KR101573027B1 - Intelligent unmaned robot for weeding - Google Patents

Intelligent unmaned robot for weeding Download PDF

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Publication number
KR101573027B1
KR101573027B1 KR1020130129759A KR20130129759A KR101573027B1 KR 101573027 B1 KR101573027 B1 KR 101573027B1 KR 1020130129759 A KR1020130129759 A KR 1020130129759A KR 20130129759 A KR20130129759 A KR 20130129759A KR 101573027 B1 KR101573027 B1 KR 101573027B1
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South Korea
Prior art keywords
main body
unit
sensor
robot
weeding
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KR1020130129759A
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Korean (ko)
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KR20150049337A (en
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송창금
주강식
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주식회사 드림씨엔지
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Priority to KR1020130129759A priority Critical patent/KR101573027B1/en
Priority to PCT/KR2013/009716 priority patent/WO2015064780A1/en
Publication of KR20150049337A publication Critical patent/KR20150049337A/en
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
    • A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation

Abstract

The present invention relates to an intelligent unmanned herbicide robot, more particularly, to an unmanned remote control system (R / C), an optimal route for obstacle avoidance Through the intelligent unmanned weeding robot that can run autonomously, automatic weeding can be performed with unmanned in a certain range set by the user. Therefore, it is possible to secure the safety of the operator in the bad weather, Dust, noise, debris and the like, and it is possible to finish a wide range of herbicidal operations very conveniently and quickly compared to the conventional manmade herbicidal works, and thus the worker's fatigue due to high- Which is an intelligent unmanned herbicide robot.
An intelligent unmanned herbicide robot according to the present invention comprises: a main body having wheels capable of running; A weed part provided on the main body part, the weed part having a height adjustable up and down; A driving unit for transmitting power to the wheel and the herbaceous blade so that the main body part travels and the herbicide blade rotates; A geographical information loading unit storing geographical information data necessary for traveling of the main body; A main body recognition unit for recognizing current position information of the main body unit by using the geographical information data; A sensor unit having a vision sensor for recognizing an image during driving of the main body and an obstacle detection sensor for sensing an obstacle; A map building unit for recognizing an external environment using the image photographed by the vision sensor and calculating a travel route necessary for the travel of the main body unit; And a control unit for controlling the driving unit; .

Description

[0001] INTELLIGENT UNMANED ROBOT FOR WEEDING [0002]

The present invention relates to an intelligent unmanned herbicide robot, more particularly, to an unmanned remote control system (R / C), an optimal route for obstacle avoidance Through the intelligent unmanned weeding robot that can run autonomously, automatic weeding can be performed with unmanned in a certain range set by the user. Therefore, it is possible to secure the safety of the operator in the bad weather, Dust, noise, debris and the like, and it is possible to finish a wide range of herbicidal operations very conveniently and quickly compared to the conventional manmade herbicidal works, and thus the worker's fatigue due to high- Which is an intelligent unmanned herbicide robot.

Generally, the mowing or weeding apparatus is a device for cutting crops (eg, grains, grasses, grasses, etc.)). The mowing and weeding apparatuses have been variously proposed and widely used depending on the use purpose and form.

In the past, as a means of cutting grass, we used to work with a sickle, called a sickle, to work, so it took a lot of work, it takes too long to work, the work efficiency is low, , Or frequent human accidents such as fingers being cut off.

In recent years, portable lawn mowers using a motor or an engine have been developed and used. In general, a portable lawn mower has a power unit put on the back of a user, a rotary cutter that can cut grass or weeds on the ground while being rotated by the power of the power unit, A support pipe and a flexible tube having a constant diameter connected to the rotary cutter in a slanting manner in a backward and upward direction and a handle for a user to grasp by hand are provided on the rotary cutter and the power of the power unit is transmitted to the rotary cutter And a handle portion provided with a power transmitting means.

The user performed a mowing operation while holding the knob provided at the middle portion of the handle portion of the lawn mower constructed as described above while keeping the rotary cutter at a constant interval with respect to the ground.

