KR200496080Y1 - Indoor autonomous mobile robot controlled by biometirc authentication - Google Patents

Abstract

The present invention relates to an autonomous driving robot that safely delivers goods to a recipient by autonomously driving to a target point indoors while avoiding obstacles with sensors installed. The housing unit includes a main body in which a locking device is installed, the upper door is rotated in the vertical direction to open and close, and the lower housing unit slides open and closes the lower door, and an electronic device having a display screen thereon is installed; a driving unit formed on a lower portion of the main body and driven by a driving means to perform indoor driving; a biometric information recognition unit installed in the body unit and recognizing the user's biometric information by means of biometric information recognition means; a wireless communication unit for transmitting the biometric information recognized by the biometric information recognition unit to the main server and receiving an authentication result of approval or rejection of the biometric information of the main server; and controlling the driving means to move or return to the target point by avoiding the obstacle detected by the sensor, and to maintain or release the lock of the upper door lock according to the authentication result of the main server, and to display the authentication result on the display screen. Provided is a biometric authentication interlocking control type indoor autonomous driving robot capable of loading various types and types of articles including a control unit to control the robot.

Description

Biometric authentication interlocking control type indoor autonomous driving robot capable of loading various types and shapes of goods {INDOOR AUTONOMOUS MOBILE ROBOT CONTROLLED BY BIOMETIRC AUTHENTICATION}

The present invention relates to an autonomous driving robot, and more particularly, to an autonomous driving robot having a sensor installed and driving to a target point indoors while avoiding obstacles by itself to safely deliver goods to a recipient.

In general, a robot is a machine that automatically processes or operates a given task according to its given ability.

AGV (Autonomous Guided Vehicle) is a robot's autonomous driving technology. The robot moves along a planned path, monitors the robot's movement in real time on the server, and it can be planned and managed in advance so that the robot does not collide with obstacles or overlap the path. have.

As such, due to the recent development of autonomous driving technology, automatic control technology using sensors, wireless communication technology, etc., an autonomous driving robot that can detect the surrounding environment such as obstacles using sensors and efficiently cope with the situation has been developed. , these autonomous robots are already being used in hospitals, libraries, shopping malls, cafes, restaurants, hotels, public institutions, offices, research institutes, factories, and distribution centers.

In particular, in medical institutions such as hospitals, samples such as blood and urine for examination and diagnosis, medicines, surgical tools, medical instruments, hygiene products, nursing supplies, patient supplies, etc. Self-driving robots are being used.

As basic technologies applied to such autonomous driving robots, there are technologies such as mapping, localization, route planning, obstacle avoidance, sensing and driving control.

Mapping includes technology for creating a map around the autonomous driving robot while autonomously driving, or technology for importing and managing a map that has already been created. For example, Simultaneous Localization And Mapping (SLAM) for estimating the current location by creating a map of the surrounding environment without external help with the sensor mounted on the robot as the autonomous driving robot moves around an unknown environment, or by matching the surrounding environment with a pre-stored map. ) or CML (Concurrent Mapping and Localization) can be applied.

Localization is a technology for the autonomous driving robot to recognize the surrounding environment and estimate its location, for example, GPS coordinates, a sensing value of an IMU (Inertial Measurement Unit), and technologies such as SLAM may be applied.

Path planning is a technology for setting a path for autonomous driving of an autonomous driving robot. For example, various algorithms for finding a RRT (Rapidly-Exploring Random Tree) path may be utilized.

Obstacle avoidance is a technology for avoiding obstacles such as unplanned objects or people while the autonomous driving robot is autonomously driving along a route set according to the route plan.

Sensing uses various sensors installed in autonomous driving robots such as ultrasonic sensors, lidar, IMU, GPS module, and camera to obtain and provide information required for mapping, localization, route planning, obstacle avoidance, etc. is a technique to

Drive control is a technology that moves or moves the autonomous driving robot by controlling the wheels, legs, and arms installed in the autonomous driving robot to follow the route plan, avoid obstacles, or deliver goods.

As a related art related to this, Patent Document 1 describes an autonomous driving robot for tasting service that recognizes the direction of travel or surrounding obstacles or customers and autonomously drives to provide customers with products to be sampled. The path and the obstacles located around it are located on the upper part of the autonomous driving unit and the autonomous driving unit including a detection sensor or camera that recognizes, and a moving unit that moves the robot to a customer to be tasted without colliding with the obstacle by the detection sensor or camera and a tasting table on which the product to be sampled is placed, and a hood installed to cover the tasting table, wherein the hood is opened when the robot is moved to the customer and the product to be sampled is provided to the customer. The robot is open.

