KR20230001457A - Autonomous driving intravenous pole - Google Patents

Abstract

The present invention relates to an autonomous driving intravenous pole which automatically tracks a user and follows the walking of the user. The autonomous driving intravenous pole includes: an intravenous pole rod; a sensor unit detecting the location of the user; and a driving unit tracking the user along the ground surface based on the location. The sensor unit includes: a camera sensor which detects the location of the user by recognizing a marker attached to the user; and a lidar sensor which detects the location of the user based on location coordinates of the marker most recently recognized by the camera sensor, when the camera sensor does not recognize the marker.

Description

Autonomous driving intravenous pole}

The present invention relates to an autonomous driving ringer cradle, and more specifically, to an autonomous driving ringer cradle that tracks a user by itself and follows the walking.

Ringer's refers to a substitute for bodily fluids with osmotic pressure, inorganic salt composition, and hydrogen ion concentration at the same level as serum. Most of the IVs are injected into the patient's body while installed on the IV holder.

In order to continuously inject the IV, the IV holder should be moved along with the patient's movement. Conventional Ringer's holder is driven manually by the patient's external force. Accordingly, the burden of movement of the patient may be increased. In particular, in the case of the elderly and young children, there is difficulty in towing the ringer holder by themselves, so there may be cases in which guardians or nursing personnel are required. In addition, since the patient has to hold at least one hand on the ringer holder, the patient's discomfort is also increased.

In order to solve this inconvenience, autonomous driving of the ringer holder may be considered. However, there is a possibility that the reliability of the conventional self-driving ringer cradle may not be sufficient in detecting the user's position and obstacles.

Accordingly, the development of a self-driving ringer cradle with increased safety of autonomous driving and improved reliability in detecting the user's location and obstacles can be considered.

Korean Patent Publication No. 10-2020-0077791 discloses an automatic tracking smart ringer hanger. Specifically, an automatic tracking smart ringer ring that can determine the location of a patient using an ultrasonic sensor and GPS is disclosed.

However, there is a possibility that this type of ringer hanger consumes excessive power cut by GPS. In addition, if the ultrasonic sensor cannot track the patient, other types of sensors capable of supplementing this are not disclosed.

Japanese Laid-open Patent Publication No. 1996-166822 discloses a user tracking type mobile robot device. Specifically, a mobile robot device capable of tracking a user by an infrared source and a light receiving sensor is disclosed.

However, this type of mobile robot device relies on an infrared source to detect the user's driving. Therefore, there is a possibility that the user's driving may not be stably detected.

Korean Patent Publication No. 10-2020-0077791 (2020.07.01.) Japanese Unexamined Patent Publication No. 1996-166822 (1996.06.25.)

One object of the present invention is to provide a self-driving ringer cradle that tracks a user by itself and follows walking.

Another object of the present invention is to provide a self-driving ringer cradle in which a camera sensor, a lidar sensor, and an ultrasonic sensor complement each other and detect user positions and obstacles.

Another object of the present invention is to provide a self-driving ringer cradle in which the position of the camera sensor can be adjusted according to the user's body condition.

Another object of the present invention is to provide an autonomous driving ringer cradle that can be easily converted to a manual or autonomous driving mode depending on the use environment.

Another object of the present invention is to provide a self-driving ringer cradle that can be easily accompanied by a user even in a place where it is difficult to enter an intravenous cradle.

Another object of the present invention is to provide an autonomous driving ringer cradle that can prevent the problem of the ringer supply line falling to the ground.

Another object of the present invention is to provide a self-driving ringer cradle in which an existing ringer rod can be recycled.

In order to achieve the above object, the Ringer holder according to an embodiment of the present invention, the Ringer rod extending in one direction; a sensor unit for detecting a user's location; And a camera sensor that is detachably coupled to the lower end of the Ringer rod and tracks the user along the ground based on the location, wherein the sensor unit recognizes a marker attached to the user and detects the user's location; and a lidar sensor for detecting a location of the user based on the location coordinates of the marker most recently recognized by the camera sensor when the camera sensor does not recognize the marker.

In addition, the camera sensor and lidar sensor may observe the front side, left side, right side, upper side, and lower side based on the forward direction of the driving unit, and detect the position of the user and the obstacle.

In addition, the driving unit may stop driving when the camera sensor and the LIDAR sensor fail to detect the user's location or detect an obstacle located on the front side of the driving unit.

In addition, the sensor unit may include an abnormal signal output unit that transmits a signal to the outside when the movement of the driving unit is stopped.

In addition, when the driving unit reverses in a direction opposite to the existing walking direction, the user moves backward in a direction opposite to the existing driving direction, and the sensor unit observes the rear side of the traveling unit when the driving unit moves backward. An ultrasonic sensor for detecting an obstacle may be included.

In addition, when the ultrasonic sensor detects an obstacle located on the rear side of the traveling unit, the traveling unit may stop traveling in reverse.

In addition, the sensor unit may include an abnormal signal output unit that transmits a signal to the outside when the reverse driving of the driving unit is stopped.

In addition, when the camera sensor recognizes a marker in a state in which the user's position is detected based on the image generated by the lidar sensor, the user position detection mode is the detection mode of the camera sensor in the detection mode by the lidar sensor. It can be converted to sensing mode by

In addition, the driving unit may include a motor plate formed in a plate shape; a motor disposed adjacent to the motor plate on one side and supported by the motor plate; A wheel that is coupled to the motor and travels along the ground when rotating; a cover in which a space for accommodating the motor and the wheel is formed; and a lever coupled to one side of the cover and rotatable with respect to the cover by an external force, one end of the lever being connected to one end of the motor plate when rotating in a direction away from the ground The motor plate may be rotated in a direction away from the ground.

In addition, the lever is formed in a plate shape, the pedal located outside the cover; And a lever rod connected to the pedal and extending toward the motor plate, wherein one end of the lever rod is connected to the one end of the motor plate when rotated in a direction away from the ground to lift the motor plate to the ground. can be rotated in a direction away from

In addition, the driving part includes a clutch part formed on the one end of the lever rod and the one end of the motor plate, respectively, and the clutch part is curved in a direction opposite to the ground from the one end of the lever rod lever hook extending; And a plate hook that is curved and extended from the one end of the motor plate in a direction toward the ground, and rotates in a direction away from the ground while engaging with the lever hook when the lever hook rotates in a direction away from the ground.

In addition, the plate hook may be separated from the lever hook and rotated in a direction toward the ground when the lever hook rotates toward the ground.

In addition, the camera sensor may be fixed to a camera bracket installed on an outer circumferential surface of the Ringer rod.