However, in the case of a general lawn mower, the rotary lawn mower of the lawn mower is rotated at a high speed while being exposed to the outside, so that when the lawn mower rotary cutter hits a hard object such as a stone, it may cause a breakdown of the lawnmower, There is a problem that an object broken by a cutter or a rotary cutter is scattered and injured by a user, thereby causing a safety accident.

In addition, when a non-expert is working using a general lawn mower, it is very difficult to cut grass or grass at a constant height.

In order to use the portable lawn mower safely and conveniently in recent years, the height of the rotary lawn mower can be kept constant from the ground so that the lawn mower can be always kept at a constant height regardless of the expert or unskilled The use of lawn mowers supporting lawn mowers which can reduce the physical and mental fatigue of a user who needs to work with a rotary cutter is improved.

In addition, as the mechanization of the agricultural machinery has been gradually realized recently, a lawn mower in the form of a working machine attached to an agricultural machine called a tillage machine or a management machine has been widely used and developed.

However, as a result of having a lot of power and complicated structure in adhering lawn mowers to a cultivator or a manager, the utility value is reduced and the use is avoided, so that a weed-type weed system equipped with an engine capable of specializing in weeding work has been developed However, such a ride-type herbicide apparatus is a large-sized high-priced apparatus, and therefore, it is dependent on imports.

In addition, since such a ride-type herbicidal apparatus still requires the workforce to be weeded, it is exposed to the noise and dust generated during the weeding operation, which is harmful to the health of the operator. In addition, And the problem that it is not easy is caused.

As described above, in the conventional various herbicidal systems, labor must be directly input, labor costs are incurred, and fatigue of the worker due to high-intensity manual labor is increased. When the worker is injured due to carelessness during the weeding operation It is necessary to provide a safer and more convenient weeding method.

As a technique developed in accordance with this need, a conventional remote control robot for golf ball collection and weeding has been disclosed in Korean Registered Patent No. 10-1219495 (registered date: 2013.01.02).

The conventional "remote control robot 100 for golf ball hoisting and weeding" as described above is capable of safely handling weed removal even when no human force is applied by remote control of the robot, An ultrasonic sensor 160 capable of detecting an obstacle and a controller 140 for controlling the operation of the ultrasonic sensor unit 160 in accordance with signals from the ultrasonic sensor unit 160. [ And a control unit 180 for controlling the vertical reciprocating motion of the weed control unit 120 and the driving and direction switching of the driving unit 40. The control unit 180 solves the problem of occurrence of a safety accident, In order to reduce costs.

However, the above-mentioned remote control robot for weeding may recognize the wide range of weeding area requiring weeding by the user in advance and operate it directly through the remote controller 200, or through a PLC control panel and motion detection sensor in a series of command formats The control system controls the machine and the processor in accordance with the contents of the memory. The control system can be effective to some extent in the general plain. However, since it is impossible to carry out the autonomous operation recognizing the external environment, In addition, it is difficult to cope with the terrain, and when the weed control system for the weed control system performs the weeding operation on the slope, the weeding device tilts according to the slope, causing errors and malfunctions, And many obstacles are uncomfortable If the place where ever located in the formed weeding, by simply avoiding the obstacle to continue herbicidal action. However, when, due to the obstacle path is changed to the problem was such that the weeding delay.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide an apparatus and a method for controlling an R / C The automatic weeding operation can be performed by the intelligent unmanned weaving robot which can generate the path of the unmanned weeding robot and can be operated in unmanned manner within a predetermined range set by the user, thereby ensuring the safety of the operator in the bad weather, It is possible to prevent workers from being exposed to danger from dust, noise, and debris generated in the herbicide operation, and to accomplish a wide range of herbicidal operations in a very convenient and quick manner compared to the conventional manmade herbicidal action, To provide an intelligent unmanned herbicide robot that can relieve fatigue of workers due to will be.

