KR20240016677A - Intelligent quarantine robot control system - Google Patents

Abstract

The present invention relates to an intelligent quarantine robot control system comprising: a sensing part that generates sensing information through detection of a path formed on a floor of a quarantine place by irradiating infrared rays; a transport part that moves a main body of an intelligent quarantine robot by driving a motor in response to sensing information; a spray part that sprays chemicals in response to a set time and spray amount; and a monitoring part that detects a movement of a wearable device worn by a worker and generates quarantine work state information. According to one embodiment of the present invention as described above, a quarantine robot sprays a chemical while moving along a robot path (formed with magnetic tape or magnetic paint) formed on the floor of a quarantine place, and can protect the worker from risks such as eye, respiratory, or skin irritation caused by spraying chemicals during disinfection by monitoring and controlling the work state through movement detection of the wearable device worn by the worker.

Description

Intelligent quarantine robot control system

The present invention relates to an intelligent quarantine robot control system. More specifically, the quarantine robot sprays chemicals while moving along a robot path (formed by magnetic tape or magnetic paint) formed on the floor of a quarantine location such as a business or office. , relates to technology that monitors and controls work status through movement detection of wearable devices worn by workers.

Recently, robots have been put into practical use not only as industrial robots used in industries but also as household chores and office assistants in buildings such as homes, offices, and government offices. Representative examples of this include cleaning robots, guide robots, and crime prevention robots. Basically, robots that perform their own unique functions while moving within a given space can be named mobile robots.

Due to the COVID-19 incident, the quarantine and disinfection industry is growing rapidly as daily quarantine permeates daily life. According to Statistics Korea in 2020, industries related to quarantine and disinfection include wholesale of medical supplies, sterilization, pesticide and pesticide manufacturing, biological sterilization and pesticides, and plants. It was estimated that there are approximately 6,000 domestic quarantine and disinfection companies, including protective agent manufacturing companies.

Due to the spread of COVID-19, employees of quarantine companies are being assigned to frequent night work and tasks with a high repetitive workload (the number of workers working in this industry is insufficient at about 24,071 people), and due to the shortage of manpower, most of the work is done in the form of chemical spraying. Quarantine and disinfection are in progress, and it is necessary to wipe off the disinfectant as a follow-up measure.

However, disinfection and quarantine using the chemical spray method always pose risk factors, such as irritation to the eyes, respiratory tract, or skin of workers (hazardous chemicals: disinfection of formaldehyde, chlorine-based substances, or quaternary ammonium compounds).

In addition, the disinfection and quarantine method in the form of chemical spray has a limited quarantine effect due to the low probability of the chemical coming into contact with the virus on the surface of the object (performed in spaces where the movement of confirmed patients has been confirmed or approximately once a month), and the spraying process There is a disadvantage that the risk of infection is high as viruses on the surface of objects are exposed to the air.

In addition, the chemical spray method has a low disinfection effect, and to solve this problem, it requires manpower to spray disinfectants and wipe the chemicals, which increases quarantine costs.

Accordingly, the present applicant would like to develop a platform that operates an intelligent robot to effectively disinfect and quarantine small business establishments, and propose an intelligent quarantine robot and its control method that takes into account social needs.

Republic of Korea Registered Patent No. 10-2366332 (announced on February 23, 2022)

In one embodiment of the present invention, a quarantine robot sprays chemicals while moving along a robot movement path (formed by magnetic tape or magnetic paint) formed on the floor of the quarantine area, and performs the task by detecting the movement of a wearable device worn by the worker. By monitoring and controlling the status, robots and workers can collaborate to disinfect and quarantine during quarantine, and workers are protected from risks such as eye, respiratory, or skin irritation caused by spraying chemicals.

One embodiment of the present invention for achieving this technical task is an intelligent quarantine robot control system, which includes a sensing unit that irradiates infrared rays and generates sensing information through detection of the movement path formed on the floor of the quarantine area; A transfer unit that moves the main body of the intelligent quarantine robot by driving a motor to correspond to sensing information; A spray unit that sprays the chemical to correspond to the set time and injection amount; And a monitoring unit that detects the movement of a wearable device worn by the worker and generates quarantine work status information.

