KR200496196Y1 - Indoor autonomous mobile robot controlled by rfid authentication - Google Patents

Abstract

The present invention is a self-driving robot that has a sensor installed to drive itself to a target point indoors while avoiding obstacles and safely delivers an item to a recipient, a storage unit for storing an item is provided therein so as to be opened and closed by a door, A main body unit in which a locking device is installed on the door and an electronic device having a display screen is installed thereon; a driving unit formed under the main body unit and driven by a driving means to enable indoor driving; an RFID recognition unit that is installed on the upper part of the main body and communicates with the RFID card storing the user's identification information when the user sends or receives an item and reads the user's identification information when the RFID card stores the user's identification information approaches within the recognition range; a communication unit for transmitting the identification information of the user recognized by the RFID recognition unit to the main server and receiving an authentication result of approval or rejection of the main server for the user's identification information; and control the driving means to move or return to the target point by avoiding the obstacle detected by the sensor, maintain or release the lock of the door lock according to the authentication result of the main server, and interlock control to display the authentication result on the display screen. Provided is an indoor self-driving robot capable of loading various types and types of items including a control unit for controlling RFID-certified interlocking.

Description

RFID-certified interlocking controlled indoor self-driving robot capable of loading various types and types of goods {INDOOR AUTONOMOUS MOBILE ROBOT CONTROLLED BY RFID AUTHENTICATION}

The present invention relates to an autonomous driving robot, and more specifically, a sensor is installed to avoid obstacles on its own while driving to a target point indoors to safely deliver an item to a recipient, and security and convenience are improved through authentication and history management using an RFID card. It is about enhanced self-driving robots.

In general, a robot is a machine that automatically processes or operates a given task based on an assigned ability, and is used in everyday life as well as industrial, medical, subsea, and space applications.

AGV (Autonomous Guided Vehicle) is a robot's self-driving technology. The robot moves along a planned path, the server monitors the robot's movement in real time, and it can plan and manage in advance to prevent the robot from colliding with obstacles or overlapping paths. have.

In this way, due to the recent development of self-driving technology, automatic control technology using sensors, and wireless communication technology, self-driving robots have been developed that can identify surrounding environments such as obstacles using sensors and efficiently cope with situations while driving. , These self-driving robots are already being used in hospitals, libraries, shopping malls, cafes, restaurants, hotels, public institutions, offices, research institutes, factories, and distribution centers.

In particular, medical institutions such as hospitals carry and deliver items such as blood and urine samples for examination and diagnosis, medicines, surgical tools, medical instruments, sanitary products, nursing products, and patient products to a specific location. Self-driving robots are being used.

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

Mapping includes a technology for creating a map of the surroundings of an autonomous robot while autonomously driving, or a technology for bringing in and managing a map that has already been produced. For example, SLAM (Simultaneous Localization And Mapping) for estimating the current location by making a map of the surrounding environment without external help with a sensor mounted on the robot while an autonomous robot navigates in an unknown environment or by matching the surrounding environment with a previously stored map. ) or CML (Concurrent Mapping and Localization) techniques may be applied.

Localization is a technique for the self-driving robot to recognize the surrounding environment and estimate its own position, and for example, GPS coordinates, sensing values of an inertial measurement unit (IMU), and SLAM technology may be applied.

Path planning is a technology for setting a path for autonomous driving of an autonomous robot, and various algorithms for finding a Rapidly-exploring Random Tree (RRT) path can be used.

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

For sensing, information required for mapping, localization, route planning, obstacle avoidance, etc. It is a technique to

Driving control is a technology that moves or moves an autonomous robot by controlling wheels, legs, arms, etc. installed in the autonomous robot to follow route planning, avoid obstacles, or deliver goods.

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

However, the above-described self-driving robot has a problem in that the product is exposed to the outside and may be contaminated, and even a person without permission to use the product can withdraw the product, resulting in the product being lost or difficult to maintain security.

In addition, when the conventional self-driving robot rotates or slides open the door after storing goods inside, the authentication method for unlocking the door is a password input type, so there is a risk of password exposure, and there is a risk of password exposure, There is an inconvenient problem of recording and history management according to handwritten input of transmission and reception information.