In addition, the camera bracket, the installation height and the angle with the ringer rod can be arbitrarily adjusted according to the use environment.

In addition, at one end of the Ringer rod, a ring portion passing through in a direction different from the one direction may be formed.

In addition, the Ringer rod may be stored while a portion of the Ringer supply line is wound around the outer circumferential surface, and is provided with a Ringer winding portion positioned lower than the Ringer installation portion, and the Ringer winding portion is different from the one direction on the outer circumferential surface of the Ringer rod. supports extending in the direction; A support plate formed in a plate shape extending in a direction parallel to the ground and coupled to one end of the support opposite to the outer circumferential surface of the Ringer rod; A winding column formed in a column shape extending in a direction away from the ground from one surface of the support plate, and a portion of the Ringer supply line is wound around an outer circumferential surface; And a ringer go that extends radially outward from one end of the winding column and comes into contact with the part of the ringer supply line to bring the ringer supply line into close contact with the support plate and prevent any separation of the ringer supply line. may include government.

Among the various effects of the present invention, effects that can be obtained through the above-described solution are as follows.

First, the driving part is coupled to the lower end of the ringer rod. The driving unit tracks the user along the ground based on the user's position detected by the sensor unit and follows the gait.

Therefore, even if the user does not directly drag the ringer cradle, the linger cradle can track the user by itself and follow the gait. Accordingly, since the user can freely use both hands, the user's convenience can be increased. Furthermore, the problem of lack of medical personnel can be solved, and the quality of medical service can be improved.

In addition, the sensor unit includes a camera sensor, a lidar sensor, and an ultrasonic sensor. The camera sensor detects the user's position by recognizing the marker attached to the user. When the camera sensor does not recognize the marker, the lidar sensor detects the user's location based on the location coordinates of the marker most recently recognized by the camera sensor. The ultrasonic sensor detects an obstacle by observing the rear side of the driving unit when the driving unit moves backward.

Accordingly, the camera sensor, the lidar sensor, and the ultrasonic sensor complement each other to detect the user's location and obstacles. Accordingly, safety of autonomous driving may be increased and driving reliability may be improved.

In addition, the camera sensor is fixed to a camera bracket installed on the outer circumferential surface of the ringer rod. The installation height of the camera bracket may be adjusted by the position adjusting unit of the Ringer rod, and the angle of the Ringer rod may also be arbitrarily adjusted.

Accordingly, the position of the camera sensor may be adjusted according to the user's physical condition. Accordingly, deviation of location tracking reliability according to the user's physical condition may be further reduced.

In addition, one end of the lever of the driving part is connected to one end of the motor plate supporting the lower side of the motor. When the one end of the lever is rotated in a direction away from the ground, the motor plate is rotated in a direction away from the ground. Due to this, the motor and the wheel combined with the motor plate are separated from the ground, and the driving part is converted into the manual driving mode.

Conversely, when the one end of the lever is rotated toward the ground, the motor plate is also rotated toward the ground. Due to this, the motor and wheels combined with the motor plate come into contact with the ground, and the driving unit is converted into an autonomous driving mode.

Therefore, the driving unit can be easily converted into a manual or autonomous driving mode according to the usage environment of the ringer holder.

In addition, a ring portion is formed at the top of the Ringer rod. The ring portion penetrates in a direction parallel to the ground.

Therefore, the ringer holder can be mounted on a fixed member such as a coat hanger by the hook portion. Accordingly, it can be easily accompanied by the user even in places where the ringer holder is difficult to enter.

In addition, the ringer rod is provided with a ringer winding portion that can be stored while a portion of the ringer supply line is wound. The Ringer winding unit includes a winding post and a Ringer fixing unit. A part of the Ringer supply line is wound around the outer circumferential surface of the winding column. The Ringer fixing part prevents any escape of the Ringer supply line wound on the winding post.

Therefore, the problem of the Ringer supply line falling to the ground can be prevented. In addition, since the ringer winding unit is located lower than the ringer installation unit, the free fall of the ringer is not hindered by the ringer winding unit.

In addition, the driving portion is detachably coupled to the lower end of the ringer rod. Accordingly, the driving portion may be combined with the existing Ringer rod.

Thus, existing Ringer rods can be recycled. Furthermore, the manufacturing cost of the Ringer holder can be further reduced.

1 is a perspective view showing an Ringer holder according to an embodiment of the present invention.
Figure 2 is a perspective view showing the ringer rod provided in the ringer holder of FIG.
Figure 3 is a perspective view showing a driving unit provided in the ringer holder of Figure 1;
4 is a perspective view of the driving part of FIG. 3 viewed from another direction.
FIG. 5 is a perspective view illustrating a motor unit and wheels provided in the driving unit of FIG. 3 .
FIG. 6 is a perspective view illustrating a motor plate, a lever, and a clutch part provided in the driving part of FIG. 3 .
FIG. 7 is a side view illustrating a state before and after rotation of the motor plate, the lever, and the clutch unit of FIG. 6 .
FIG. 8 is a plan view illustrating a state before and after rotation of the motor plate, the lever, and the clutch unit of FIG. 6 .
9 is a schematic diagram illustrating a state in which the driving unit of FIG. 3 is converted to an autonomous and manual driving mode.
10 is a flowchart illustrating a process in which the ringer holder of FIG. 1 is driven forward.
11 is a flowchart illustrating a process in which the ringer holder of FIG. 1 is driven backward.

Hereinafter, the ringer holder 1 according to an embodiment of the present invention will be described in more detail with reference to the drawings.

In the following description, descriptions of some components may be omitted to clarify the characteristics of the present invention.

In this specification, the same reference numerals are given to the same components even in different embodiments, and overlapping descriptions thereof will be omitted.

The accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the accompanying drawings.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

The terms "upper", "lower", left", right", "front side" and "rear side" used in the following description will be understood with reference to the coordinate system shown in FIG. 1 .

Hereinafter, the ringer holder 1 will be described with reference to FIGS. 1 and 2 .

Ringer cradle (1) is a device on which the Ringer is installed to be injected into the user's body.

The ringer holder 1 may be moved along with the user's movement. At this time, the ringer cradle 1 may be autonomously driven by tracking the user's location or manually driven by the user's external force. In addition, when an obstacle is detected in the expected driving path, the ringer holder 1 may automatically stop driving.

In the illustrated embodiment, the Ringer holder 1 includes a Ringer rod 10, a sensor unit 20 and a driving unit 30.

Ringer rod 10 is formed in a cylindrical shape extending in one direction. In the illustrated embodiment, the Ringer rod 10 extends in a vertical direction.

In one embodiment, the Ringer rod 10 may be formed by vertically combining cylinders of different diameters.

