 131 may be coupled to the first wire 120. Here, the upper body 131 may be provided in other shapes such as a circle, but a square shape is preferred to maintain balance by the first wire 120. The upper body 131 may be provided with a hollow portion on the inside. That is, the upper body 131 may be provided in the form of a square frame with a constant thickness.

The square frame 132 may be provided in the hollow portion of the upper body 131. This square frame 132 may be provided to support the universal joint 133.

The universal joint 133 is coupled to the inside of the square frame 132 to stabilize the shaking of the upper body 131. For example, the universal joint 133 may be provided to drive in three axes. This universal joint 133 can stabilize the care robot 150 according to the direction of gravity. That is, the universal joint 133 can attenuate the horizontal shaking movement of the upper body 131 as the care robot 150 moves in the horizontal direction.

Alternatively, the upper body 131 may be provided with a 3-axis encoder to receive input of the state of the care robot 150, and may be provided with a 3-axis motor to stabilize the shaking of the care robot 150 when ascending and descending.

The coupler 134 may be provided at a corner of the upper body 131. Here, the edges of the upper body 131 may be provided with chamfers. For example, the coupler 134 may be provided in a ball shape. In this case, the coupler 134 may rotate or move in any direction. As a result, the flow of the first wire 120 can be blocked from being transmitted to the upper body 131.

The lower body 135 is provided on the lower side of the upper body 131 and can be coupled through the connection portion 136. Additionally, the lower body 135 may be connected to the care robot 150 through the second wire 140. At this time, the lower body 135 may be equipped with a lifting motor (not shown) that provides driving force for the second wire 140 and a rotation motor (not shown) that rotates with respect to the upper body 131. That is, as shown in FIG. 4, the lower body 135 can rotate in the yaw direction with respect to the upper body 131 to adjust the screen direction of the care robot 150. In addition, the lower body 135 can adjust the altitude of the care robot 150 by driving the second wire 140 to raise and lower the care robot 150. In addition, the lower body 135 may be equipped with a reducer set along with the corresponding motor. Optionally, a motor and a reducer for raising and lowering the care robot 150 may be provided in the care robot 150. Here, because the lower body 135 rotates in the yaw direction, it may be provided in a circular shape differently from the upper body 131.

The connection portion 136 can connect the universal joint 133 and the lower body 135. The connection portion 136 may be formed as a straight bar. The connection portion 136 may function as a yaw direction rotation axis of the lower body 135.

Figure 6 is a perspective view of an example of a care robot in a flying care robot system according to an embodiment of the present invention.

Referring to FIG. 6, the care robot 150 includes a display unit 151, a sensor 152, a body 153, a count weight 154, a support frame 155, a gripper 156, and a hook 157. It can be included.

The display unit 151 corresponds to the face of the care robot 150 and can display information. That is, the display unit 151 may be provided overall in the shape of a character's face. For example, the display unit 151 may be a touch screen. In this case, a command for a specific task may be input to the display unit 151 by a touch of the care recipient. At this time, the display unit 151 may be equipped with a conversation function similar to the manipulation unit 170. The display unit 151 may be an Android-based interactive screen when the operation unit 170 is configured as a smartphone.

The sensor 152 is provided on the front of the display unit 151 and can recognize objects. For example, sensor 152 may be a vision sensor or a depth sensor. When the flying care robot system 100 is first installed and the care robot 150 scans the space between the supports 110, the sensor 152 can recognize an object. That is, the care robot 150 can perform AI object recognition, person recognition, pose recognition, and facial expression recognition through the sensor 152.

In this way, the flying care robot system 100 according to an embodiment of the present invention is equipped with a sensor to recognize objects, so that the care recipient can easily find and deliver the desired object, thereby expanding the care mission.

The body 153 corresponds to the body of the care robot 150 and may be provided on one side of the display unit 151. The body 153 may be coupled to the second wire 140. The body 153 may have a built-in motor so that the display unit 151 rotates at various angles. That is, the body 153 can adjust the angle of the display unit 151 disposed on the front.