According to an aspect of the present invention, there is provided an intelligent unmanned herbicide robot comprising: a main body having wheels capable of traveling; A weed part provided on the main body part, the weed part having a height adjustable up and down; A driving unit for transmitting power to the wheel and the herbaceous blade so that the main body part travels and the herbicide blade rotates; A geographical information loading unit storing geographical information data necessary for traveling of the main body; A main body recognition unit for recognizing current position information of the main body unit by using the geographical information data; A sensor unit having a vision sensor for recognizing an image during driving of the main body and an obstacle detection sensor for sensing an obstacle; A map building unit for recognizing an external environment using the image photographed by the vision sensor and calculating a traveling route necessary for the movement of the main body unit; A control unit for controlling the main body, the weeding unit, and the driving unit so that the main body part autonomously runs along the traveling path; .

In addition, the intelligent unmanned herbivorous robot according to the present invention includes a path planner for generating an optimal path for avoiding an obstacle using the traveling path and the position information of the obstacle detected by the obstacle detecting sensor; Wherein the control unit controls the main unit, the weed unit, and the driving unit so that the main unit autonomously runs along a path generated by the path planning unit.

In the intelligent unmanned herbicide robot according to the present invention, the control unit may include a radio control means for remotely controlling the main body, the weed control unit, and the driving unit, And a receiver for receiving the radio signal and transmitting the radio signal to the controller. According to another aspect of the present invention, there is provided a radio communication system comprising: a controller;

Further, in the intelligent unmanned herbicide robot according to the present invention, the sensor unit may further include a GPS sensor for recognizing the current position of the main body unit in the magnetic position recognition unit, and the obstacle detection sensor is an ultrasonic sensor .

Further, in the intelligent unmanned herbicide robot according to the present invention, the sensor unit may further include a tilt sensor for sensing a tilt of the main body with respect to gravity, wherein the controller controls the tilt sensor The controller controls the main body to autonomously travel when the inclination is less than or equal to a predetermined angle and controls the manual operation through the operation of the radio control means when the inclination of the main body is greater than or equal to a certain angle.

According to the above configuration, the intelligent unmanned herbicide robot according to the present invention can perform an automatic weeding operation in an unattended range within a predetermined range from the user through an intelligent unmanned herbicide robot that can run autonomously by an unmanned remote control system (R / C) The safety of the operator is ensured in the weather of the bad condition, the convenient weeding operation can be performed, the operator can be prevented from being exposed to the danger from the dust, noise and debris generated in the weeding operation, It is possible to complete a wide range of herbicidal operations very conveniently and quickly, thereby eliminating fatigue of workers due to high-intensity manual labor.

1 is a side view showing a remote control robot for weeding according to a conventional example.
FIG. 2 is a side view of an intelligent unmanned herbicide robot according to an embodiment of the present invention. FIG.
3 is a plan view of an intelligent unmanned herbicide robot according to an embodiment of the present invention.
4 is a block diagram showing a schematic configuration of an intelligent unmanned herbicide robot according to an embodiment of the present invention.

Hereinafter, the intelligent unmanned herbicidal robot (hereinafter referred to as "herbicidal robot") according to the present invention will be described in detail with reference to the embodiments shown in the drawings.

FIG. 2 is a side view illustrating an intelligent unmanned herbicide robot according to an embodiment of the present invention, FIG. 3 is a plan view illustrating an intelligent unmanned herbicide robot according to an embodiment of the present invention, FIG. Fig. 2 is a block diagram showing a schematic configuration of an intelligent unmanned herbicide robot according to an example. Fig.

The intelligent unmanned herbivorous robot 1 according to an embodiment of the present invention includes a main body 10, a weeding unit 20, a driving unit 30, a geographic information mounting unit 40, A display unit 50, a sensor unit 60, a map building unit 70, and a control unit 90.

The main body 10 includes a main body 11 constituting a body of the weaving robot 1 and four wheels 11 provided at the lower portions of the front and rear of the main body 11, do.

The weeding part 20 is provided with a weed blade 22 which is vertically adjustable in height from the bottom of the main body part 10. The weed blade 22 is vertically installed at the center of the body part 10 And is configured to be rotatable about a rotary shaft (21).

The weeding blade (22) is vertically adjustable in height while the main body (10) is running. The weed blade (22) is composed of a cylinder having a spring inside and a rod partially inserted in the cylinder. A gas valve or a general hydraulic type in which a lever provided with a valve is pushed to open the gas valve and a high pressure gas stored in a chamber is introduced into the cylinder and the rod is pushed out of the chamber, The weed blade 22 can be adjusted in height by a variety of methods known in the art, for example, by allowing the operator to directly lower and lift the weed blade 22, or by adopting an electric type structure to be easily controlled through the control of the controller 90 Structure can be realized, and more preferably, the vertical height can be automatically adjusted in association with the running of the main body portion 10. [ You will be able to be configured.

The driving unit 30 is configured to transmit power to the wheels 12 and the weed blades 22 so that the main body 10 travels and the weed blades 22 are rotated.

The drive unit 30 is provided with an engine 31 mounted on a rear upper end of the main body 11 and a driving speed of the rear wheel, that is, the speed of the wheel 12, 22 are constantly controlled through the control of the controller (90).

The geographical information application unit 40 is configured to store geographical information data necessary for driving the main unit 10 and to update the geographical information of the area required for weeding in real time in the form of data in the control unit 90 And provides the map information of the existing geometric shape so that it can be used for the traveling information of the main body 10. [

The magnetic location recognition unit 50 may be configured to recognize the current location information of the main body 10 when the main body 10 travels using the geographical information data stored in the geographical information storage unit 40, to be.

At this time, since the self-position recognition unit 50 is used for a purpose of the weed robot, that is, the main body 10 mainly travels outdoors, the self-position recognition unit 50 uses the GPS sensor 63 provided in the sensor unit 60 So that the control unit 90 can calculate position information necessary for autonomous travel.

That is, the GPS sensor 63 is for recognizing the current position of the main body part 10 in the magnetic position recognizing part 50. The GPS sensor 63 recognizes the initial position at the time of traveling of the weeding robot 1, Which is located at a certain position in the display area.

Therefore, the magnetic location recognition unit 50 recognizes the current location information and the movement information of the traveling herb robot based on the geographical information data stored in the geographical information storage unit 40, Of the vehicle.

The sensor unit 60 photographs and recognizes an image to detect information required for driving the main body unit 10, detects an obstacle located on the driving route, and determines the running state of the main body unit 10 .

The sensor unit 60 includes a vision sensor 61, an obstacle detection sensor 62, a GPS sensor 63, and a tilt sensor 64.

The vision sensor 61 is a vision camera sensor capable of recognizing an image. The vision sensor 61 recognizes the external environment of the area where the weeding is required so that the main body 10 autonomously travels and can proceed the weeding operation.

That is, the weed robot 1 can recognize the geographical information data stored in the geographical information storage unit 40 and its position information through the GPS sensor 63, It is possible to recognize the position of the obstacle displayed on the traveling path or the grass requiring weeding as the robot moves and also to detect and determine the weeding state through the weeding robot 1.

The obstacle detection sensor 62 may be an ultrasonic sensor. The ultrasonic sensor may be installed along the circumference of the weed robot to calculate the distance to the obstacle, 61), so that the weeding robot (1) can autonomously travel and proceed the weeding operation.

The map building unit 70 recognizes environmental elements including the position of the pool where the obstacle or weed is required by using the image photographed by the vision sensor 61, And provides the information to the control unit 90. The control unit 90 determines whether the vehicle is traveling or not.

The map building unit 70 receives the image information photographed during the movement of the main body 10 through the vision sensor 61 provided in the sensor unit 60 and the acquired image information through the GPS sensor 63 The control unit 90 provides the position information to the control unit 90 so that the weed robot 1 can travel. The environment information is added to an existing geometric map mounted on the geographical information mounting unit 40, Map is constructed and constructed, and position estimation is performed using the map.

Meanwhile, desired information is extracted from the image obtained by using the vision sensor 61. As an algorithm for extracting information necessary for movement of the weeding robot 1, a neural network algorithm, which is a pattern recognition algorithm, .