However, the self-driving robot described above has problems in that the goods are exposed to the outside, which can cause contamination, and even a person who does not have the right to use the goods can withdraw the goods, so that the goods are lost or it is difficult to maintain security.

In addition, when the conventional autonomous driving robot rotates or slides open the door after storing goods therein, the rotation radius and space occupancy of the door are large, making it difficult to open the door in a narrow space, making it inconvenient to use and risk of injury due to opening and closing the door Since the authentication method for unlocking the door is a password input type, there is a risk of password exposure, and there is a problem in security for psychotropic drugs, etc. and inconvenient history management according to handwriting input of sending and receiving information.

Republic of Korea Patent Publication No. 10-2213320 (published on May 20, 2020)

The present invention has been devised to solve the above problems, it can avoid obstacles and safely transport and deliver goods in a timely and timely place without contamination, and the lighting is installed so that the goods can be easily identified and conspicuous, and the rotation of the door Because the radius and space occupancy are small, the door can be rotated open and closed without interference even in a narrow space, which eliminates spatial restrictions, enhances user convenience, and enables safe opening and closing. It is interlocked and controlled so that only those with the right to use the product can withdraw the product, preventing the loss of the product, maintaining the security of psychotropic drugs, etc. An object of the present invention is to provide a biometric authentication interlocking control type indoor autonomous driving robot that is equipped with an open and closed lower storage unit and an open loading unit having an open space to load various types and types of articles.

In order to solve the above problems, the present invention provides an autonomous driving robot that safely delivers goods to a recipient by autonomously driving to a target point indoors while avoiding obstacles in which a sensor is installed. a main body in which a receiving unit is formed, a locking device is installed in the upper receiving unit, the upper door is rotated in a vertical direction to open and close, and the lower receiving unit is a lower door slide open and close, and an electronic device having a display screen is installed thereon; a driving unit formed on a lower portion of the main body and driven by a driving means to perform indoor driving; a biometric information recognition unit installed in the body unit and recognizing the user's biometric information by means of biometric information recognition means; a wireless communication unit for transmitting the biometric information recognized by the biometric information recognition unit to the main server and receiving an authentication result of approval or rejection of the biometric information of the main server; and controlling the driving means to move or return to the target point by avoiding the obstacle detected by the sensor, and to maintain or release the lock of the upper door lock according to the authentication result of the main server, and to display the authentication result on the display screen. To provide a biometric authentication interlocking control type indoor autonomous driving robot capable of loading various types and types of articles, including a control unit to control it.

According to the present invention, it is possible to safely transport and deliver goods at the right time and place without contamination by avoiding obstacles, and the lighting is installed so that the goods can be easily identified and the turning radius and space occupancy of the door are small, even in a narrow space. The door can be rotated open and closed without interference to solve spatial restrictions, improve user convenience, and make safe opening and closing. Only those who have the goods can withdraw the goods to prevent the loss of goods, maintain the security of psychotropic drugs, etc., and the history of transported goods is automatically stored in the server for convenient history management It has an effect of being able to load various types and types of articles by providing an open loading unit with a

1A and 1B are perspective views of an autonomous driving robot according to the present invention, FIG. 1C is a front view of the autonomous driving robot according to the present invention, and FIG. 1D is a side view of the autonomous driving robot according to the present invention.
Figure 2a is a view showing the rotation opening and closing means of the upper door according to the present invention, Figures 2b and 2c is a view showing a state in which the upper door is rotated and opened according to the present invention.
3A is a view showing a slide opening/closing means of a lower view according to the present invention, and FIGS. 3B and 3C are views showing a slide-open state of the lower door according to the present invention.
4 is a block diagram of an operation of an autonomous driving robot according to the present invention.
5 is a view showing a detachable configuration of the open loading unit according to the present invention.
6A and 6B are photographs of an autonomous driving robot according to the present invention.

Hereinafter, with reference to the drawings, the specific contents for implementing the biometric authentication interlocking control type indoor autonomous driving robot capable of loading various types and types of articles according to the present invention will be described in detail focusing on the embodiment.