The height of the Ringer rod 10 may be arbitrarily adjusted according to the user's physical condition.

Ringer rod 10 is preferably formed of a metal material.

In the illustrated embodiment, the Ringer rod 10 includes a gripping portion 110, an Ringer installation portion 120, a height adjusting portion 130, a Ringer winding portion 140, and a ring portion 150.

The gripping part 110 is a part that directly applies an external force to the ringer rod 10 when the user moves.

The gripping part 110 is formed to protrude from the outer circumferential surface of the Ringer rod 10. At this time, it is preferable that the gripping part 110 be located at the level of the user's waist.

In the illustrated embodiment, the gripping portion 110 is formed in a ring shape through which the center is penetrated by the Ringer rod 10. However, the shape of the gripping part 110 is not limited to the illustrated shape, and may be formed in various shapes that can be gripped by the user. For example, the gripping part 110 may be formed in a disk shape.

The ringer installation part 120 is formed at the top of the ringer rod 10.

The ringer is mounted on the ringer installation unit 120. Specifically, the container in which the ringer is accommodated is mounted on the ringer installation unit 120.

The ringer mounted on the ringer installation unit 120 is free-falling and injected into the user's body. To this end, the Ringer installation unit 120 is located at the top of the Ringer rod 10.

In the illustrated embodiment, the ringer installation portion 120 is formed in a hook shape. However, the shape of the Ringer installation unit 120 is not limited to the illustrated form, and may be formed in various shapes. For example, the ringer installation portion 120 may be formed by being depressed downward from the top of the ringer rod 10.

A height adjustment unit 130 is formed at the center of the Ringer rod 10.

The height adjusting unit 130 can arbitrarily adjust the total height of the Ringer rod 10.

The height adjustment unit 130 is formed on the outer circumferential surface of the Ringer rod 10. The height adjustment unit 130 is installed in a region where two Ringer rods 10 of different diameters are coupled.

The height adjusting unit 130 separates or brings the two Ringer rods 10 into close contact. The two Ringer rods 10 may be allowed or limited to move with respect to each other according to the operation of the height adjusting unit 130.

When the height adjusting unit 130 separates the two Ringer rods 10, the two Ringer rods 10 are moved in the vertical direction with respect to each other, and their heights may be arbitrarily adjusted. Conversely, when the height adjusting unit 130 brings the two Ringer rods 10 into close contact, the two Ringer rods 10 are restricted from moving with respect to each other and their heights are fixed at a predetermined value.

In the illustrated embodiment, the height adjusting unit 130 is coupled to the outer circumferential surface of the ringer rod 10 in a bolt-nut manner, and can separate or bring the two ringer rods 10 into close contact according to the rotation angle of the bolt. there is.

However, the height adjusting unit 130 is not limited to the illustrated shape, and may be formed in various shapes that can arbitrarily separate or bring the two Ringer rods 10 into close contact.

In addition, the ringer winding portion 140 is formed on the outer circumferential surface of the ringer rod 10.

The Ringer winding unit 140 supports the Ringer supply line so that the Ringer supply line does not fall to the ground (G).

The Ringer winding unit 140 is formed on the outer circumferential surface of the Ringer rod 10. In addition, the ringer winding unit 140 is located lower than the ringer installation unit 120. Accordingly, the free fall of the Ringer is not hindered by the Ringer winding unit 140.

In the illustrated embodiment, the ringer winding unit 140 includes a support 141, a support plate 142, a winding column 143 and a ringer fixing unit 144.

The support 141 is a part where the Ringer winding unit 140 is connected to the Ringer rod 10.

The support 141 is formed in a columnar shape extending in one direction from the outer circumferential surface of the Ringer rod 10. In the illustrated embodiment, the support 141 extends from the outer circumferential surface of the Ringer rod 10 to the right. At this time, it will be understood that the extension direction of the support 141 can be changed as the Ringer winding unit 140 is rotated with respect to the outer circumferential surface of the Ringer rod 10.

A support plate 142 is coupled to one end of the support 141 opposite to the outer circumferential surface of the Ringer rod 10.

The support plate 142 supports the Ringer supply line stored in the Ringer winding unit 140 from the lower side.

The support plate 142 is formed in a plate shape extending in a direction parallel to the ground (G). In the illustrated embodiment, the support plate 142 is formed in a disk shape.

A support 141 is coupled to the lower side of the support plate 142 . Specifically, the lower side of the support plate 142 is coupled to one end of the support 141 opposite to the Ringer rod 10.

A winding post 143 is coupled to the upper side of the support plate 142 .

The winding column 143 is a part of the ringer supply line is wound.

The winding pillar 143 is formed in a pillar shape extending upward from the support plate 142 . In the illustrated embodiment, the winding column 143 is formed in a cylindrical shape. However, the winding pillar 143 is not limited to the illustrated form and may be formed in various shapes. For example, the winding column 143 may be formed in a gourd shape with a narrow center.

A portion of the Ringer supply line may be wound and stored on the outer circumferential surface of the winding column 143.

The vertical cross-sectional area of the winding post 143 is smaller than the vertical cross-sectional area of the support plate 142 . Accordingly, falling of the Ringer supply line wound around the outer circumferential surface of the winding post 143 by the support plate 142 can be prevented.

One end of the winding column 143 is coupled to the ringer fixing part 144.

The Ringer fixing part 144 prevents any separation of the Ringer supply line wound around the winding column 143.

Ringer fixing part 144 is coupled to one end of the support plate 142 and the opposite winding column 143. In the illustrated embodiment, the ringer fixing part 144 is coupled to the top of the winding column 143.

Ringer fixing part 144 extends radially outwardly of the winding pillar 143 from the one end of the winding pillar 143. At this time, the extended length of the winding column 143 is preferably formed larger than the outer diameter of the Ringer supply line.

The Ringer fixing part 144 may come into contact with a part of the Ringer supply line wound around the winding column 143 to bring the Ringer supply line into close contact with the support plate 142 . That is, a part of the Ringer supply line disposed between the Ringer fixing part 144 and the support plate 142 may be in close contact with the support plate 142 by the Ringer fixing part 144. Accordingly, any detachment of the Ringer supply line wound around the winding post 143 can be prevented.

In one embodiment, the ringer fixing part 144 may be moved in the vertical direction. In the above embodiment, when the Ringer fixing part 144 is moved to the lowermost side, the Ringer fixing part 144 may come into contact with a part of the Ringer supply line and bring the Ringer supply line into close contact with the support plate 142.

In addition, a ring portion 150 is formed on a portion of the Ringer rod 10. Specifically, the ring portion 150 is formed at the top of the Ringer's rod (10).