That is, the control unit 90 may be provided with various sensors such as a vision sensor 61, an obstacle detection sensor 62, i.e., an ultrasonic sensor, a GPS sensor 63 and a tilt sensor 64 provided in the sensor unit 60 And a program for processing data including neural network algorithm data, which is streaming data management, collision avoidance, automatic driving, and image processing algorithm, through the received information.

The control unit 90 allows the main body 10, that is, the herbicide robot 1 to autonomously travel along the traveling path calculated by the map building unit 70, The driving and steering of the wheels 12 and the rotation of the weeds 22 and the driving of the weeds 22 and the driving unit 30, Controls the rotation speed, and controls the operation of the engine 31 and the continuously variable transmission 32.

The control unit 90 controls the operation of the GPS sensor 63 based on the image and position information obtained from the sensor unit 60, that is, the vision sensor 61, the obstacle sensor 62, And the autonomous running of the herbicide robot 1 is enabled through the organic coupling relationship of the components such as the geographical information loading unit 40 and the map building unit 70, The effect that can be achieved is very efficient and convenient.

Meanwhile, the weeding robot 1 according to an embodiment of the present invention can avoid the obstacle by using the traveling path calculated by the map building unit 70 and the position information of the obstacle detected by the obstacle detecting sensor 62 And a path planning unit 80 for generating an optimal path for the path.

When the weeding robot 1 traveling on the traveling route acquired by the map building unit 70 changes to an environment in which the desired route can not be reached, the route planning unit 80 searches the desired route In a real-time manner.

Accordingly, the path planning unit 80 detects an obstacle by using the vision sensor 61 and the obstacle detection sensor 62, that is, the ultrasonic sensor, and generates an optimal avoidance path reflecting the characteristics of the obstacle, 1) This stable route allows very rapid weeding.

The control unit 90 controls the traveling and steering of the wheel 12 so that the weed robot 1 can autonomously travel along the path generated through the path planning unit 80 and proceed the weeding operation. And controls the rotation operation and rotation speed of the weed cutter blade 22 and controls the operation of the engine 31 and the continuously variable transmission 32. [

That is, the control unit 90 constructs an environment map according to the terrain change and the herbicide state, plans the optimum route, and adjusts the traveling speed of the weeding robot 10 and the progress speed of the weeding operation according to the planned route information .

The control unit 90 includes a radio control unit 91 for controlling the main body 10 and the driving unit 30 remotely.

The radio control means 91 controls the weeding robot 1 through radio remote control (R / C), thereby ensuring safety of the operator in the weather of the bad condition. In addition, safety, such as dust, noise, And it is possible to finish a wide range of weeding operation very conveniently and quickly compared with the conventional attracting work, and it is possible to eliminate fatigue of workers due to high intensity manual work .

The radio control unit 91 includes a controller 91a for controlling the main body 10, the weeding unit 20 and the driving unit 30 and a controller 91a for transmitting a radio signal to the controller 91a And a receiver 91c for receiving a radio signal from the radio controller 91b and transmitting the radio signal to the controller 91a.

That is, the control unit 90 controls the running and steering of the wheel 12 as the operator adjusts the radio manipulator 91b, controls the rotation operation and rotation speed of the weeding blade 22, The operation of the engine 31 and the continuously variable transmission 32 can be controlled remotely.

The remote control (R / C) as described above may be implemented by downloading a remote control application of a smartphone, and then setting the communication with the controller 91a when the smartphone is set to communicate with the controller 91a. And the basic control such as traveling and stopping, forward and backward and left-right movement, diagonal movement, speed control, and the like will be possible.

In the meantime, the sensor unit 60 of the present invention is provided with the tilt detection sensor 64 for detecting a tilt of the main body 10 with respect to gravity.

The tilt detection sensor 64 can be installed in the main body 10. When the level of the main body 10 is tilted, the controller 90 senses the inclination of the main body 10, The operation can be controlled to be manually operated through the operation of the radio control means 91 after the operation is stopped.