The biometric authentication interlocking control type indoor autonomous driving robot 1 according to the present invention avoids obstacles using sensors in hospitals, etc. It transports samples such as blood and urine, medicines, surgical tools, medical instruments, hygiene products, nursing supplies, patient supplies, etc. and safely delivers them to the user (recipient). , the biometric authentication unit 300 , the wireless communication unit 400 , the open loading unit 500 , the sensor 600 , the control unit 700 , and all or a part of the main server 800 .

Referring to FIGS. 1A to 1D , the body part 100 may be formed in a substantially round cylindrical shape, and an upper accommodating part 110 and a lower accommodating part 120 for accommodating articles are formed therein, and the upper water The payment 110 is rotated and opened in the vertical direction so that the upper door 111 has a small rotation radius, and the lower storage unit 120 is opened and closed by sliding the lower door 121, and the light inside the main body 100 is illuminated. It is installed so that it can be easily seen from the outside, and items can be easily checked when the door is opened.

The upper storage unit 110 may be divided into a plurality of compartments by the upper storage plate 112 , and a handle 111a is installed in the upper door 111 , and the user opens and closes manually by holding the handle 111a . can do.

When the conventional left-right or sliding door method is used, a door as large as the size (width) of an autonomous driving robot occupies one space when the door is opened. This amount of space occupies a significant portion in the place, and there is a risk of injury and space limitation due to the opening of the door.

However, in the present invention, the upper link 114 and the lower link 115 are provided together on both sides of the upper storage unit 110 to be fastened to the upper door 111, and the upper door 111 rotates toward the front lower side. Since it is opened and closed by rotating toward the rear upper side, the rotation radius and space occupancy of the upper door 111 are small, so that it is possible to open and close the upper door 111 without interference even in a narrow space, thereby solving spatial restrictions and enhancing user convenience. It can be opened and closed safely without impacting nearby objects or people.

To this end, referring to FIGS. 2A to 2C , the upper storage unit 110 has support plates 113 erected on both sides thereof, and an upper link 114 and a lower link 115 are installed on the upper and lower portions of the support plate 113, respectively. ), each lower end is rotatably fastened by a rotating pin. The upper door 111 has a fixed piece 111b fixedly installed on the upper inner surface thereof, a support bar 116 is installed and fastened to the fixed piece 111b, and an upper link is provided on the upper and lower portions of the support bar 116, respectively. Each upper end of the 114 and the lower link 115 is rotatably fastened by a rotating pin, and when the user holds the handle 111a from the outside and pulls the upper door 111 forward, the upper door 111 is the upper link. (114) and the lower link (115) is rotated open to the lower front, and when the user holds the handle (111a) and pushes the upper door (111) rearward, the upper door (111) is the upper link (114) and the lower link ( 115) through the rear upward rotation closed.

At this time, the upper link 114 and the lower link 115 are not disposed on the same vertical plane, but are disposed on different vertical planes to prevent interference, and the upper link 114 has a middle portion convex upwards, so that approximately "∧ " shape, and the lower link 115 is formed in a substantially "∨" shape with the middle part convex downward, enabling smooth rotation in the vertical direction and reducing the rotation radius.

In addition, a damper 117 is installed on the support plate 113 of the upper storage unit 110 , an end groove (not shown) is formed at an end of the rod 118 of the damper 117 , and an upper door 111 . When a part of the lower link 115 is inserted into the end groove when closing the , the shock is buffered by hydraulic action, the noise is reduced, and the upper door 111 can be closed gradually.

In addition, the upper storage unit 110 has a locking device 150 installed at the front upper portion to lock or unlock the upper door 111 by a signal from the control unit 700 . For example, the locking device 150 may be made of an electronic deadbolt that controls the locking and unlocking state of the upper door 111 by supplying or blocking power, and the deadbolt appears and protrudes from the upper door 111 as shown in FIG. 2B . A lock bundle having a groove formed therein is formed, and a dead bolt may be formed in the main body 100 above the upper door 111 as shown in FIG. 2C . For example, the closed state may be maintained when power is supplied to the locking device 150 by the electronic deadbolt, and the lock may be unlocked when the power to the locking device 150 is cut off.

Referring to FIGS. 3A to 3C , the lower accommodating part 120 has a lower door 121 that slides open and close, and fixed rails 123 are fixedly installed on both sides, and a lower storage is provided on the upper side of the fixed rail 123 . The plate 122 is installed, the lower door 121 having the handle 121a formed thereon is coupled to the front of the lower storage plate 122 , and the moving rails 124 are connected to both lower sides of the lower storage plate 122 . A storage box ( not shown) is installed while being fixedly supported.