The ring part 150 is a part for mounting the ringer holder 1 to a fixed member such as a coat hanger.

The ring portion 150 is formed in a ring shape penetrating in a direction parallel to the ground (G). That is, the ring portion 150 penetrates in a direction different from the extension direction of the Ringer rod 10. In the illustrated embodiment, the ring portion 150 penetrates in the left and right directions. At this time, it will be understood that the through direction of the ring portion 150 may change as the Ringer rod 10 rotates.

A fixing member such as a coat hanger may be inserted into the through hole of the ring part 150 . Accordingly, the ringer holder 1 can be mounted on a fixed member such as a coat hanger by the hook 150. Furthermore, it can be easily accompanied by the user even in places where the ringer holder 1 is difficult to enter.

The ringer holder 1 including the ringer rod 10 may track the user based on the data of the sensor unit 20 and detect obstacles.

Hereinafter, the sensor unit 20 will be described with reference to FIGS. 2 and 3 .

The sensor unit 20 is a part that detects the user's location and obstacles.

The sensor unit 20 observes the front side, the left side, the right side, the upper side, the lower side, and the rear side based on the driving direction of the ringer holder 1, and detects the user's position and obstacles.

In one embodiment, the sensor unit 20 includes a camera sensor unit 210, a lidar sensor 220, an ultrasonic sensor 230, and an abnormal signal output unit.

The camera sensor unit 210 detects the user's position by recognizing a marker attached to the user.

In the illustrated embodiment, the camera sensor unit 210 includes a camera bracket 211 and a camera sensor 212 .

The camera bracket 211 is a part that fixes the camera sensor unit 210 to the outer circumferential surface of the Ringer rod 10.

The camera bracket 211 is installed on the outer circumferential surface of the Ringer rod 10. In addition, the camera bracket 211 is located on the upper side of the position adjusting unit of the Ringer rod 10. Accordingly, the installation height of the camera bracket 211 may be adjusted by the position adjusting unit of the Ringer rod 10 according to the use environment.

In addition, the angle of the camera bracket 211 with the Ringer rod 10 may be arbitrarily adjusted according to the usage environment. Specifically, the camera bracket 211 is rotated in a vertical direction or a left-right direction, and an angle with the ringer rod 10 may be adjusted.

In one embodiment, in the camera bracket 211, a bearing formed on the lower side of the upper angle adjusting unit is coupled to a bearing formed on the upper side of the lower angle adjusting unit using a bolt-nut method. At this time, the relative position between the upper angle adjusting unit and the lower angle adjusting unit is fixed by the bolt-nut coupling force.

In the above embodiment, when the degree of tightening of the bolt-nut coupling is relatively small, the angle of the camera bracket 211 can be changed since the relative position of the angle adjuster can be easily deformed. Conversely, when the degree of tightening of the bolt-nut coupling is relatively large, the angle between the bar ringer rod 10 and the camera bracket 211, to which the relative position of the angle adjuster is fixed, is also fixed.

A camera sensor 212 may be installed on one side of the camera bracket 211 .

The camera sensor 212 detects the user's location by recognizing a marker attached to the user. Specifically, the camera sensor 212 detects the user's position by observing the front side, left side, right side, upper side and lower side based on the forward direction of the ringer holder 1.

To this end, a marker specific to the user is attached. In addition, the camera sensor 212 is driven by a separate program for discriminating a plurality of markers.

In one embodiment, the camera sensor 212 applies machine learning principles. Through this, in addition to identifying a plurality of markers within the camera sensor 212, machine learning and coordinate system processing are possible. In the above embodiment, the processing device required for the machine learning and coordinate system processing is installed in the camera bracket 211 and electrically connected to the camera sensor 212.

The camera sensor 212 is detachably coupled to one side of the camera bracket 211 . The camera sensor 212 coupled with the camera bracket 211 may move together with the camera bracket 211 . That is, the position of the camera sensor 212 may be changed according to the installation height of the camera bracket 211 and the angle with the Ringer rod 10.

As described above, the installation height of the camera bracket 211 and the angle with the Ringer rod 10 may be arbitrarily adjusted. Accordingly, the camera sensor 212 installed on the camera bracket 211 may also have an installation height and an angle with the Ringer rod 10 arbitrarily adjusted.

Accordingly, the position of the camera sensor 212 may be adjusted according to the user's physical condition. Furthermore, deviation of location tracking reliability according to the user's body condition may be further reduced.

However, it is difficult to stably detect the user's location using only the camera sensor 212 . For example, the camera sensor 212 may fail to recognize the marker due to weather conditions or obstacles such as driving vibration, backlight, and rain.

To overcome the above difficulties, lidar sensor 220 may be considered.

The lidar sensor 220 serves to prevent errors due to a situation in which the camera sensor 212 does not normally recognize the marker.

LiDAR sensor 220 is coupled to one side of the driving unit 30 to be described later.

The lidar sensor 220 detects the position of the user and obstacles by observing the front side, left side, right side, upper side and lower side based on the forward direction of the ringer holder 1. In addition, the lidar sensor 220 may also observe the rear side based on the forward direction of the ringer holder 1, but the rear side observation range may be limited by the ringer rod 10.

The lidar sensor 220 detects the user's position by emitting a laser pulse and receiving the reflected light from a surrounding target object and measuring a distance to the object.

The lidar sensor 220 receives the location coordinates of the marker recognized by the camera sensor 212 . Thereafter, the lidar sensor 220 generates a Bird's Eye's View (BEV) image based on the location coordinates.

When the camera sensor 212 does not recognize the marker, the lidar sensor 220 receives the location coordinates of the marker most recently recognized by the camera sensor 212 . Thereafter, the lidar sensor 220 derives a group estimated to be users based on the BEV image.

When the camera sensor 212 recognizes the marker again while the user's position is detected based on the BEV image generated by the lidar sensor 220, the user position detection mode is the detection mode by the lidar sensor 220. is converted to a sensing mode by the camera sensor 212.

However, even after the camera sensor 212 recognizes the marker, the lidar sensor 220 continues to be driven. Accordingly, when the camera sensor 212 fails to recognize the marker, the lidar sensor 220 can detect the user's location in response to an immediate response. That is, the ringer holder 1 can be autonomously driven without a gap of time. As a result, accidents that may occur when the camera sensor 212 recognizes an error marker may be prevented.

In summary, the front side, left side, right side, upper side and lower side based on the forward direction of the ringer holder 1 are observed by mutual complement of the camera sensor 212 and the lidar sensor 220.

On the other hand, the rear side of the ringer holder 1 is observed by the ultrasonic sensor 230.