The count weight 154 corresponds to the tail of the care robot 150 and may be provided on the other side of the body 153. That is, the countweight 154 may be provided on the opposite side of the display unit 151. At this time, the count weight 154 may operate to maintain the balance of the body 153 when adjusting the angle of the display unit 151. For example, when the angle of the display unit 151 is adjusted to face downward, the count weight 154 may move to the upper side of the body 153 to maintain the balance of the body 153. That is, the countweight 154 can perform an automatic counter balancing function according to the operation of the display unit 151.

The support frame 155 may be coupled to both sides of the body 153. For example, the support frame 155 may be provided in an overall 'ㄷ' shape, and both ends may be coupled to the body 153 and provided on the lower side of the body 153. The support frame 155 may be a means for connecting the gripper 156 to the body 153.

The gripper 156 may be provided on the lower side of the support frame 155. The gripper 156 is intended to perform a specific mission of the care robot 150, and may be provided in various ways depending on the specific mission. For example, the gripper 156 may be formed in a 'ㄷ' shape so that it can lift the water cup by being in close contact with the left and right sides of the water cup. As another example, the gripper 156 may include a camera gimbal, an angle-bending gripper, a suction gripper, a surveillance light, and a speaker. At this time, the gripper 156 can be exchanged depending on the specific mission.

In this way, the flying care robot system 100 according to an embodiment of the present invention can be utilized in various ways according to the needs or characteristics of the care recipient by providing and exchanging grippers for specific purposes, thereby improving expandability. .

The hook 157 may be provided on the lower side of the gripper 156. At this time, the hook 157 may be coupled to the support frame 155. The hook 157 is used to move relatively heavy objects that are difficult to move with the gripper 156, and can lift a hook attached to an object.

Figure 7 is a perspective view of another example of a care robot in a flying care robot system according to an embodiment of the present invention, and Figure 8 is a perspective view of another example of a care robot in a flying care robot system according to an embodiment of the present invention.

Referring to FIG. 7, the care robot 160 may be equipped with a camera gimbal 166. Here, the display unit 161, sensor 162, body 163, count weight 164, and support frame 165 are the same as those of the care robot 150 of FIG. 6, so detailed descriptions are omitted. At this time, the care robot 160 can take selfies or take pictures for Internet broadcasting.

Referring to FIG. 8, the care robot 160a may be provided with a gripper 166a in a different form from that of FIG. 6. These grippers 166a may be interchangeable. Here, as described above, the care robot 160a may be tilted downward so that the display unit 161 faces the person receiving care. At this time, the count weight 164 may move upward to balance the body 163.

In this way, the flying care robot system 100 according to an embodiment of the present invention is located in the air and displays by adjusting the angle according to the position of the subject, thereby improving convenience because the subject can comfortably watch the image even while lying down. You can do it.

Meanwhile, if the target object to be moved by the care robot 150 is greater than or equal to the threshold, the control unit 180 fixes the second wire 140 and raises the target object by driving the first wire 120. You can control it. That is, normally, the first wire 120 operates in the horizontal direction of the Since the torque on the wire 140 is weak, normal operation may be difficult. In this case, the control unit 180 may fix the driving of the second wire 140 and control the weight to rise by driving the four first wires 120 through the support 110.

In this way, the flying care robot system 100 according to an embodiment of the present invention can stably raise a heavy body by lifting it with a hook or raising it with a support, and thus can expand its application target.

Hereinafter, the operation of the flying care robot system 100 according to an embodiment of the present invention will be described.

First, as shown in Figure 1, four supports 110 are installed at the corners of the area to be cared for. Thereafter, the care robot 150 can scan the space through the sensor 152 while flying over the care target area through 3D flight in the space between the supports 110. Through this, the care robot 150 can automatically generate an operable range in three-dimensional space.

Next, the specific task performed by the care robot 150 can be defined. At this time, the care robot 150 can prepare for interworking with corresponding devices to perform a specific mission. For example, the care robot 150 may be linked to a medicine dispenser and IoT. At this time, the care robot 150 can recognize the location of the medicine dispenser.

Next, when the care recipient requests a desired task from the care robot 150 using the control unit 170 or his/her smartphone, the care robot 150 can perform the task according to the requested task. Optionally, the care recipient may request a mission through the display unit 151 of the care robot 150. Additionally, the care recipient can request a task from the care robot 150 by voice. In other words, the care robot 150 can recognize the voice of the care recipient and execute commands.