For example, a locking device 150 is installed in the upper storage unit 110 to accommodate items such as psychotropic medicines, specimens, and surgical tools that are not allowed to access by the public and must be secured, and the lower storage unit 120 ) will be able to store frequently used medical devices, hygiene products, and patient supplies.

The main body 100 has an electronic device 140 such as a tablet having a display screen 141 installed thereon so that information can be input or information can be displayed, and a rechargeable battery ( not shown) may be installed.

The driving unit 200 is formed in the lower portion of the main body 100 and drives the wheels 210 by a driving means (not shown) such as a motor to make indoor driving.

The biometric information recognition unit 300 is installed in the body unit 100 to recognize the user's (receiver) biometric information by the biometric information recognition means. In this case, the biometric information recognition means may include a single or a plurality of functions selected from fingerprint authentication, facial authentication, iris authentication, and finger vein authentication. For example, as shown in FIG. 1A , the biometric information recognition unit 300 may be installed on the upper portion of the body unit 100 .

4, the biometric information recognized by the biometric information recognition unit 300 is encrypted and then transmitted to the main server 800 through the wireless communication unit 400 such as wifi to request authentication, and the main server 800 performs the authentication procedure for the received biometric information, determines whether the received biometric information is a person who has the right to use the product, derives the authentication result of approval or rejection, and responds with the autonomous driving robot, and the wireless communication unit 400 ) receives the authentication result of approval or rejection received from the main server 800 . For example, the main server 800 matches the received biometric information with the biometric information of a person having the right to use it, and responds with an authentication result of approval if they match, and responds with an authentication result of rejection if they do not match.

The open loading unit 500 has a cup groove 520 with an open upper side formed on the upper portion of the main body 100 and a receiving groove 530 larger than the cup groove 520 to safely store various types and types of articles such as cups. Can be loaded and transported.

At this time, referring to FIG. 5 , the open loading part 500 is detachably coupled to the body part 100 and can be selectively used as needed. A plurality of fastening pins 130 are formed to protrude upward, and a pin groove 510 is formed in the lower portion of the open stacking part 500 , so that the open stacking part 500 can be detachably coupled to the main body 100 . .

The sensor 600 is installed in the autonomous driving robot 1 to detect an obstacle such as an unplanned object or person while the autonomous driving robot 1 is autonomously driving along a path set according to the path plan, and is sent to the control unit 700. and the control unit 700 can safely transport and deliver the goods in a timely and timely place without contamination by controlling necessary for obstacle avoidance. Since such control using a sensor of the autonomous driving robot 1 is already known and widely applied, a detailed description thereof will be omitted.

The control unit 700 controls the driving means to move or return to the target point by avoiding the obstacle detected by the sensor 600 , and according to the authentication result of the main server 800 , the locking device 150 of the upper door 111 . ) to maintain or release the lock, and control interlocking to display the authentication result on the display screen 141 of the electronic device 140 .

Conventionally, the door was unlocked by touching the password on the screen mounted on the autonomous driving robot. There was an inconvenience in that the sender and the recipient had to enter the receipt book by hand or on a PC.

However, when sending or receiving an article, the biometric information authentication unit 300 recognizes the sender and the recipient's biometric information and transmits it to the main server 800 through the wireless communication unit 400, and authentication of approval from the main server 800 Upon receiving the result, the control unit 700 unlocks the locking device 150 so that the upper door 111 can be opened, and upon receiving the authentication result of rejection from the main server 800, the control unit 700 locks By maintaining the lock of the device 150, it is possible to control so that the upper door 111 cannot be opened. In this way, the user is authenticated through biometric information recognition, and the upper door is interlocked and controlled according to the authentication result, so that only those with the right to use the product can enter or withdraw the product, thereby preventing the loss of the product and providing security for psychotropic drugs. can keep

In addition, the history regarding the transmission and reception of the specific article carried by the autonomous driving robot 1 is stored in the main server, so that the history management can be performed automatically and conveniently. For example, the history may be a transmission date and time, a reception date and time, a sender, a recipient, and the like.

After all, the biometric authentication interlocking control type indoor autonomous driving robot 1 according to the present invention can safely transport and deliver goods at the right time and place without contamination by avoiding obstacles. , the turning radius and space occupancy of the door are small, so the door can be rotated open and closed without interference even in a narrow space, solving spatial restrictions, improving user convenience, and making safe opening and closing. In accordance with this, the door is interlocked and controlled so that only those with the right to use the product can withdraw the product, preventing the loss of the product, maintaining the security of psychotropic drugs, etc. It is convenient, and it is possible to load various types and types of articles by providing both a slide opening and closing lower storage part and an open loading part having an open space.