Preferably, the sensing unit includes an infrared irradiation module that radiates infrared rays toward the floor of the quarantine area; and a detection module that generates sensing information by detecting infrared rays reflected by magnetic tape or magnetic paint formed on the floor of the quarantine area.

The transfer unit includes a rotation module that receives sensing information from the sensing unit and rotates the built-in motor so that the calculated distance value with the floor is constant; a driving module that drives the transfer means to correspond to the rotational force transferred from the rotation module; and a steering module that controls the rotation speed of the motor of the rotation module to aim in a direction corresponding to the amount of change in the coordinate value included in the sensing information.

The injection unit includes a setting module that receives information on the injection time and injection amount of the drug filled in the main body of the intelligent quarantine robot and generates drug injection setting information; and a spraying module that sprays any one of formaldehyde, chlorine-based substances, or quaternary ammonium compounds filled in the body of the intelligent quarantine robot to correspond to the chemical spray setting information.

The monitoring unit includes an interlocking module that links the main body of the quarantine robot and a wearable device worn by the worker through an information and communication network; An arithmetic module that generates movement information by calculating the acceleration and angular velocity of the linked wearable device; Quarantine work status information is generated by counting the number of times movement information is generated, and if the counting value included in the quarantine work status information exceeds the set value, a work stop signal is output, and the counting value included in the quarantine work status information is A quarantine work control module that outputs a counting value deducted from the set value and a work signal when the value is below the set value; and a transmission module that transmits movement information and quarantine work status information to a management server or administrator terminal connected through an information and communication network.

According to one embodiment of the present invention as described above, the quarantine robot sprays chemicals while moving along the robot movement path (formed by magnetic tape or magnetic paint) formed on the floor of the quarantine location, and moves the wearable device worn by the worker. By monitoring and controlling the work status through detection, robots and workers can collaborate to disinfect and quarantine during quarantine, and protect workers from risks such as eye, respiratory, or skin irritation caused by spraying chemicals. It works.

Figure 1 is a block diagram showing an intelligent quarantine robot control system according to an embodiment of the present invention.
Figure 2 is a block diagram showing a sensing unit of an intelligent quarantine robot control system according to an embodiment of the present invention.
Figure 3 is a block diagram showing the transfer unit of the intelligent quarantine robot control system according to an embodiment of the present invention.
Figure 4 is a block diagram showing a spray unit of an intelligent quarantine robot control system according to an embodiment of the present invention.
Figure 5 is a block diagram showing a monitoring unit of an intelligent quarantine robot control system according to an embodiment of the present invention.
Figure 6 is a flowchart showing a method for controlling an intelligent quarantine robot according to an embodiment of the present invention.
Figure 7 is a flowchart showing a detailed process for step S602 of the intelligent quarantine robot control method according to an embodiment of the present invention.
Figure 8 is a flowchart showing a detailed process for step S604 of the intelligent quarantine robot control method according to an embodiment of the present invention.
Figure 9 is a flow chart showing the detailed process of step S606 of the intelligent quarantine robot control method according to the present invention.
Figure 10 is a flowchart showing the detailed process of step S608 of the intelligent quarantine robot control method according to the present invention.

Specific features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings. Prior to this, the terms and words used in this specification and claims are based on the technical idea of the present invention based on the principle that the inventor can appropriately define the concept of the term in order to explain the invention in the best way. It must be interpreted with corresponding meaning and concept. Additionally, it should be noted that if a detailed description of a known function related to the present invention and its configuration is judged to unnecessarily obscure the gist of the present invention, the detailed description has been omitted.

As shown in Figure 1, the intelligent quarantine robot control system (S) according to the present invention includes a sensing unit 100 that generates sensing information through detection of the movement path formed on the floor of the quarantine location by irradiating infrared rays, and sensing information A transfer unit 200 that moves the main body 1 of the intelligent quarantine robot by driving a motor to correspond to the ) It is configured to include a monitoring unit 400 that detects the movement of the device and generates quarantine work status information.