The ultrasonic sensor 230 detects an obstacle by observing the rear side of the ringer holder 1 when the ringer holder 1 moves backward. The LiDAR sensor 220 is also capable of observing the rear side, but the rear side observation is limited by the Ringer rod, and the ultrasonic sensor 230 is used to remove the resulting blank.

Ultrasonic sensor 230 is located on the rear side of the ringer holder (1). In one embodiment, the ultrasonic sensor 230 is located on the rear side of the Ringer rod 10 or the traveling part 30 to be described later.

The ultrasonic sensor 230 senses the position and distance of an obstacle by emitting ultrasonic waves and receiving reflected ultrasonic waves.

When the ultrasonic sensor 230 detects an obstacle, the ringer holder 1 stops moving backward.

When the driving of the ringer holder 1 is stopped, the abnormal signal output unit transmits an abnormal signal to the outside.

The abnormal signal output unit is associated with the motor 321 to be described later, and transmits a signal to the outside when the motor 321 stops. For example, the abnormal signal output unit outputs a preset warning sound when the motor 321 stops. An external user can recognize the stop of the motor 321 through the signal. In one embodiment, the abnormal signal output unit transmits a signal to the outside even when the motor 321 on one side rotates with an abnormal output out of the control output range. A more detailed description related to this will be described later along with a description of the motor 321 .

Based on the user's location detected by the sensor unit 20, the driving unit 30 is driven.

Hereinafter, the driving unit 30 will be described with reference to FIGS. 3 to 6 .

Based on the location of the user detected by the sensor unit 20, the driving unit 30 tracks the user along the ground (G) and follows the gait.

Therefore, even if the user does not directly drag the ringer holder 1, the ringer holder 1 can track the user by itself and follow the walking. Accordingly, since the user can freely use both hands, the user's convenience can be increased. Furthermore, the problem of lack of medical personnel can be solved, and the quality of medical service can be improved.

The driving part 30 is detachably coupled to the lower end of the ringer rod 10. Accordingly, the driving unit 30 may be combined with the existing Ringer rod 10. Thus, the existing Ringer's rod 10 can be recycled. Furthermore, the manufacturing cost of the Ringer holder 1 can be further reduced.

The driving unit 30 stops driving when the sensor unit 20 fails to detect the user's location or detects an obstacle. In addition, when the user moves backward in a direction opposite to the existing walking direction, the traveling unit 30 travels backward in a direction opposite to the existing walking direction. At this time, when the ultrasonic sensor 230 detects an obstacle, the driving unit 30 stops traveling backward.

When the driving of the driving unit 30 is stopped, the abnormal signal output unit transmits an abnormal signal to the outside.

In the illustrated embodiment, the driving unit 30 includes a cover 310, a motor unit 320, a wheel 330, a lever 340, and a clutch unit 350.

The cover 310 forms the exterior of the driving part 30 .

The cover 310 has a space in which the motor unit 320 and the wheels 330 are accommodated. That is, the cover 310 is formed in a polyhedral shape surrounding the motor unit 320 and the wheel 330 . In one embodiment, a battery, a driving control device, wiring, and the like may be embedded in the space.

In one embodiment, the cover 310 is formed of a plastic material. For example, the cover 310 may be formed of PLS (Poly Lactic Acid) plastic or ABS (Acrylonitrile Butadiene Styrene) plastic material. However, the material of the cover 310 is not limited thereto, and may be formed of various plastic materials such as PC (Poly Carbonate) plastic.

In the illustrated embodiment, the lidar mounting portion 311 and the lever through-hole 312 are formed in the cover 310 .

The lidar holder 311 is a part where the lidar sensor 220 is installed. The lidar holder 311 is coupled to the lidar sensor 220 and fixes the lidar sensor 220 to the driving unit 30 .

Rider holder 311 is located on one side of the outer circumferential surface of the cover 310. The lidar sensor 220 observes the left, right, upper and lower sides of the front side of the ringer holder 1, and the lidar holder 311 is preferably located on the upper front side of the cover 310.

LiDAR mounting portion 311 is formed in a shape corresponding to a portion of the lidar sensor 220. In the illustrated embodiment, the lidar holder 311 is formed in a shape corresponding to the leg of the lidar sensor 220.

A lever through-hole 312 is formed on one side of the lidar holder 311 and the cover 310 spaced apart.

The lever through-hole 312 is a portion into which a lever 340 to be described later is inserted.

The lever through-hole 312 is curved in a predetermined direction and extends vertically.

In one embodiment, a locking portion may be formed at the lower side of the lever through-hole 312 to prevent the lever 340 from moving upward. A detailed description thereof will be described later along with a description of the lever 340.

A plurality of lever through-holes 312 may be provided.

Inside the cover 310, the motor unit 320 and the wheels 330 are accommodated.

The motor unit 320 provides driving force to the traveling unit 30 .

The motor unit 320 is driven or stopped based on the user's position and obstacles detected by the sensor unit 20 .

In the illustrated embodiment, the motor unit 320 includes a motor 321, a reducer 322 and a motor plate 323.

The motor 321 transmits power to the wheels 330 to be described later based on the user's location and obstacles.

The rotation direction and rotation speed of the motor 321 are controlled based on the user's position detected by the sensor unit 20 . In addition, when an obstacle is detected by the sensor unit 20, the rotation of the motor 321 is stopped.

When the rotation of the motor 321 is stopped, the abnormal signal output unit transmits an abnormal signal to the outside. In one embodiment, when the one-side motor 321 is out of the control output range and rotates with an abnormal output, the abnormal signal output unit transmits an abnormal signal to the outside.

A reducer 322 is coupled to one side of the motor 321.

The reducer 322 controls the rotational speed of the motor 321 to reduce the rotational speed of the motor 321 . At this time, the speed reducer 322 may improve torque by reducing the rotational speed of the motor 321 . Therefore, the initial driving force can be secured due to the increased torque, and even when heavy equipment is coupled to the ringer holder 1, it can be smoothly driven.

In one embodiment, the reduction gear 322 also serves as a bracket for the motor 321 in addition to the function of reducing the rotational speed of the motor 321 . Specifically, the motor 321 is coupled to the cover of the reducer 322 to support the motor 321 to be seated on a motor plate 323 to be described later.

In the illustrated embodiment, the reducer 322 is disposed between the motor 321 and the motor plate 323, and coupled to the motor 321 and the motor plate 323, respectively.

The motor plate 323 is disposed adjacent to one side of the motor 321 and supports the motor 321 . In the illustrated embodiment, the motor plate 323 is disposed on the lower side of the motor 321 to support the motor 321 from the lower side.