Republic of Korea Patent Registration No. 10-2213320 (2021.02.05. Publication)

The present invention has been devised to solve the above problems, and can safely transport and deliver goods to the right place at the right time without contamination by avoiding obstacles, security authentication of the user through RFID card recognition, and the door is interlocked according to the authentication result. It is controlled to open and close, so that only the person with the right to use the item can withdraw the item, preventing loss of the item, maintaining security for psychotropic drugs, etc. The purpose is to provide an indoor self-driving robot with RFID-certified interlocking control with convenient record and history management.

In order to solve the above problems, the present invention is a self-driving robot that has a sensor installed and avoids obstacles while traveling by itself to a target point indoors to safely deliver an item to a recipient, and a storage unit for storing the item is provided inside the door A main body portion formed to be opened and closed by, a locking device installed on the door, and an electronic device having a display screen installed thereon; a driving unit formed under the main body unit and driven by a driving means to allow indoor driving; an RFID recognition unit that is installed on the upper part of the main body and communicates with the RFID card storing the user's identification information when the user sends or receives an item and reads the user's identification information when the RFID card stores the user's identification information approaches within the recognition range; a communication unit for transmitting the identification information of the user recognized by the RFID recognition unit to the main server and receiving an authentication result of approval or rejection of the main server for the user's identification information; and control the driving means to move or return to the target point by avoiding the obstacle detected by the sensor, maintain or release the lock of the door lock according to the authentication result of the main server, and interlock control to display the authentication result on the display screen. Provided is an indoor self-driving robot capable of loading various types and types of items including a control unit for controlling RFID-certified interlocking.

According to the present invention, it is possible to safely transport and deliver goods to the right place at the right time without contamination by avoiding obstacles, security authentication of the user through RFID card recognition, and the door is interlocked and opened and closed according to the authentication result, so that the right to use the goods is Only those who have access to the product can withdraw the product, preventing the loss of the product, maintaining security for psychotropic drugs, etc., and automatically saving and updating the history information on the sending and receiving of the product on the server, so it is convenient to manage records and history. .

1 is a block diagram of the operation of an autonomous driving robot according to the present invention.
2 is a flowchart of user authentication of an autonomous robot according to the present invention.
3 is a diagram showing some screens in the authentication process of the main server according to the present invention.
4 is a state diagram of use when an RFID card is approved for an autonomous driving robot according to an embodiment of the present invention.
5A and 5B are perspective views of an autonomous driving robot according to an embodiment of the present invention, FIG. 5C is a front view of the autonomous driving robot according to the present invention, and FIG. 5D is a side view of the autonomous driving robot according to the present invention.
Figure 6a is a view showing a rotating opening and closing means of the upper door according to the present invention, Figures 6b and 6c are views showing a state in which the upper door according to the present invention is rotated and opened.
7a is a view showing the slide opening and closing means of the lower door according to the present invention, and FIGS. 7b and 7c are views showing a state in which the lower door according to the present invention is slid open.
8 is a view showing a detachable configuration of an open loading unit according to the present invention.
9a and 9b are pictures of an autonomous robot according to an embodiment of the present invention.

Hereinafter, with reference to the drawings, the specific contents for implementing the RFID-certified linked-controlled indoor self-driving robot capable of loading various types and types of goods according to the present invention will be described in detail, focusing on embodiments.

According to the present invention, the RFID interlocking controlled indoor self-driving robot (1) avoids obstacles using sensors in a hospital, etc. , By transporting items such as urine samples, medicines, surgical tools, medical instruments, sanitary products, nursing products, and patient products to safely deliver them to the user (receiver), the body part 100, the driving part 200, All or part of the RFID recognition unit 300, the communication unit 400, the open loading unit 500, the sensor 600, the control unit 700 and the main server 800 may be included.

In particular, the self-driving robot 1 according to the present invention security-authenticates the user through RFID card recognition, and according to the authentication result, the door is interlocked and opened and closed so that only those who have the right to use the product can withdraw the product. have.

To this end, referring to FIG. 1 , the main body portion 100 is provided with a storage portion 105 for storing goods therein, and is formed to be opened and closed by a door D, and a locking device 150 is installed on the door D. is installed, and an electronic device 140 having a display screen 141 is installed on the top.

The driving part 200 is formed under the main body part 100 and drives the wheel 210 by a driving means (not shown) so that indoor driving is achieved.

The RFID recognition unit 300 is installed on the upper part of the body unit 100, and when a user sends or receives an item, when the RFID card (C) storing the user's identification information approaches within the recognition range, communication is performed to obtain the user's identification information. It is read, and a unique code (ID) is read from the user's identification information. At this time, the RFID card (C) is manufactured in the form of a necklace so that each user can conveniently carry and use it.