Specific mention thereof will be omitted below, but the intelligent quarantine robot control system (S) according to the present invention can be installed as an app and can be installed on any of the wearable devices 10, monitoring servers, laptops, smartphones, or tablets through a pre-installed API. It can be configured to enable communication with devices.

In addition, the sensing unit 100, transfer unit 200, and injection unit 300 of the intelligent quarantine robot control system (S) according to the present invention are provided in the main body 1 of the intelligent quarantine robot, and the monitoring unit 400 is It can be provided in any one of the main body (1), the management server (2), or the administrator terminal (3) of the intelligent quarantine robot. Likewise, the management server 2 or the administrator terminal 3 is configured to communicate with any one of the wearable device 10, a monitoring server, a laptop, a smartphone, or a tablet.

Hereinafter, with reference to FIG. 2, the sensing unit 100 of the intelligent quarantine robot control system (S) according to the present invention will be examined as follows.

The sensing unit 100 is an infrared irradiation module 110 that radiates infrared rays toward the floor of the quarantine area, and a sensor that generates sensing information by detecting infrared rays reflected by magnetic tape or magnetic paint formed on the floor of the quarantine area. It is configured to include a module 120.

Specifically, the infrared irradiation module 110 radiates infrared rays with a wavelength of 2 ㅅm to 7 ㅅm within a recognition distance of 0 to 10 cm while aiming at the floor of the quarantine area, and preferably irradiates infrared rays with a wavelength of 3.4 ㅅm. It is composed.

Additionally, the detection module 120 may be configured to detect self-fusing silicone, temperature tape, as well as magnetic tape or magnetic paint that enables line tracing by infrared irradiation.

In this way, the above-mentioned sensing unit 100 can be detachably mounted on the lower part or the front part of the intelligent quarantine robot's main body (1), and can be supplied with power from the intelligent quarantine robot's main body (1) or powered by a replaceable battery. It can be configured to receive supply.

In addition, the infrared irradiation module 110 of the sensing unit 100 according to an embodiment of the present invention may be configured to irradiate infrared rays toward surrounding structures in addition to the floor surface of the quarantine area.

Hereinafter, with reference to FIG. 3, the transfer unit 200 of the intelligent quarantine robot control system (S) according to the present invention will be examined as follows.

The transfer unit 200 receives sensing information from the sensing unit 100 and rotates the built-in motor so that the calculated distance to the floor becomes constant. The rotational force transferred from the rotation module 210 and It includes a driving module 220 that drives the transport means to correspond, and a steering module 230 that controls the motor rotation speed of the rotation module 210 to aim in a direction corresponding to the amount of change in the coordinate value included in the sensing information. It is composed.

Specifically, the rotation module 210 rotates each of the motors corresponding to the number of drive modules 220, and the transport means of the drive module 220 includes at least two wheels, chains, and tracks so that they face each other to form a pair. or consists of one of the rails. It is desirable to understand this driving module 220 as a means that can move according to the rotational force transferred from the rotation module 210.

In addition, the steering module 230 controls the rotation speed of each motor transferred to the transfer means provided on one side and the other side of the drive module 220 to match the amount of change in the coordinate value included in the sensing information. According to this steering module 230, it is possible to change the direction of the intelligent quarantine robot (R) body according to the amount of change in coordinate values.

For example, when the steering module 230 detects that the coordinate value included in the sensing information changes to the left, the rotation module 210 changes the direction of the main body 1 of the intelligent quarantine robot to the left to correspond to the amount of change. It controls the rotation of the motor and the transport means of the drive module 220.

Hereinafter, with reference to FIG. 4, the spraying unit 300 of the intelligent quarantine robot control system (S) according to the present invention will be examined as follows.

The injection unit 300 is a setting module 310 that receives the injection time and injection amount information of the medicine filled in the body 1 of the intelligent quarantine robot and generates medicine injection setting information, and the body 1 of the intelligent quarantine robot. It is configured to include a spraying module 320 that sprays any one of formaldehyde, chlorine-based substances, or quaternary ammonium compounds filled in to correspond to the chemical injection setting information.