The motor plate 323 is formed in a plate shape extending in a direction parallel to the ground (G).

In the illustrated embodiment, the motor plate 323 is provided with a plate bearing 323a and a motor holding portion 323b.

The plate bearing 323a is a portion through which the rotation shaft of the motor plate 323 passes.

The plate bearing 323a is formed in a cylindrical shape with a hollow inside. In the illustrated embodiment, the hollow is penetrated in the left and right directions.

In one embodiment, a rotating shaft connected to the inner circumferential surface of the cover 310 may be inserted into the plate bearing 323a. Accordingly, the motor plate 323 may be rotated toward the ground (G) or in a direction away from the ground (G) based on the plate bearing (323a).

A motor mounting portion 323b is formed on one surface of the motor plate 323 . In the illustrated embodiment, the motor holding portion 323b is formed on the upper surface of the motor plate 323.

The motor holding portion 323b comes into contact with the motor 321 to support the motor 321 . Specifically, the motor holder 323b contacts the lower side of the motor 321 and supports the motor 321 from the lower side.

The motor holding portion 323b protrudes upward from one surface of the motor plate 323. In addition, a concave portion recessed into a shape corresponding to the outer circumferential surface of the motor 321 is formed at an upper end of the motor holding portion 323b.

The concave portion is in contact with the outer circumferential surface of the motor 321 . Accordingly, the motor 321 seated on the motor holding portion 323b may be prevented from being arbitrarily separated by the concave portion.

A wheel 330 is coupled to one side of the motor unit 320. In the illustrated embodiment, wheels 330 are coupled to the left and right sides of the motor unit 320, respectively.

The wheel 330 is a part that directly drives the driving unit 30 .

The wheel 330 is coupled to the motor unit 320 and moves together with the motor unit 320 . When the motor unit 320 is rotated in a direction toward the ground (G), the wheel 330 is in contact with the ground (G). Conversely, when the motor unit 320 is rotated in the opposite direction from the ground (G), the wheel 330 is separated from the ground (G).

The wheel 330 may be coupled with the motor 321 to rotate together when the motor 321 rotates. As the wheel 330 in contact with the ground G is rotated together with the motor 321, it may rub against the ground G and travel along the ground G. Accordingly, the ringer cradle 1 provided with the wheel 330 can be driven along the traveling direction of the wheel 330.

The wheel 330 is rotated together with the motor 321, and follows the rotation direction and speed of the motor 321. Accordingly, when the motor 321 rotates in reverse, the wheel 330 also rotates in reverse and drives the driving unit 30 backward. In addition, when the sensor unit 20 fails to detect the user's position or detects an obstacle, the rotation of the motor unit 320 is stopped together with the rotation of the motor unit 320 being stopped.

The wheel 330 may come into contact with the ground (G) or be separated from the ground (G) by the lever 340 .

The lever 340 is coupled through one side of the cover 310 . Specifically, the lever 340 is coupled to the lever through-hole 312 of the cover 310 . In the illustrated embodiment, the lever 340 is through-coupled to the front side of the cover 310 .

One part of the lever 340 is disposed outside the cover 310 and the other part is disposed inside the cover 310 .

The lever 340 may be rotated with respect to the cover 310 by an external force. The user may rotate the lever 340 by applying an external force to the lever 340 .

One end of the lever 340 is disposed adjacent to the motor plate 323. In addition, one end of the lever 340 may be connected to one end of the motor plate 323 to transmit motion to the motor plate 323 .

When the one end of the lever 340 is rotated in a direction away from the ground (G), the motor plate 323 is also rotated in a direction away from the ground (G). Conversely, when the one end of the lever 340 is rotated in a direction toward the ground (G), the motor plate 323 is also rotated in a direction toward the ground (G).

In one embodiment, the lever 340 may be formed of a metal material. Accordingly, the occurrence of breakage due to external force may be reduced.

In the illustrated embodiment, the lever 340 includes a pedal 341, a pedal connection 342, a lever bearing 343 and a lever rod 344.

The pedal 341 is a part to which the user directly applies an external force to the lever 340 .

The pedal 341 is located outside the cover 310 . That is, the pedal 341 is exposed to the outside of the cover 310 .

The pedal 341 is formed in a plate shape. This is to increase the contact area between the user and the pedal 341 to improve user convenience.

The pedal 341 may be rotated in a direction toward the ground (G) or in a direction away from the ground (G) by an external force applied by a user.

A pedal connection part 342 is coupled to one side of the pedal 341 facing the cover 310 .

The pedal connection part 342 connects the pedal 341 and a lever bearing 343 to be described later. Accordingly, the pedal 341 may transfer rotational motion to the lever bearing 343 .

The pedal connection part 342 is coupled to the lever through-hole 312 of the cover 310 .

The pedal connection part 342 is formed in a columnar shape extending in one direction. At this time, the pedal connection portion 342 extends from the pedal 341 toward the inside of the cover 310 .

The pedal connection part 342 is coupled to the pedal 341 and rotates together when the pedal 341 rotates. During the rotation process, the pedal connection part 342 is moved along the lever through-hole 312 and rotated.

In one embodiment, the lever through-hole 312 is curved in a predetermined direction and extends upward, and a locking portion for preventing the arbitrary upward movement of the lever 340 may be formed at the lower side. Accordingly, when the pedal connection part 342 receives an external force in the predetermined direction, the pedal connection part 342 rotates upward. In addition, when the pedal connection part 342 receives an external force downward, the pedal connection part 342 is inserted into the hooking part and any movement upward is restricted.

A plurality of pedal connection units 342 may be provided. At this time, the number of pedal connection parts 342 is the same as the number of lever through-holes 312 of the cover 310 .

A lever bearing 343 is coupled to one end of the pedal connecting portion 342 opposite to the pedal 341 .

The lever bearing 343 is a part through which the rotation shaft of the lever 340 passes.

The lever bearing 343 is formed in a cylindrical shape with a hollow inside. In the illustrated embodiment, the hollow is penetrated in the left and right directions.

In one embodiment, a rotating shaft connected to the inner circumferential surface of the cover 310 may be inserted into the lever bearing 343 . Accordingly, the lever 340 may be rotated in a direction toward the ground (G) or in a direction away from the ground (G) based on the lever bearing 343 .

A lever rod 344 is coupled to one side of the lever bearing 343 opposite to the pedal connection 342 .

The lever rod 344 receives rotational motion from the pedal 341 through the pedal connecting portion 342 and the lever bearing 343 and transfers it to the motor plate 323 . To this end, the lever rod 344 is directly or indirectly connected to the pedal 341, the pedal connection part 342, and the lever bearing 343, respectively.