That is, when the inclination of the main body 10 detected by the tilt sensor 64 is less than a predetermined angle, the controller 90 controls the main body 10, that is, the weed robot 1 to autonomously travel And control the weeding operation to proceed, and when the inclination of the weeding robot 1 is not less than a predetermined angle, the autonomous traveling operation can be stopped.

At this time, when the change of the inclination determined as described above is detected, the control unit 90 may be configured to cause the weeding robot 1 to move backward to exit the irregular terrain. After avoiding such irregular terrain, The optimum path for the stable operation of the weeding robot 1 is set through the same configuration as the map building unit 70 and the route planning unit 80 so that the autonomous traveling operation of the weeding robot 1 continues As many as possible.

In this way, the weed robot 1 can effectively avoid an irregular terrain, and when the obstacle or the terrain can not be avoided easily, the robot is switched to the manual mode through the radio control means 91 to effectively avoid obstacles After the obstacle is avoided as described above, it is possible to autonomously travel in order to continue the herbicidal operation by re-entering along the planned normal route.

The intelligent unmanned herbicide robot described above and shown in the drawings is only one embodiment for carrying out the present invention and should not be construed as limiting the technical idea of the present invention. The scope of protection of the present invention is defined only by the matters set forth in the following claims, and the embodiments improved and changed without departing from the gist of the present invention are obvious to those having ordinary skill in the art to which the present invention belongs It will be understood that the invention is not limited thereto.

10 Body 11 Body
12 wheels 20 Herbage
21 Rotary shaft 22 Herbicide
30 drive unit 31 engine
32 Continuously Variable Transmission 40 Geographic Information Mount
50 magnetic position recognition unit 60 sensor unit
61 Vision sensor 62 Obstacle detection sensor
63 GPS sensor 64 Tilt detection sensor
70 Map building part 80 Path planning part
90 Control section 91 Radio control means
91a controller 91b radio remote control
91c receiver

Claims (5)

A main body having a wheel capable of traveling;
A weed part provided on the main body part, the weed part having a height adjustable up and down;
A driving unit for transmitting power to the wheel and the herbaceous blade so that the main body part travels and the herbicide blade rotates;
A geographical information loading unit storing geographical information data necessary for traveling of the main body;
A main body recognition unit for recognizing current position information of the main body unit by using the geographical information data;
A sensor unit having a vision sensor for recognizing an image during driving of the main body and an obstacle detection sensor for sensing an obstacle;
A map building unit for recognizing an external environment including a position of a pool requiring an obstacle or weeding by using an image photographed by the vision sensor, and calculating a travel route necessary for the movement of the main body;
A path planner for generating an optimal path for avoiding an obstacle by using the traveling path and the position information of the obstacle detected by the obstacle detecting sensor;
A control unit for controlling the main body, the weeding unit, and the driving unit so that the main body part autonomously runs along a path generated by the path planning unit; An intelligent unmanned weed robot. delete The method according to claim 1,
Wherein the control unit includes a radio control unit for remotely controlling the main body, the weed control unit, and the driving unit,
The radio control means includes a controller for controlling the main body portion, the weeding portion, and the driving portion; a radio controller for transmitting a radio signal to the controller; and a receiver for receiving the radio signal and transmitting the radio signal to the controller Intelligent unmanned herbicide robot characterized by. The method according to claim 1 or 3,
Wherein the sensor unit further comprises a GPS sensor for recognizing the current position of the main body unit in the magnetic position recognition unit,
Wherein the obstacle detection sensor is an ultrasonic sensor. The method of claim 3,
The sensor unit may further include a tilt sensor for sensing a tilt of the main body with respect to gravity,
Wherein the controller controls the main body to autonomously travel when the tilt of the main body detected by the tilt sensor is less than a predetermined angle, and when the tilt of the main body is greater than or equal to a predetermined angle, Wherein the control unit controls the robot so as to control the robot.
KR1020130129759A 2013-10-30 2013-10-30 Intelligent unmaned robot for weeding KR101573027B1 (en)

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PCT/KR2013/009716 WO2015064780A1 (en) 2013-10-30 2013-10-30 Intelligent unmanned robotic weeder

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