Specifically, the setting module 310 is provided with an input means for inputting the chemical injection time and injection amount values. In this case, the input means may be configured as an LCD panel capable of touch input. Additionally, the setting module 310 may be configured to receive chemical injection setting information from a management server 2 located at a remote location.

In addition, the injection module 320 is composed of a booster pump and a spray nozzle and is configured to spray the medicine filled in the main body 1 of the intelligent quarantine robot to correspond to the medicine injection setting information. At this time, the spraying module 320 is capable of adjusting the spraying angle and is provided on the bottom or front of the main body 1 of the intelligent quarantine robot to spray the chemical toward the bottom or front.

Hereinafter, with reference to FIG. 5, the monitoring unit 400 of the intelligent quarantine robot control robot (R) according to the present invention will be examined as follows.

The monitoring unit 400 monitors the interlocking module 410 that interconnects the main body of the quarantine robot (1) and the wearable device (10) worn by the worker through an information and communication network, and the acceleration and angular velocity of the interlocked wearable device (10). An operation module 420 that calculates and generates movement information, generates quarantine work status information by counting the number of times the movement information is generated, and signals a work stoppage when the counting value included in the quarantine work status information exceeds the set value. A quarantine work control module 430 that outputs a work signal and a counting value deducted from the set value when the counting value included in the quarantine work status information is less than the set value, and a quarantine work control module 430 that outputs movement information and quarantine work status information through an information and communication network. It is configured to include a transmission module 440 that transmits to the management server 2 or the administrator terminal 3 connected through.

Specifically, the interlocking module 410 is configured to link and interoperate between the main body 1 of the quarantine robot and the wearable device 10 worn by the worker through Bluetooth or NFC tagging. At this time, the wearable device 10 is configured to be worn on the worker's wrist.

In addition, the calculation module 420 receives the acceleration and angular velocity generated by the gyro sensor provided in the wearable device 10 through the interlocking module 410, and when the acceleration and angular velocity change beyond the set value for a certain period of time. Generates movement information.

In addition, the quarantine work control module 430 counts the number of times the calculation module 420 generates motion information, determines whether the motion information generation counting value exceeds the set value, and determines whether the motion information generation counting value exceeds the set value. In this case, the quarantine work control module 430 is configured to output a work stop signal.

On the other hand, if the counting value included in the quarantine work status information is less than the set value, the quarantine work control module 430 is configured to output a work signal and a counting value subtracted from the set value.

In detail, the quarantine work control module 430 recognizes the counting value included in the quarantine work status information as the number of times the worker works, and if the counting value included in the quarantine work status information is less than the set value, the worker performs the set number of times. It is configured to output a work signal notifying the floor to be wiped.

That is, the quarantine work control module 430 can detect the movement of the worker through communication with the wearable device 10 through the interlocking module 410 and check in real time whether the worker wipes the floor with the set number of tasks. At this time, when the worker's number of tasks is less than the set number, a work signal is output to inform the worker to wipe the floor the set number of times, and when the worker's number of tasks meets the set number of times, a work stop signal is output to the worker. It is configured to output.

In addition, the transmission module 440 transmits the movement information generated by the calculation module 420 and the quarantine work status information generated by the quarantine work control module 430 to the management server 2 or the manager terminal 3 connected through an information and communication network. ) and is configured to receive a quarantine work control signal that sets and changes the work stop signal or work signal output conditions from the management server (2) or the administrator terminal (3).

In addition, the monitoring unit 400 is a video module that is provided in the main body (1) of the quarantine robot and transmits video information captured of the quarantine work status to the management server (2) or administrator terminal (3) through the transmission module (440). It may be configured to further include (450).

In addition, the monitoring unit 400 classifies the movement information generated by the calculation module 420 and the quarantine work status information generated by the quarantine work control module 430 into worker identification ID or work time, and classifies the work status and work status by worker identification ID. It may be configured to further include an analysis module 460 that generates analysis information by analyzing statistical information. According to this analysis module 460, the work status of each worker can be monitored.

In addition, the monitoring unit 400 analyzes the sensing information generated by the sensing unit 100 and the image information captured by the imaging module 450, recognizes the structure around the floor of the quarantine area, generates structure recognition information, and It may be configured to further include an AI analysis module 470 that generates chemical injection setting information that controls any one of the injection range, injection amount, injection time, or injection height of the injection module 320 to correspond to the recognition information.