The lever rod 344 is formed in a column shape extending in one direction. At this time, the lever rod 344 extends from the lever bearing 343 toward the motor plate 323.

The lever rod 344 receives rotational motion from the pedal 341, and rotates together as the pedal 341 rotates. In addition, the lever rod 344 is connected to one end of the motor plate 323.

Therefore, when the lever rod 344 is rotated in a direction away from the ground G by the pedal 341, the motor plate 323 is also rotated in a direction away from the ground G. Conversely, when the lever rod 344 rotates in a direction toward the ground G, the motor plate 323 also rotates in a direction toward the ground G.

The aforementioned linked operation of the lever 340 and the motor plate 323 may be performed by the clutch unit 350 .

Hereinafter, the clutch unit 350 will be described with reference to FIGS. 6 to 8 .

The clutch unit 350 transfers the rotational motion of the lever 340 to the motor plate 323 .

In the illustrated embodiment, the clutch unit 350 includes a lever hook 351 and a plate hook 352.

The lever hook 351 is formed at one end of the lever rod 344 facing the motor plate 323.

The lever hook 351 is bent from the one end of the lever rod 344 in the opposite direction on the ground G and extends toward the motor plate 323.

The lever hook 351 is connected to the pedal 341 and can be rotated based on the lever bearing 343 together with the pedal 341 .

Specifically, when the pedal 341 is rotated in a direction toward the ground (G), the lever hook 351 is rotated in a direction away from the ground (G). Conversely, when the pedal 341 is rotated in a direction away from the ground (G), the lever hook 351 is rotated in a direction toward the ground (G).

The lever hook 351 transmits rotational motion to the plate hook 352 during the rotation process.

The plate hook 352 is formed at one end of the motor plate 323 facing the lever 340.

The plate hook 352 is bent from the one end of the motor plate 323 toward the ground G and extends toward the lever 340 .

The plate hook 352 receives rotational motion from the lever hook 351 .

7A and 8A show a state in which the lever hook 351 is rotated in a direction toward the ground (G). When the lever hook 351 rotates in a direction toward the ground G, the plate hook 352 is separated from the lever hook 351 and rotates in a direction toward the ground G.

Conversely, FIGS. 7B and 8B show a state in which the lever hook 351 is rotated in a direction away from the ground G. When the lever hook 351 rotates in a direction away from the ground G, the plate hook 352 engages with the lever hook 351 and rotates in a direction away from the ground G.

In the above process, the driving unit 30 may be converted into a manual or autonomous driving mode.

Hereinafter, a conversion process of the driving unit 30 to a manual or autonomous driving mode will be described with reference to FIG. 9 .

9A and 9B show autonomous and manual driving modes of the driving unit 30, respectively.

When the pedal 341 is moved to the uppermost side, the lever hook 351 connected to the pedal 341 is moved in a direction toward the ground (G). Accordingly, the plate hook 352 and the motor plate 323 connected to the lever hook 351 are also moved in a direction toward the ground (G).

The lower side of the motor 321 is supported by the motor plate 323, and when the motor plate 323 is moved in the direction toward the ground (G), it moves in the direction toward the ground (G) together with the motor plate 323 do. At this time, the wheel 330 coupled with the motor 321 is also moved in a direction toward the ground (G).

Accordingly, the wheel 330 may be driven along the ground (G) in contact with the ground (G). The wheel 330 follows the rotational direction and rotational speed of the motor 321 and can autonomously travel along the ground (G).

When the user applies an external force to the pedal 341 downward, the pedal 341 is moved to the lowest side, and the lever hook 351 connected to the pedal 341 is moved in a direction away from the ground (G). Accordingly, the plate hook 352 and the motor plate 323 connected to the lever hook 351 are also moved in a direction away from the ground (G). Furthermore, the motor 321 and the wheel 330 are also moved in a direction away from the ground (G).

Accordingly, the wheel 330 is separated from the ground (G), and does not travel along the ground (G) regardless of whether the motor 321 is driven. As a result, the driving unit 30 does not move unless an external force is applied by the user. That is, the driving unit 30 is converted to the manual driving mode. As the driving unit 30 is converted to the manual driving mode, the ringer holder can be moved by applying an external force to the ringer holder 1 in the same manner as the conventional ringer holder 1.

When the user applies an external force to the pedal 341 in the same direction as the bending direction of the lever through hole 312 , the pedal connecting portion 342 is moved upward along the lever through hole 312 . Accordingly, the pedal 341 is also moved upward. As a result, the driving unit 30 is converted back to the autonomous driving mode.

In summary, the driving unit 30 may change from the autonomous driving mode to the manual driving mode or from the manual driving mode to the autonomous driving mode according to the movement of the pedal 341 . Therefore, the user can easily change the manual or autonomous driving mode of the driving unit 30 according to the usage environment of the ringer holder 1.

Hereinafter, the autonomous driving process of the driving unit 30 will be described in more detail with reference to FIGS. 10 and 11 .

When the driving unit 30 is converted to the autonomous driving mode, an image is input to the camera sensor 212 of the sensor unit 20 . At this time, a marker that can be recognized by the camera sensor 212 is attached to the user's body or clothes. The camera sensor 212 detects a user's position by recognizing a marker in an input image.

The camera sensor 212 calculates and tracks the user's location based on the marker coordinates. Based on the position, the rotation direction and rotation speed of the motor 321 are controlled. Then, the motor 321 rotates in a controlled direction and at a controlled speed, and the ringer holder 1 follows the user.

When the camera sensor 212 fails to recognize the marker, the user's location is detected by the lidar sensor 220 .

The camera sensor 212 transmits the coordinates based on the recognized marker location to the lidar sensor 220 in real time. The lidar sensor 220 generates a BEV image based on this and derives a user estimation cluster. Through this, the lidar sensor 220 may detect the user's location. Accordingly, when the camera sensor 212 fails to recognize the marker, the ringer holder 1 may be driven based on the image of the lidar sensor 220 .

The lidar sensor 220 that detects the user's location may also detect obstacles in front. When an obstacle is not detected in front, the rotation direction and rotation speed of the motor 321 are controlled based on the user's position detected by the lidar sensor 220.

When the lidar sensor 220 fails to detect the user's position or detects an obstacle in front, the rotation of the motor 321 is stopped. When the rotation of the motor 321 is stopped, the abnormal signal output unit transmits an abnormal signal to the outside.

When the user moves backward in a direction opposite to the existing walking direction, the ultrasonic sensor 230 is driven differently from forward driving.

