Security door unlocking device

Abstract

To realize the movement of an autonomous traveling vehicle between a non-security area and a security area with authentication at low cost.SOLUTION: This security door unlocking device 1 for placing a security card SC' on a card reader 22 attached to a security door 2 is configured to include a main body case 11 installed around the card reader 22, an arm 12 as a card mounting part that can be protruded and retracted between the inside of the main body case 11 and a reading position by the card reader 22, driving means 13 for driving the arm 12, and a security module 14 for driving the driving means 13 in response to an unlocking request.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a security door unlocking device that enables an autonomous vehicle to move between a non-security area and a security area with authentication at low cost. [Background technology]

[0002] Recently, the use of autonomous mobile objects, such as so-called AMRs (Autonomous Mobile Robots), has become widespread. Autonomous mobile objects are used indoors (inside hospitals and commercial buildings, etc.) and outdoors, and are configured to carry cargo and drive to a destination by themselves.

[0003] Recently, areas (security zones) are often set according to the level of security required. If this area is the destination or if a vehicle needs to pass through this area while traveling independently, it may be necessary to go through a security door, which is an automatic door that uses a security card. A card reader is installed at the security door, and workers with ID cards can unlock the door by waving their ID card over it for authentication.

[0004] Patent Document 1 is not directly related to the present invention, but introduces in FIGS. 11 to 15 an authentication sequence when an autonomous mobile object passes through a door. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2023-10776 Summary of the Invention [Problem to be solved by the invention]

[0006] In card authentication security systems, until now, when an autonomous vehicle passes through, a companion has to accompany it, and the person will either hold up an ID card in front of the security door on behalf of the autonomous vehicle to unlock it, or the autonomous vehicle and the security device will unlock it via wireless communication.

[0007] However, having an escort accompany an autonomous vehicle goes against the purpose of introducing autonomous vehicles to resolve the labor shortage. Also, while devices that allow an autonomous vehicle to unlock via wireless communication with a security device are commercially available, their introduction requires modifications to existing facilities, which can be costly.

[0008] The present invention was made with an eye on such issues, and aims to solve the problem by installing a device around the card reader used to unlock the security system that allows an ID card to be swept in response to operational commands from the autonomous vehicle. [Means for solving the problem]

[0009] In order to achieve the above object, the present invention takes the following measures.

[0010] In other words, the security door unlocking device of the present invention is designed to prevent a security card from being placed on a card reader attached to a security door, and is characterized by comprising a main body case installed around the card reader, a card mounting section that can be protruded and retracted between the main body case and the reading position by the card reader, a driving means for driving the card mounting section, and a security module that drives the driving means in response to an unlocking request.

[0011] In this way, the security module operates the security door release device upon receiving an unlocking request, and the security can be released by holding the security card over the card reader. This allows the autonomous vehicle to pass through the security door on its own, even without an accompanying person. Furthermore, there is no need to modify the existing security card or the entire card system that uses it, which reduces costs.

[0012] The card slot of the security door unlocking device preferably holds the security card with the side opposite to the reading side concealed, so that even if the card protrudes from the main case, the presence of the card can be concealed.

[0013] The security door unlocking device preferably has a first adjustment unit that adjusts the installation position of the main body case relative to the card reader, which allows it to accommodate various installation conditions (such as installation height) of the card reader.

[0014] The security door unlocking device preferably has a second adjustment unit that adjusts the stroke range of the card insertion unit caused by the driving means, making it possible to accommodate various card reader installation conditions (particularly the size and reading position in the stroke direction of the card reader).

[0015] It is preferable that the security door unlocking device be installed upside down with the card insertion section displaced in the depth direction relative to the main body case, which makes it possible to accommodate various card reader installation conditions (especially the size and reading position of the card reader in the depth direction, etc.).

[0016] Furthermore, it is preferable that the security module acquires authentication information from the autonomous vehicle in response to an unlocking request from the autonomous vehicle and determines whether or not to drive the drive means. Alternatively, the security module may drive the drive means based on an unlocking command from a management system that controls the autonomous vehicle.