At this time, the AI analysis module 470 not only generates structure recognition information by analyzing sensing information and image information, but also compares the structure recognized around the floor of the quarantine site with the structure information (structure exterior image) already stored in the DB to match the appearance. In this case, it is configured to generate structure recognition information that is determined to be a structure corresponding to previously stored structure information.

In addition, the AI analysis module 470 generates structure recognition information for any one of a desk, chair, sofa, flower pot, dining table, fish tank, or home appliance through structure recognition, and sprays a spray module ( 320) is configured to transmit chemical injection setting information that controls any one of the injection angle, injection range, injection amount, injection time, or injection height to the setting module 310.

For example, according to one embodiment of the present invention, when there are desks or chairs on both sides of the path during office quarantine, the main body 1 of the intelligent quarantine robot is moved to both sides of the path according to the control of the AI analysis module 470. The medicine can be sprayed by controlling the injection unit 300 to correspond to the medicine injection setting information.

In addition, according to an embodiment of the present invention, when there is a flower pot or fish tank on one side of the movement path and a desk or chair on the other side of the surrounding path, the main body (1) of the intelligent quarantine robot is controlled by the AI analysis module 470. ) can spray the medicine by controlling the injection unit 300 so that it corresponds to the medicine injection setting information only on the other side of the movement path.

And, according to an embodiment of the present invention, if there are flower pots, fish tanks, or surrounding structures affected by chemicals on both sides of the movement path, the main body (1) of the intelligent quarantine robot is controlled by the AI analysis module (470). It can pass without spraying chemicals.

Hereinafter, with reference to FIG. 6, the intelligent quarantine robot control method according to the present invention will be examined as follows.

First, the sensing unit 100 generates sensing information by irradiating infrared rays and detecting the movement path formed on the floor of the quarantine area (S602).

Next, the transfer unit 200 moves the main body 1 of the intelligent quarantine robot by driving the motor to correspond to the sensing information (S604).

Subsequently, the injection unit 300 sprays the chemical to correspond to the set time and injection amount (S606).

Then, the monitoring unit 400 detects the movement of the wearable device 10 worn by the worker and generates quarantine work status information (S608).

Hereinafter, with reference to FIG. 7, the detailed process of step S602 of the intelligent quarantine robot control method according to the present invention is as follows.

First, the sensing unit 100 radiates infrared rays toward the floor of the quarantine area (S702).

Then, the sensing unit 100 generates sensing information by detecting infrared rays reflected by magnetic tape or magnetic paint formed on the floor of the quarantine area (S704).

Hereinafter, with reference to FIG. 8, the detailed process of step S604 of the intelligent quarantine robot control method according to the present invention is as follows.

After step S602, the transfer unit 200 receives sensing information from the sensing unit 100 and rotates the built-in motor so that the calculated distance value from the floor becomes constant (S802).

Next, the transfer unit 200 drives the transfer means to correspond to the rotational force (S804).

Then, the transfer unit 200 controls the rotation speed of the motor of the rotation module 210 so that it aims in a direction corresponding to the amount of change in the coordinate value included in the sensing information (S806).

Hereinafter, with reference to Figure 9, the detailed process of step S606 of the intelligent quarantine robot control method according to the present invention is as follows.

After step S604, the injection unit 300 receives the injection time and injection amount information of the drug filled in the main body 1 of the intelligent quarantine robot and generates drug injection setting information (S902).

Then, the spray unit 300 sprays the medicine filled in the main body 1 of the intelligent quarantine robot to correspond to the medicine injection setting information (S904).

Hereinafter, with reference to Figure 10, the detailed process of step S608 of the intelligent quarantine robot control method according to the present invention is as follows.

After step S606, the monitoring unit 400 links the main body 1 of the quarantine robot and the wearable device 10 worn by the worker through an information and communication network (S1002).

Next, the monitoring unit 400 generates movement information by calculating the acceleration and angular velocity of the linked wearable device 10 (S1004).