When the user moves backward in a direction opposite to the existing walking direction, the sensor unit 20 detects the user's backward movement and reversely rotates the motor 321 . That is, the motor 321 is rotated in the direction in which the ringer holder 1 moves backward.

When the motor 321 rotates in the reverse direction, the ultrasonic sensor 230 is driven and observes the rear side of the ringer holder 1. Specifically, the ultrasonic sensor 230 detects an obstacle on the rear side.

When an obstacle is not detected by the ultrasonic sensor 230, the rotation direction and rotation speed of the motor 321 are controlled based on the user's position. Then, the motor 321 is rotated in a controlled direction and at a controlled speed, and the ringer holder 1 follows the user's backward movement.

When the ultrasonic sensor 230 detects an obstacle, rotation of the motor 321 is stopped. When the rotation of the motor 321 is stopped, the abnormal signal output unit transmits an abnormal signal to the outside.

Therefore, through the above process, the user's location and obstacles can be sensed by complementing each other by the camera sensor 212, lidar sensor 220, and ultrasonic sensor 230. Furthermore, stability of autonomous driving may be increased, and reliability of autonomous driving may be further improved.

Although the above has been described with reference to preferred embodiments of the present invention, the present invention is not limited to the configuration of the above-described embodiments.

In addition, the present invention can be variously modified and changed by those skilled in the art to which the present invention pertains without departing from the spirit and scope of the present invention described in the claims below.

Furthermore, the above embodiments may be configured by selectively combining all or part of each embodiment so that various modifications can be made.

1: Ringer holder
10: Ringer Bong
110: gripping unit
120: ringer installation unit
130: height adjustment unit
140: ringer winding unit
141: support
142: support plate
143: winding column
144: ringer fixing part
150: ring part
20: sensor unit
210: camera sensor unit
211: camera bracket
212: camera sensor
220: lidar sensor
230: ultrasonic sensor
30: driving part
310: cover
311: lidar holder
312: lever through hole
320: motor unit
321: motor
322: reducer
323: motor plate
323a: plate bearing
323b: motor mounting part
330: wheel
340: lever
341: pedal
342: pedal connection
343: lever bearing
344: lever rod
350: clutch unit
351: lever hook
352: plate hook
G: ground

Claims (16)

Ringer's rod extending in one direction;
a sensor unit for detecting a user's location; and
A driving unit that is detachably coupled to the lower end of the ringer rod and tracks the user along the ground based on the position,
The sensor unit,
a camera sensor for detecting a user's location by recognizing a marker attached to the user; and
When the camera sensor does not recognize the marker, a lidar sensor for detecting the user's position based on the location coordinates of the marker most recently recognized by the camera sensor,
ringer stand. According to claim 1,
The camera sensor and lidar sensor,
Observing the front side, left side, right side, upper side and lower side based on the forward direction of the driving unit to detect the position of the user and obstacles,
ringer stand. According to claim 2,
the driving part,
When the camera sensor and the lidar sensor fail to detect the user's position or detect an obstacle located on the front side of the driving unit, driving is stopped.
ringer stand. According to claim 3,
The sensor unit,
And an abnormal signal output unit for transmitting a signal to the outside when the movement of the driving unit is stopped.
ringer stand. According to claim 2,
the driving part,
When the user backs up in a direction opposite to the existing walking direction, the user backs up in the opposite direction to the existing driving direction.
The sensor unit,
Including an ultrasonic sensor for detecting an obstacle by observing the rear side of the traveling unit when the traveling unit is moving backward,
ringer stand. According to claim 5,
the driving part,
When the ultrasonic sensor detects an obstacle located on the rear side of the driving unit, reverse driving is stopped.
ringer stand. According to claim 6,
The sensor unit,
And an abnormal signal output unit for transmitting a signal to the outside when the reverse driving of the driving unit is stopped.
ringer stand. According to claim 1,
When the camera sensor recognizes a marker while the user's location is detected based on the image generated by the lidar sensor,
The user location detection mode is converted from the detection mode by the lidar sensor to the detection mode by the camera sensor,
ringer stand. According to claim 1,
the driving part,
A motor plate formed in a plate shape;
a motor disposed adjacent to the motor plate on one side and supported by the motor plate;
A wheel that is coupled to the motor and travels along the ground when rotating;
a cover in which a space for accommodating the motor and the wheel is formed; and
A lever coupled to one side of the cover and capable of being rotated with respect to the cover by an external force,
One end of the lever,
When rotating in a direction away from the ground, it is connected to one end of the motor plate to rotate the motor plate in a direction away from the ground,
ringer stand. According to claim 9,
The lever,
A pedal formed in a plate shape and located outside the cover; and
A lever rod connected to the pedal and extending toward the motor plate,
One end of the lever rod,
When rotating in a direction away from the ground, it is connected to the one end of the motor plate to rotate the motor plate in a direction away from the ground,
ringer stand. According to claim 10,
the driving part,
And a clutch portion formed on the one end of the lever rod and the one end of the motor plate,
The clutch part,
a lever hook that is curved and extends from the one end of the lever rod in a direction opposite to the ground; and
Including a plate hook that is curved and extended from the one end of the motor plate in a direction toward the ground, and rotates in a direction away from the ground while engaging with the lever hook when the lever hook rotates in a direction away from the ground,
ringer stand. According to claim 11,
The plate hook,
When the lever hook rotates in a direction toward the ground, it is separated from the lever hook and rotates in a direction toward the ground.
ringer stand. According to claim 1,
The camera sensor,
Fixed to a camera bracket (barcket) installed on the outer circumferential surface of the ringer rod,
ringer stand. According to claim 13,
The camera bracket,
Depending on the use environment, the installation height and the angle with the Ringer rod can be arbitrarily adjusted,
ringer stand. According to claim 1,
At one end of the Ringer rod,
Forming a ring portion penetrating in a direction different from the one direction,
ringer stand. According to claim 1,
The Ringer's rod,
A part of the Ringer supply line can be wound and stored on the outer circumferential surface, and a Ringer winding portion located lower than the Ringer installation portion is provided,
The ringer winding unit,
A support extending in a direction different from the one direction from the outer circumferential surface of the Ringer rod;
A support plate formed in a plate shape extending in a direction parallel to the ground and coupled to one end of the support opposite to the outer circumferential surface of the Ringer rod;
A winding column formed in a column shape extending in a direction away from the ground from one surface of the support plate, and a portion of the Ringer supply line is wound around an outer circumferential surface; and
Ringer fixing part which extends from one end of the winding column radially outwardly of the winding column and is in contact with the part of the Ringer supply line to bring the Ringer supply line into close contact with the support plate and prevent any departure of the Ringer supply line including,
ringer stand.

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