[0017] In this way, it is possible to restrict the passage of autonomously moving vehicles other than specified autonomously moving vehicles, thereby ensuring the effectiveness of security. [Effects of the Invention]

[0018] According to the present invention as described above, it is possible to provide a security door unlocking device that enables an autonomous vehicle to move between a non-security area and a security area with authentication at low cost. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a diagram showing the periphery of a security door to which a security unlocking device according to an embodiment of the present invention is applied; [Figure 2] FIG. 2 is a configuration diagram of the security door unlocking device according to the embodiment. [Figure 3] FIG. 2 is a configuration diagram of the security door unlocking device according to the embodiment. [Figure 4] FIG. 2 is a functional explanatory diagram of a security module constituting the embodiment. [Figure 5] FIG. 2 is a functional explanatory diagram of a robot constituting the embodiment. [Figure 6] FIG. 2 is a diagram showing a navigation map used in the embodiment. [Figure 7] FIG. 2 is a diagram showing an authentication sequence executed in the embodiment. [Figure 8] 4 is a diagram showing the operation sequence of the security door unlocking device when authentication is successful in the embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0021] The security door unlocking device 1 of this embodiment shown in Figure 1 is used in a security door unlocking system SS installed in facilities such as hospitals, and supports the action of holding a security card SC', which is necessary for authentication when an autonomous mobile robot R moves between a non-security area and a security area, or between security areas, just as a worker W who has been authenticated in advance and holds a security card (ID card) SC passes through a security door 2.

[0022] The security door unlocking system SS includes a security door 2, an electromagnetic locking mechanism 21, and a card reading unit 22.

[0023] The security door 2 is placed at a position separating the areas, and is automatically locked by an electromagnetic locking mechanism 21 when it moves from an open position to a closed position, and the electromagnetic locking mechanism 21 is unlocked when authentication is established through reading by a card reading unit 22.

[0024] In this embodiment, the security card SC' set in the security door unlocking device 1 is functionally equivalent to the original security card SC, and if the security card system SS is equipped with guest or visitor cards, these can also be used.

[0025] 2 and 3, the security door unlocking device 1 comprises a main body case 11 installed around the card reader 22, an arm 12 serving as a card mounting section that can be extended and retracted between the inside of the main body case 11 and the reading position of the card reader 22, a driving means 13 that drives the arm 12, and a security module 14 that drives the driving means 13 in response to an unlocking request (an unlocking request from the robot R in this embodiment). The power source for the driving means 13 is a battery BT.

[0026] In this embodiment, the main body case 11 is a flat box-like structure that is placed along the wall 20 surrounding the security door 2, and the internal mechanism can be opened and closed using the lid. The lid is closed with the security card SC' stored inside and tightened with a special hexagonal screw or the like, making it impossible to remove without using a special tool.

[0027] The main body case 11 is set upright on the floor via legs 15, and base portions 15a at the lower ends of the legs 15 are fixed to the floor. The legs 15a are extendable like a telescope and include a screw adjustment portion 15b, which is a first adjustment portion, so that the height of the card slot 11a at the top end of the main body case 11 can be adjusted so that it is positioned at an appropriate position directly below the card reader 22.

[0028] The arm 12 is plate-shaped and has the function of holding the surface of the security card SC' opposite to the reading surface in a concealed state together with concealing plates 12' on both sides.

[0029] The driving means 13 includes an actuator 13a, a ball screw 13b rotated by the actuator 13a, and a nut 13c threaded onto the ball screw 13b, with the arm 12 attached to the nut 13c. A pair of optical sensors 13d that determine the stroke end are provided to detect the position of the arm 12 or a part that moves with the arm 12, and the position of the sensors 13d can be adjusted by a rail-type positioning mechanism 13e, which serves as a second adjustment unit. This allows the security card SC' to be raised and lowered appropriately through the card slot 11a between an ejection position where it can be read by the card reader 22 and a storage position where it is retracted within the main case 11.

[0030] The arm 12 can be attached upside down to a position displaced in the depth direction relative to the main case 11, and by turning the main case 11 upside down and fixing it along the wall 20, the distance between the card entrance / exit 11a, through which the security card SC' appears and disappears, and the wall 20 can be adjusted.