Subsequently, the monitoring unit 400 counts the number of times movement information is generated and generates quarantine work status information (S1006).

Next, the monitoring unit 400 determines whether the counting value included in the quarantine work status information exceeds the set value (S1008).

As a result of the determination in step S1008, if the counting value included in the quarantine work status information exceeds the set value, the monitoring unit 400 outputs a work stop signal (S1010).

On the other hand, as a result of the determination in step S1008, if the counting value included in the quarantine work status information is less than the set value, the monitoring unit 400 outputs the counting value subtracted from the set value and a work signal (S1012).

According to the present invention as described above, the quarantine robot sprays chemicals while moving along the robot movement path (formed by magnetic tape or magnetic paint) formed on the floor of the quarantine area, and detects the movement of a wearable device worn by the worker. By monitoring and controlling the working status through quarantine, robots and workers can collaborate to carry out disinfection and quarantine, and workers can be protected from risks such as eye, respiratory, or skin irritation caused by chemical spray.

Although the preferred embodiments have been described and illustrated above to illustrate the technical idea of the present invention, the present invention is not limited to the configuration and operation as shown and described, and does not deviate from the scope of the technical idea. Those skilled in the art will appreciate that numerous changes and modifications can be made to the present invention without any modification. Accordingly, all such appropriate changes, modifications and equivalents shall be considered to fall within the scope of the present invention.

S: Intelligent quarantine robot control system
1: Body of the intelligent quarantine robot
2: Management server
3: Administrator terminal
10: Wearable device
100: Sensing unit
110: Infrared irradiation module
120: detection module
200: transfer unit
210: Rotation module
220: Driving module
230: Steering module
300: injection unit
310: Setting module
320: Injection module
400: Monitoring unit
410: Interlocking module
420: Computation module
430: Control module
440: Transmission module
450: Video module
460: Analysis module
470: AI analysis module

Claims (5)

A sensing unit that generates sensing information by irradiating infrared rays and detecting the movement path formed on the floor of the quarantine area;
A transfer unit that moves the main body of the intelligent quarantine robot by driving a motor to correspond to the sensing information;
A spray unit that sprays the chemical to correspond to the set time and injection amount; and
A monitoring unit that detects the movement of wearable devices worn by workers and generates quarantine work status information.
An intelligent quarantine robot control system comprising: According to paragraph 1,
The sensing unit,
An infrared irradiation module that irradiates infrared rays toward the floor of the quarantine area; and
A sensing module that generates sensing information by detecting infrared rays reflected by magnetic tape or magnetic paint formed on the floor of the quarantine area.
An intelligent quarantine robot control system comprising: According to paragraph 1,
The transfer unit,
a rotation module that receives sensing information from the sensing unit and rotates the built-in motor so that the calculated distance value with the floor is constant;
a driving module that drives the transfer means to correspond to the rotational force transferred from the rotation module; and
A steering module that controls the rotation speed of the motor of the rotation module to aim in a direction corresponding to the amount of change in the coordinate value included in the sensing information.
An intelligent quarantine robot control system comprising: According to paragraph 1,
The injection unit,
A setting module that receives information on the injection time and injection amount of the drug filled in the main body of the intelligent quarantine robot and generates drug injection setting information; and
A spraying module that sprays any one of formaldehyde, chlorine-based substances, or quaternary ammonium compounds filled in the body of the intelligent quarantine robot to correspond to the chemical spray setting information.
An intelligent quarantine robot control system comprising: According to paragraph 1,
The monitoring unit,
An interlocking module that links the main body of the quarantine robot and a wearable device worn by the worker through an information and communication network;
An arithmetic module that generates movement information by calculating the acceleration and angular velocity of the linked wearable device;
Quarantine work status information is generated by counting the number of times the motion information is generated, and if the counting value included in the quarantine work status information exceeds the set value, a work stop signal is output, and the counting value included in the quarantine work status information A quarantine work control module that outputs a counting value deducted from the set value and a work signal when the value is below this set value; and
A transmission module that transmits the movement information and quarantine work status information to a management server or administrator terminal connected through an information and communications network.
An intelligent quarantine robot control system comprising: