# US 2019/0172284 A1 · Apparatus, System, and Method for Secure Robot Access > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0172284 A1 - Document ID: US20190172284A1 - Status: Published application - Kind: A1 - Application number: 15/832,550 - Filed: 2017-12-05 - Published: 2019-06-06 - Earliest claimed: 2017-12-05 - Assignees: Savioke, Inc. - Applicants: Savioke Inc. - Inventors: Philipp Herget; Steve B. Cousins; Tessa Lau - Web page: https://patentgrep.com/patent/US20190172284A1 ## CPC - G07C 9/32: in combination with an identity check - B25J 5/007: {mounted on wheels} - B25J 19/04: Viewing devices - G06V 20/52: Surveillance or monitoring of activities, e.g. for recognising suspicious objects (recognising microscopic objects G06V20/69) - G07C 9/00: Individual registration on entry or exit - G08B 3/10: using electric transmission; using electromagnetic transmission - G08B 21/02: Alarms for ensuring the safety of persons - G08B 25/08: using communication transmission lines {(G08B13/19658, G08B21/0286, G08B25/016 take precedence)} - G08B 25/10: using wireless transmission systems {(G08B25/009 takes precedence)} - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08B: SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS ## Abstract A mobile robot includes features to improve security when the mobile robot traverses a secure door between a secure area and an unsecure area. This may include the mobile robot checking that a region about the secure door, in the unsecure area, is clear of an entity that is a tailgating risk, prior to opening the secure door. ## Claims ### Claim 1 A method of preventing tailgating of a mobile robot, comprising: determining, by the mobile robot, that the mobile robot requires access through a secure door separating a secure area from an unsecure area; and performing, prior to navigating the mobile robot through the secure door, at least one operation by the mobile robot to control opening of the secure door to prevent an unauthorized entry of at least one type of unauthorized entity through the secure door. ### Claim 2 (depends on 1) The method of claim 1, wherein the mobile robot opens the secure door and the performing at least one operation comprises checking, by the mobile robot, that a region in the unsecure area proximate the secure door within a range for an unauthorized entry is clear of the at least one type of unauthorized entity prior to the mobile robot opening the secure door. ### Claim 3 (depends on 1) The method of claim 1, wherein the performing at least one operation comprises the mobile robot summoning or waiting for an authorized entity to open the secure door. ### Claim 4 (depends on 1) The method of claim 1, wherein the performing at least one operation comprises determining by the mobile robot that it is on the unsecure side of the secure door, checking by the mobile robot whether a region of the unsecure area proximate the secure door is clear of the at least one type of unauthorized entity within a range for an unauthorized access, and opening by the mobile robot the secure door in response to determining the region of the unsecure area is clear. ### Claim 5 (depends on 4) The method of claim 4, further comprising the mobile robot contacting an authorized entity to open the secure door in response to determining that the region in the unsecure area is not clear of the at least one type of unauthorized entity. ### Claim 6 (depends on 1) The method of claim 1, the performing at least one operation comprises determining by the mobile robot that it is on the secure side of the secure door, checking by the mobile robot whether a region of the unsecure area proximate the secure door is clear of the at least one type of unauthorized entity within a range for an unauthorized access, and opening by the mobile robot the secure door in response to determining the region of the unsecure area is clear. ### Claim 7 (depends on 6) The method of claim 6, wherein the mobile robot accesses sensor data of external sensors in the unsecure area. ### Claim 8 (depends on 1) The method of claim 1, further comprising the performing at least one operation comprises determining by the mobile robot that it is in the secure area on the secure side of the secure door and waiting for or summoning an authorized entity to open the secure door. ### Claim 9 (depends on 1) The method of claim 1, further comprising the mobile robot detecting and reporting an unauthorized entity attempting to enter through the secure door in a time period between when the secure door begins to open but before the secure door has closed. ### Claim 10 (depends on 1) The method of claim 1, wherein the at least one operation is selected by a security policy to include one member from the group of 1) checking that a region in the unsecure area is clear of the at least one type of entity prior to opening the secure door, 2) waiting for an authorized entity to open the secure door, and 3) summoning an authorized entity to open the secure door. ### Claim 11 A mobile robot, comprising: a drive mechanism; a navigation system; and a controller configured to perform at least one operation, prior to navigating the mobile robot through a secure door separating an unsecure area from a secure area, to control opening of the secure door to prevent an unauthorized entry of at least one type of unauthorized entity through the secure door. ### Claim 12 (depends on 11) The mobile robot of claim 11, wherein the controller includes a mode of operation to utilize at least one sensor of the mobile robot to check that a region of the unsecure area within a range for an unauthorized access is clear of the at least one type of unauthorized entity prior to opening the secure door. ### Claim 13 (depends on 11) The mobile robot of claim 11, wherein the controller includes a mode of operation to access data from at least one external sensor to check that the unsecure area is clear of the at least one type of unauthorized entity prior to opening the secure door. ### Claim 14 (depends on 11) The mobile robot of claim 11, wherein the controller includes a mode of operation to summon or wait for an authorized entity to open the secure door for the mobile robot. ### Claim 15 (depends on 11) The mobile robot of claim 11, wherein the controller has a mode of operation to determine that the mobile robot that it is in the unsecure area, check that a region of the unsecure area is clear of the at least one type of unauthorized entity using sensor data of the mobile robot, and open the secure door in response to determining the region is clear. ### Claim 16 (depends on 11) The mobile robot of claim 11, wherein the controller has a mode of operation to contact an authorized entity to open the secure door in response to the mobile robot determining that a region in the unsecure area is not clear of the at least one type of entity. ### Claim 17 (depends on 11) The mobile robot of claim 11, wherein the controller has a mode of operation in which it determines that the mobile robot is in the unsecure area, checks whether the region of the unsecure area is clear of the at least one type of unauthorized entity using external sensor data, and opens the secure door in response to determining the region is clear. ### Claim 18 (depends on 11) The mobile robot of claim 11, wherein the controller selects the operation that is performed based on a security policy to include a member from the group consisting of: 1) checking that a region in the unsecure area is clear of the at least one type of unauthorized entity prior to opening the secure door, 2) waiting for an authorized entity to open the secure door or escort the mobile robot through the secure door, and 3) summoning an authorized entity to open the secure door or escort the mobile robot through the secure door. ### Claim 19 (depends on 11) The mobile robot of claim 11, wherein the controller is configured to monitor and report on attempts at unauthorized access by the unauthorized entity. ### Claim 20 A mobile robot, comprising: a drive mechanism; an autonomous navigation system; at least one sensor; a secure door activator to remotely open a secure door via a wireless communication interface; a secure door detector to detect secure doors separating an unsecure area from a secure area; and a controller configured to perform at least one operation, prior to navigating the mobile robot through the secure door, to control opening of the secure door to prevent an unauthorized entry of at least one type of unauthorized entity through the secure door.