[0031] As shown in Fig. 4, the security module 14 is mainly composed of a normal microcomputer unit 140 including a CPU 140a, a memory 140b, and an interface (I / F) 140c, and a short-range communication unit 141 can be connected to a short-range communication unit 116 of a control unit 117 constituting a robot R, which will be described later with reference to Fig. 5. Also, a security IC chip 142 can be connected to the interface 140c, which has a function of storing an authentication password and generating random numbers for challenge-response, which will be described later.

[0032] 2 stores a program including a series of authentication sequences using a password to determine whether or not security should be released in response to an unlocking request from the robot R, and the robot R is also provided with a corresponding program. This is because when the security door unlocking device 1 holds up the security card SC' on behalf of the robot R, the robot R needs to demonstrate that it has the authority to operate the security door unlocking device 1.

[0033] Here, we will explain the basic configuration of the robot R. The robot R is a self-propelled robot called an AMR (Autonomous Mobile Robot).

[0034] 5, the robot R is equipped with peripheral resources such as a running unit 111 equipped with wheels and an internal sensor, a camera 112, a touch panel 113, an external sensor 114, an obstacle sensor 115, and a short-range communication unit 116, as well as a control unit 117 equipped with a CPU 117a as a central processing unit, a memory 117b as a storage unit, an interface 117c for input / output, and a communication unit 119. The robot R is also provided with a storage unit (not shown) capable of storing an item, and has a transport function for transporting the item to a destination position.

[0035] The camera 112 has its photographing direction and angle of view appropriately set either by itself or in conjunction with the posture of the robot R, and is set so as to be able to capture various images of the area around the route required for travel.

[0036] The touch panel 113 of the robot R provides an input reception screen required to select in advance the destination within the building structure where the robot R is placed. In addition, input items such as commands for round-trip operations from delivering a package to returning are also prepared as needed. The input contents are taken into the control unit 117.

[0037] The external sensor 114 is, for example, a LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) that irradiates the surroundings with laser light or the like and receives reflected light to acquire scan data (point cloud data) including relative coordinates of objects present around the robot R. The scan data includes two-dimensional coordinates of measurement points around the robot R and information indicating the emission direction of the external sensor 114, in association with each other. Alternatively, if the external sensor 114 is configured to emit light in three dimensions, the scan data may include three-dimensional coordinates of the measurement points. The control unit 117 can determine the relative distance from the robot R to surrounding objects based on the measurement information included in the scan data, or the shape of the object based on the positional relationship of multiple measurement points (for example, autonomous driving using LiDAR / SLAM technology). The external sensor 114 may be a radar sensor, a camera (for example, autonomous driving using VisualSLAM technology), or a combination of these.

[0038] The obstacle sensor 115 may be configured with, for example, a camera sensor, but here the control unit 117 acquires image data captured by the camera 112 and processes the image to detect people, obstacles, etc.

[0039] The short-range communication unit 116 is implemented in the control unit 117 and employs BLE (Bluetooth low energy) communication. BLE communication is a low-power consumption communication mode, and has the advantage of being able to extend the battery life of even a coin battery depending on how it is used, like a beacon, and establishes communication between the robot R and the short-range communication unit 141 of the security module 14. The communication unit 119 is for communication with an external server or the like.

[0040] A memory 117b of the control unit 117 stores a driving program for the robot R, and the CPU 17a sequentially reads each program and cooperates with peripheral resources such as the camera 112 to realize the autonomous driving function of the robot R. The memory 117b also stores map information MP. The map information MP is two-dimensional data, and stores point clouds indicating roads, walls, elevators, and other objects, in association with the absolute positions of these point clouds. The map information MP may also store tag information for identifying the type of object, and destination information in association with the driving speed of the robot R, the location of the destination, and the like, in association with each point cloud. Furthermore, if the external sensor 114 is configured to emit light in three dimensions, the map information MP is three-dimensional data.

[0041] When a destination is input via the touch panel 113, the destination is added to the travel program of the robot R. Based on the information provided in advance, the travel program cooperates with a higher-level management system as appropriate to generate a route from the current position to the destination on a navigation map, and if there is a security door 2 along the way, establishes a route to pass through the security door 2 and reach the destination.

[0042] A map layer for issuing security door deactivation commands is added to the navigation map. Figure 6 shows an example of the map layer. If there is a security door 2 along the route that robot R takes to its destination, through which it can move from area A1 to the next security area A2, a deactivation command issuance area A11 and a deactivation waiting area A12 are set around the security door 2.

[0043] The release command issuance area A11 is set to a wide range so that the robot R can pass through the security door 2 without stopping when the conditions are met and the security door 2 is unlocked by checking the release conditions. In addition, taking into consideration the possibility that checking the release conditions may exceed the scheduled time, if the robot R arrives in front of the security door 2 first, it is set to stop temporarily in the release waiting area A12 in front of the security door 2 and wait for the security unlocking device 1 to notify it of the completion of unlocking (door unlocking notification).

[0044] To enable the robot R to pass through the security door 2, the memory 117b stores the programs necessary to execute a series of authentication sequences, together with the programs stored in the memory 140b of the security module 14 constituting the security door unlocking device 1.

[0045] 7 shows a sequence flow of the authentication procedure executed between the robot R and the security module 14. Basically, the procedure is to check whether the password held by the robot R matches the password registered in the security module 14, but to prevent the password from being leaked, a challenge-response authentication method is used here. The authentication procedure in this embodiment will be explained below.

[0046] First, when the control unit 117 of the robot R determines that the robot R has entered the unlock command issuance area in FIG. 6, it issues an unlock request to the security module 14 as shown in FIG. 7 (step S1).

[0047] The security module 14 requests the connected security IC chip 142 to generate a random number that will be an encryption key, and upon receiving this response, issues a challenge (sends an encryption key) to the robot 1 (step S2).

[0048] When the control unit 17 of the robot R receives the encryption key, it generates a response A using a pre-stored password PW and a random number, and sends the response A to the security module 14 (step S3). This password is the same as the password pre-stored in the security module 14. The response A is calculated using the password PW and a random number, hashed, and is non-reversible.

[0049] The security module 14 generates answer B for answer A using the password PW stored in advance in the security IC chip 142 and the random number sent to the robot R (step S4). This answer B is also calculated and hashed using the password PW and the random number.

[0050] The security module 14 compares answer A with answer B (step S5), and if the comparison results in a match, completes the authentication and returns to the robot a message that the login was successful (step S6).

[0051] 8, the security module 14 then issues an arm movement request to the driving means 13 to drive the arm 12, causing it to move from the starting point to the end point. When the optical sensor 13d at the end point detects light blocking, the ejection operation of the arm 12 ends (step S7). Subsequently, the security module 14 issues an arm movement request to the driving means 13 to drive the arm 12 in the reverse direction, causing it to move from the end point to the starting point. When the optical sensor 13d at the start point detects light blocking, the arm storage operation ends and is forcibly stopped (step S8).

[0052] This series of unlocking controls involves holding the security card SC' shown in Figs. 1 to 3 over the card reader 22, and the driving means 13 notifies the robot 1 that the door has been unlocked when the unlocking control is completed (step S9).

[0053] Upon receiving the door unlock notification, robot R recognizes that the door has opened and moves through security door 2 along the established route to the next security zone.

[0054] If an error occurs in steps S4 and S5, the error is notified in the login result. Also, if an error occurs in step S8, the error is notified instead of the door release notification. In these cases, a retry is made from the first release request.

[0055] As described above, the security door unlocking device 1 of this embodiment is designed to hold a security card SC' in the card reader 22 attached to the security door 2, and is characterized by comprising a main body case 11 installed around the card reader 22, an arm 12 serving as a card mounting section that can be extended and retracted between the inside of the main body case 11 and the reading position by the card reader 22, a driving means 13 that drives the arm 12, and a security module 14 that drives the driving means 13 in response to an unlocking request.

[0056] In this way, upon receiving an unlocking request, the security module 14 operates the security door unlocking device 1 and releases the security by holding the security card SC' over the card reader 22. This allows the robot R to pass through the security door 2 on its own, even without an accompanying person. Also, there is no need to modify the existing security card SC or the entire card system that uses it, which helps reduce costs. Compared to incorporating a mechanism for holding a security card SC' into each robot R, there is no need to modify the robot R, and basically only one security card SC' is required.

[0057] In this case, the arm 12 of the security door unlocking device 1 holds the surface of the security card SC' opposite to the reading surface in a concealed state, so that even if the card SC' protrudes from the main body case 11, the presence of the card SC' can be hidden and it cannot be recognized by people around.