In the present invention, the above embodiment is an example, and the present invention is not limited thereto. Anything that has substantially the same configuration as the technical idea described in the claims of the present invention and achieves the same effect is included in the technical scope of the present invention.

1. Self-driving robot 100. Main body
110. Upper compartment 111. Upper door
111a. handle 111b. batten
112. Upper storage plate 113. Support plate
114. Upper link 115. Lower link
116. Jijibar 117. Damper
118. Rod 120. Lower compartment
121. Lower door 121a. handle
122. Lower storage plate 123. Fixed rail
124. Moving rail 125. Support piece
130. Fastening pin 140. Electronics
141. Display screen 150. Lock
200. Driving 210. Wheels
300. Biometric information recognition unit 400. Wireless communication unit
500. Open loading section 510. Pin groove
520. Cup groove 530. Receiving groove
600. Sensor 700. Control
800. Main Server

Claims (7)

In an autonomous driving robot that safely delivers goods to a recipient by autonomously driving to a target point indoors while avoiding obstacles with a sensor installed,
It is formed in a round cylindrical shape, and an upper storage part and a lower storage part are formed in which items are stored, and the upper storage part is equipped with a locking device, the upper door is rotated in the vertical direction to open and close, and is divided into a plurality of compartments by the upper storage plate a main body in which a handle is installed, the lower housing part slides open and closes the lower door, an electronic device having a display screen is installed on the upper part, and a fastening pin is formed on the upper surface to protrude upward;
a driving unit formed on a lower portion of the main body and driven by a driving means to perform indoor driving; a biometric information recognition unit installed on the upper part of the main body and recognizing the user's biometric information by means of biometric information recognition means; a wireless communication unit for transmitting the biometric information recognized by the biometric information recognition unit to the main server and receiving an authentication result of approval or rejection of the biometric information of the main server; It has an open space in a semicircular shape, a cup groove having an open upper side and a receiving groove larger than the cup groove are formed, and a pin groove is formed in the lower part to be fastened with a fastening pin, so an open loading part detachably coupled to the upper surface of the main body ; and controlling the driving means to move or return to the target point by avoiding the obstacle detected by the sensor, and to maintain or release the lock of the upper door lock according to the authentication result of the main server, and to display the authentication result on the display screen. Including a control unit to control,
The upper and lower links are arranged on different vertical surfaces on both sides of the upper storage unit and are engaged with the upper door to rotate and open and close the upper door in the vertical direction. Each lower end of the upper link and the lower link is rotatably fastened to the lower part, a fixed piece is installed on the upper inner surface of the upper door, and a support bar is installed and fastened to the fixed piece, and the upper link and the upper link are respectively attached to the upper and lower parts of the support bar. Each upper end of the lower link is rotatably fastened, the upper link has a middle portion convex upwards, and the lower link has a middle portion convex downwards, a damper is installed on the support plate, and an end groove at the end of the rod of the damper. is formed, and when a part of the lower link is inserted into the end groove when the upper door is closed, the shock is buffered and the noise is reduced,
The locking device is made of an electronic deadbolt that controls the locking and unlocking state of the upper door by supplying and blocking power, a locking bundle is formed in the upper door in which the deadbolt protrudes and protrudes, and the main body part on the upper side of the upper door A dead bolt is formed in
When the biometric information recognized by the biometric information recognition unit is transmitted to the main server through the wireless communication unit, the history of sending and receiving the transported goods is automatically stored in the main server, and the history is the sending date and time, the receiving date and time, the sender, and the recipient. ego,
The lower accommodating part includes a fixed rail installed on both sides, a lower accommodating plate installed on the upper side of the fixed rail, a lower door coupled to the front of the lower accommodating plate and having a handle, and a fixed rail connected to both lower sides of the lower accommodating plate. It includes a moving rail that is slidably fastened along the, support pieces installed on both upper sides of the lower storage plate, and a storage box installed between the support pieces on both sides,
The biometric information recognition means is a biometric authentication interlocking control type indoor autonomous driving robot capable of loading various types and types of articles including single or multiple functions selected from fingerprint authentication, facial authentication, iris authentication and finger vein authentication.


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