Then, the identification information of the user recognized by the RFID recognition unit 300 is transmitted to the main server 800 through the communication unit 400 such as wifi to request authentication, and the main server 800 receives the received identification information of the user. By performing an authentication procedure for, it is determined whether the user's identification information is a person who has the right to use the product, and responds by deriving an authentication result of approval or rejection. Receive authentication result of approval or rejection.

The RFID card (C) includes an IC chip, an antenna coil, and a memory in which user's identification information such as a unique code is stored, and the RFID card (C) is recognized by the RFID recognition unit 300 such as a reader. When approaching within the range, energy is obtained from the radio waves transmitted by the RFID recognition unit 300, and the IC chip transmits the unique code of the memory to the RFID recognition unit 300. The unique code of the RFID card (C) is registered and stored in the read-only area of the memory when the card is manufactured, and the unique code stored in the read-only area can only be read and cannot be modified or changed.

In the conventional self-driving robot, the authentication method for unlocking the door when withdrawing goods requires inputting an ID or password through input means such as a keyboard or touch screen, so there is a risk of ID or password being exposed, which poses a problem in security reliability. There is, and the user has to input the ID or password through the input means, which is inconvenient for use.

However, referring to FIG. 2 , the self-driving robot 1 according to the present invention has the RFID recognition unit 300 installed in the body unit 100 to recognize the sender's or recipient's RFID card (C) when sending or receiving an item. When the user's identification information is read and read, it is transmitted to the main server 880 through the communication unit 400, and the main server 800 authenticates the user and determines that the user has the right to use, and when receiving the authentication result of approval, the control unit (700) unlocks the locking device (150) so that the door (D) can be opened, and when it is determined that the user is not authorized and receives an authentication result of refusal, the control unit 700 locks the locking device (150) Keeps the lock of the door (D) so that it cannot be opened, whereby the user is security-authenticated through RFID card recognition, and the door is interlocked and opened and closed according to the authentication result, so there is no risk of exposure of the password, and the use of the product Only authorized persons can bring in or withdraw articles, preventing loss of articles, and maintaining security for psychotropic drugs and the like. For example, the RFID recognition unit 300 may be installed above the main body unit 100 .

The communication unit 400 transmits the identification information of the user recognized by the RFID recognition unit 300 to the main server 800, and receives an authentication result of approval or rejection of the main server 800 for the user's identification information. .

Referring to FIG. 8 , the open loading part 500 has a cup groove 520 with an open upper side formed on the upper part of the body part 100 and a receiving groove 530 larger than the cup groove 520, so that various kinds of cups, etc. and can safely load and transport items in the form of At this time, the open loading part 500 is detachably coupled to the main body part 100 and can be selectively used as needed. To this end, one to a plurality of fastening pins ( 130) protrudes upward, and a pin groove 510 is formed at the lower part of the open loading part 500 so that the open loading part 500 can be detachably coupled to the body part 100.

The sensor 600 is installed in the self-driving robot 1 and detects an obstacle such as an unplanned object or person while the self-driving robot 1 autonomously travels along a path set according to a path plan, and sends the control unit 700 transmission, and the control unit 700 can safely transport and deliver the goods to the right place at the right time without contamination by controlling necessary for obstacle avoidance. Since the control using the sensor of the self-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 the locking device 150 of the door D according to the authentication result of the main server 800. Interlocking control is performed to maintain or release the lock and display the authentication result on the display screen 141 .

1 and 3, the main server 800 may be an external cloud server or a local server mounted inside the self-driving robot 1, and the user recognized by the RFID recognition unit 300 A reception unit 810 for receiving the identification information of the communication unit 400, a database 820 storing unique information of users having permission to use the product, and the read identification information of the user and the unique information of the users stored in the database A user authentication unit 830 that derives an authentication result of approval or rejection of door opening by performing a security authentication procedure that determines whether or not the opening of the door matches, and a history information storage in which history information about sending or receiving goods is stored. It may include a transmitter 850 that transmits the authentication result of the unit 840 and approval or rejection to the communication unit 400 . The main server 800 matches the received identification information of the user with the unique information of the users having the right to use, and responds with an authentication result of approval if they match, and responds with an authentication result of rejection if they do not match.