At this time, the control unit 180 may control the winch (not shown) of the support 110 so that the care robot 150 moves to a position related to the corresponding mission. For example, the care robot 150 moves horizontally to the position of the medicine-only dispenser according to the driving of the first wire 120, then descends to the medicine discharge port of the medicine-only dispenser according to the driving of the second wire 140, and dispenses medicine. A dedicated dispenser can be requested to dispense medication.

Next, the care robot 150 catches the target object related to the task, rises according to the driving of the second wire 140, and then flies to move horizontally to the location of the care recipient according to the driving of the first wire 120. You can.

Next, the care robot 150 moves to the upper side of the bed where the care recipient is located, and then descends to the position where the care recipient lies down according to the driving of the second wire 140 to deliver medicine to the care recipient.

In this way, the flying care robot system 100 according to an embodiment of the present invention can provide physical assistance to patients by grabbing objects through grippers or hooks and moving them to the care recipient, thereby replacing care personnel.

Although an embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiment presented in the present specification, and those skilled in the art who understand the spirit of the present invention can add components within the scope of the same spirit. , other embodiments can be easily proposed by change, deletion, addition, etc., but this will also be said to be within the scope of the present invention.

100: Flying Care Robot System
110: support 120: first wire
130: Rigging part 140: Second wire
150, 160: Care robot 170: Control unit
180: control unit

Claims (10)

A support bar installed at the corner of the area to be cared for and having a winch built into the lower part;
A first wire connected to the winch and wound or unwound in a horizontal direction;
A rigging part coupled to the first wire and flying to a random position as the winch is driven;
a second wire provided on the lower side of the rigging unit and operated to be wound or unwound in a vertical direction;
a care robot that moves horizontally and vertically through the first wire and the second wire to perform a specific task requested by the care recipient; and
a control unit that communicates with and controls the support, the rigging unit, and the care robot;
A flying care robot system including. According to paragraph 1,
The support is,
a base supported on the floor in at least two directions;
A receiving portion provided on the upper side of the base to accommodate the winch;
An extension part provided on the upper side of the receiving part and whose length is adjusted;
an opening provided at the top of the extension part; and
a pulley provided in the opening and mounted to discharge the first wire to the outside of the extension portion;
A flying care robot system including. According to paragraph 1,
The rigging part,
An upper body coupled to the first wire and having a hollow portion on the inside;
A square frame provided in the hollow part;
A universal joint coupled to the inside of the square frame to stabilize the shaking of the upper body;
A coupler provided at a corner of the upper body to which the first wire is coupled;
A lower body provided on the lower side of the upper body and having a built-in lifting motor that provides driving force for the second wire and a rotation motor that rotates with respect to the upper body; and
A connecting portion connecting the universal joint and the lower body;
A flying care robot system including. According to paragraph 1,
The care robot is,
display unit;
A sensor provided on the front of the display unit to recognize an object;
a body provided on one side of the display unit to which the second wire is coupled;
a count weight provided on the other side of the body and operating to maintain the balance of the body when adjusting the angle of the display unit;
a support frame coupled to both sides of the body and provided on the lower side; and
A gripper provided on a lower side of the support frame to perform the specific task;
A flying care robot system including. According to paragraph 4,
The gripper is an interchangeable flying care robot system that includes a camera gimbal, an angle-bending gripper, a suction gripper, a surveillance light, and a speaker. According to paragraph 4,
A flying care robot system further comprising a hook provided on the lower side of the gripper to lift a hook attached to a target object. According to paragraph 4,
The specific task is to move to the location of the target object according to the request of the care recipient, pick up the target object, and provide it to the care recipient. According to paragraph 1,
It further includes a control unit operated by the care recipient,
A flying care robot system in which the manipulation unit communicates with the control unit to request the specific task of the care robot. According to paragraph 1,
The support has a built-in power supply,
A flying care robot system that supplies power to the care robot through the first wire. According to paragraph 1,
A flying care robot system wherein the control unit fixes the second wire and controls the object to be raised by driving the first wire when the object moved by the care robot is greater than a threshold value.

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