[0058] In addition, the security door unlocking device 1 has a screw adjustment part 14b that adjusts the installation position of the main body case 11 relative to the card reader 22, so that the height can be adjusted to suit various installation conditions of the card reader 22.

[0059] Furthermore, the security door unlocking device 1 has a positioning mechanism 13e that adjusts the stroke range of the arm 12 by the driving means 13, and this allows the amount of extension and contraction to be adjusted to suit various installation conditions of the card reader 22.

[0060] In addition, in this embodiment, the security module 14 is configured to acquire authentication information from the robot R in response to an unlocking request from the robot R and determine whether or not it is appropriate to drive the driving means 13.

[0061] In this way, it is possible to restrict the passage of robots R other than predetermined robots R, thereby ensuring the effectiveness of security.

[0062] Furthermore, because the security door unlocking device 1 is powered by a battery BT, it can be installed anywhere. Of course, it can also be powered from an outlet in the facility. Powering it from an outlet eliminates the need for battery replacement and other hassles.

[0063] Although one embodiment of the present invention has been described above, the specific configuration of each part is not limited to the above-described embodiment.

[0064] For example, in the above embodiment, a challenge-and-response type authentication method is adopted, but it is of course also possible to use simple password authentication, or any other appropriate authentication method.

[0065] Furthermore, in the above embodiment, the security module 14 is configured to obtain authentication information from the robot R in response to an unlocking request from the robot R and determine whether or not to drive the driving means 13, but the security module 14 may also be configured to drive the driving means 13 based on an unlocking command from a management system that manages the robot.

[0066] Furthermore, although the driving means in the above embodiment is configured using an actuator and a ball screw, it may also be configured using a solenoid or a linear drive motor. Also, the optical sensor may be replaced by a microswitch.

[0067] In addition, although the main body case 11 is installed below the card reader 22 in FIG. 1, the main body case 11 may be fixed to the side of the card reader 22, and the security card SC' may be inserted and removed horizontally from the arm 12.

[0068] In this case, it is also preferable that the legs 15 supporting the security door unlocking device 1 can be attached in a sideways position so that the arms extend and retract horizontally.

[0069] Furthermore, in the above embodiment, communication between the robot R and the security module 14 is performed by BLE communication, but other means such as Wi-Fi may also be used.

[0070] Furthermore, in the above embodiment, the robot R made an unlocking request directly to the security module 14, but it is also possible to configure the robot R to make an unlocking request to a higher-level management system that controls the robot R, and then have the management system issue an unlocking command to the security module 14.

[0071] It is also effective to incorporate a sequence in which, if a camera or the like detects the presence of an outsider around the security door 2, the security door unlocking device 1 suspends the operation of waving the card SC' until the outsider leaves.

[0072] Furthermore, the form of the autonomous traveling vehicle is not limited to that of a robot, and various modifications are possible without departing from the spirit of the present invention. [Explanation of symbols]

[0073] 1...Security door unlocking device 2...Security door 11...Main unit case 12...Card mounting part (arm) 13...Drive means 13e...Second adjustment unit (positioning mechanism) 14...Security module 15b...First adjustment unit (screw adjustment unit) 22a...Card reader R...Autonomous mobile object (robot) SC, SC´...Security card

Claims

1. A security door unlocking device for unlocking a security door without placing a security card on a card reader attached to the security door, A security door unlocking device comprising: a main body case installed around the card reader; a card mounting section that can be extended and retracted between the main body case and the reading position of the card reader; a driving means for driving the card mounting section; and a security module that drives the driving means in response to an unlocking request.

2. 2. The security door unlocking device according to claim 1, wherein the card mounting section holds the surface of the security card opposite to the reading surface in a concealed state.

3. 2. The security door unlocking device according to claim 1, further comprising a first adjustment unit that adjusts the relative installation position of said main body case with respect to said card reader.

4. 2. The security door unlocking device according to claim 1, further comprising a second adjustment unit that adjusts the stroke range of said card mounting unit caused by said driving means.

5. The security door unlocking device described in any one of claims 1 to 4, characterized in that the security module acquires authentication information from the autonomously moving vehicle in response to an unlocking request from the autonomously moving vehicle and determines whether or not it is appropriate to drive the driving means.

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