At this time, in the prior art, there was an inconvenience in that the sender and the recipient had to write in handwriting or on a PC the sending ledger and the receiving ledger for tracking and managing the goods, but the history information storage unit 840 of the main server 800 is an RFID card (C ) When recognizing, history information on transmission and reception of a specific item carried by the self-driving robot 1 is stored and managed, so history management can be performed automatically and conveniently using an RFID card. For example, the history may include the date and time of transmission, the date and time of reception, the sender, and the recipient.

Hereinafter, a detailed configuration of the self-driving robot 1 according to an embodiment of the present invention will be described as an example.

Referring to FIGS. 4A to 4D , the body portion 100 may be formed in a substantially round cylindrical shape, and the housing portion 105 provided inside the body portion 100 is provided in the upper and lower portions, respectively, of the upper storage portion 110. ) and the lower storage part 120 are formed, the upper storage part 110 is rotated and opened in the vertical direction so that the upper door 111 has a small rotation radius, and the lower storage part 120 has the lower door 121 It is opened and closed by sliding, and lighting is installed inside the body part 100 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 on the upper door 111, and the user manually opens and closes the handle 111a by holding the handle 111a. can do.

When the conventional left-right opening method or sliding method is used, a door the size (width) of the self-driving robot occupies one space when the door is opened, and there are many people coming in and out, and various medical equipment and tools are located, resulting in a cramped space. This amount of space occupies a significant proportion in the place, and due to this, there was a risk of injury and spatial restrictions due to door opening.

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 with the upper door 111, and the upper door 111 rotates forward and downward. Since it opens and closes by rotating toward the rear, the rotation radius and space occupancy of the upper door 111 are small, so that the upper door 111 can be opened and closed without interference even in a narrow space, thereby eliminating spatial restrictions and improving user convenience. It can be opened and closed safely without impacting surrounding objects or people.

To this end, referring to FIGS. 6A to 6C , the upper storage part 110 is installed with support plates 113 erected on both sides, and upper and lower links 114 and 115 are respectively placed on the upper and lower parts of the support plate 113. ) is rotatably fastened by a rotating pin. In the upper door 111, a fixing piece 111b is fixedly installed on the upper surface of the inner surface, and a support bar 116 is installed and fastened to the fixing piece 111b. (114) and each upper end of the lower link 115 are rotatably fastened by a rotating pin, so that when a user grabs the handle 111a from the outside and pulls the upper door 111 forward, the upper door 111 opens the upper link. 114 and the lower link 115 are rotated forward and downward, and when the user holds the handle 111a and pushes the upper door 111 rearward, the upper door 111 opens the upper link 114 and the lower link ( 115) is closed by rotation to the rear and upwards.

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 to be approximately "∧" ", and the lower link 115 has a middle portion convex downward to have a substantially "∨" shape, enabling smooth rotation in the vertical direction and reducing the radius of rotation.

In addition, a damper 117 is installed on the support plate 113 of the upper storage unit 110, and an end groove (not shown) is formed at the end of the rod 118 of the damper 117, and the upper door 111 When a part of the lower link 115 is inserted into the end groove when closing, the hydraulic pressure buffers the shock, reduces noise, and allows the upper door 111 to close slowly.

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

Referring to FIGS. 7A to 7C , in the lower storage part 120, the lower door 121 is slidably opened and closed, fixed rails 123 are fixedly installed on both sides, and the lower storage part is located above the fixed rail 123. A plate 122 is installed, a lower door 121 having a handle 121a is coupled to the front of the lower storage plate 122, and movable rails 124 are connected to both sides of the lower side of the lower storage plate 122. is slidably fastened along the fixed rail 123, a plurality of support pieces 125 are installed on the upper part of the lower storage plate 122, respectively, and a storage box capable of storing items inside the support piece 125 ( not shown) is installed while being fixedly supported.

For example, a locking device 150 is installed in the upper storage unit 110 to store items such as psychotropic medicines, specimens, and surgical tools that are not accessible to the general public and require security to be maintained, and the lower storage unit 120 ) will be able to store frequently used medical devices, sanitary products, and patient products.

The body part 100 has an electronic device 140 such as a tablet having a touch display screen 141 installed thereon to input information or display information, and to supply power therein, which can be charged. A battery (not shown) may be installed.

As a result, the indoor self-driving robot 1 with RFID authentication interlock control according to the present invention can safely transport and deliver goods to the right place at the right time without contamination by avoiding obstacles, security authentication of the user through RFID card recognition, and according to the authentication result Doors are interlocked to control opening and closing so that only the person with the right to use the item can withdraw the item, preventing loss of the item, maintaining security for psychotropic drugs, etc., and automatically sending and receiving history information to the server. It is stored and updated, so record and history management is convenient.

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 concept described in the claims of the present invention and achieves the same operational effect is included in the technical scope of the present invention.

1. Self-driving robot
100. Body part 105. Storage part
110. Upper compartment 111. Upper door
111a. handle 111b. fixed piece
112. Upper storage plate 113. Support plate
114. Upper link 115. Lower link
116. Support bar 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. Electronic device
141. Display screen 150. Lock
200. Driving part 210. Wheel
300. RFID recognition unit 400. Communication unit
500. Open loading part 510. Pin groove
520. Cup home 530. Receiving home
600. Sensor 700. Controller
800. Main server 810. Receiver
820. Database 830. User Authentication Unit
840. History information storage unit 850. Transmitting unit.
C. RFID card D. Door

Claims (7)

In the self-driving robot, which has a sensor installed and avoids obstacles, drives itself to a target point indoors and safely delivers an item to a receiver,
It is formed in a round cylinder shape, and an upper storage part and a lower storage part are formed therein, and a locking device is installed in the upper storage part, and the upper door is opened and closed by rotating in an up and down direction, and is divided into a plurality of compartments by an upper storage plate. It can be and a handle is installed, the lower storage unit slides open and close the lower door, the electronic device having a display screen is installed on the upper part, the main body portion with a fastening pin protruding upward on the upper surface; a driving unit formed under the main body unit and driven by a driving means to enable indoor driving; an RFID recognition unit that is installed on the upper part of the main body and communicates with the RFID card storing the user's identification information when the user sends or receives an item and reads the user's identification information when the RFID card stores the user's identification information approaches within the recognition range; a communication unit for transmitting the identification information of the user recognized by the RFID recognition unit to the main server and receiving an authentication result of approval or rejection of the main server for the user's identification information; An open loading unit that has an open space in the shape of a semicircle, has a cup groove with an open upper side and a receiving groove larger than the cup groove, and has a pin groove formed at the bottom so that it can be fastened with a fastening pin so that it is detachably coupled to the upper surface of the main body. ; and control the driving means to move or return to the target point by avoiding the obstacles detected by the sensor, maintain or release the lock of the upper door lock according to the authentication result of the main server, and interlock to display the authentication result on the display screen. Including a control unit for controlling,
The upper and lower links on both sides of the upper storage part are fastened to the upper door while being arranged on different vertical planes, so that the upper door rotates in the up and down direction to open and close, and support plates are erected and installed on both sides of the upper storage part. Each lower part of the upper link and the lower link is rotatably fastened to the lower part, a fixing piece is installed on the upper part of the inner surface of the upper door, and a support bar is installed and fastened to the fixing piece, and the upper link and the upper link are 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 part convex upwards, and the lower link has a middle part 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 the upper door is closed, a part of the lower link is inserted into the end groove to cushion the impact and reduce noise,
The locking device is composed of an electronic dead bolt that controls the locking and unlocking state of the upper door by supplying and shutting off power, and a lock assembly with a groove formed in which the dead bolt appears and retracts in the upper door is formed, and the main body part on the upper side of the upper door A dead bolt is formed in
When the identification information of the user recognized by the RFID recognition unit is transmitted to the main server through the communication unit, the history of transmission and reception of transported goods is automatically stored in the main server, and the history is the date and time of transmission, the date and time of reception, the sender, and the recipient. ego,
The lower storage unit includes a fixed rail installed on both sides, a lower storage plate installed above the fixed rail, a lower door coupled to the front of the lower storage plate and having handles, and a fixed rail connected to both sides of the lower storage plate. It includes a moving rail slidably fastened along, a support piece installed on both sides of the upper portion of the lower storage plate, and a storage box installed between the support pieces on both sides,
The main server performs a security authentication procedure that compares the identification information of the user recognized by the RFID recognition unit with the unique information of users with permission to use stored in the database, and determines whether the user has permission to use the product. An indoor self-driving robot with interlocking control with RFID authentication that can load various types and types of items, characterized in that it derives an authentication result of approval or rejection, and the control unit controls the locking device of the upper door according to the authentication result of the main server. .
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