KR101864712B1 - Multi-function agricultural automatic guide vehicle of wheel-rail combined type - Google Patents

Abstract

The present invention relates to a wheel-rail combination type multi-functional platform automatic conveying vehicle for facility horticulture, and more particularly, to wheel-rail combination type multi-functional platform automatic conveying vehicle for facility horticulture, which is used for facility horticulture and soil cultivation, movable on a flatland and a rail, and easily replaceable for a functional unit. As for an automatic conveying vehicle, the wheel-rail combination type multi-functional automatic conveying vehicle for facility horticulture includes: a body unit forming an exterior of the automatic conveying vehicle; a wheel unit provided at a center of a lower portion of the body unit; a rail wheel unit provided at the lower portion of the body unit; a wheel drive unit provided in the body unit to provide power to the wheel unit, and having a first wheel drive part and a second wheel drive part; a rail wheel drive unit provided in the body unit to provide the power to the rail wheel unit; and a control unit installed in the body unit to track a movement path, wherein the automatic conveying vehicle is moved by the rail wheel unit when moving on the rail, and moved by the wheel unit when moving on the road without the rail.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a multi-

More particularly, the present invention relates to a multifunctional platform unmanned transporting apparatus for use in a horticulture and gardening facility, which can be used for horticulture and land cultivation, is movable on flat ground and rails, The present invention relates to a multifunctional platform unmanned conveying apparatus for gardening.

An unmanned conveyance vehicle means a vehicle which carries a product by an induction method such as an electromagnetic induction type, an optical tape type, or a magnetic tape type, and runs the vehicle unattended and carries it to a destination place. And, the unmanned conveyance vehicle is mainly designed to transport the cargo on a packed road such as asphalt or concrete, like a factory.

In recent years, there has been an increase in the labor shortage caused by the aging of the rural areas, and the problems of the agricultural chemicals poisoning caused by the control work in the enclosed spaces have led to the mechanization of the rural areas. R & D is being carried out to utilize the transport vehicle. However, in the case of facility horticulture, it is easy to apply an unmanned conveyance vehicle because it is packed in length, but in the case of soil cultivation, it is difficult to move using an unmanned conveyance vehicle because it is composed of dirt, ditch, .

In addition, since the conventional unmanned conveyance vehicle was provided with separate lift equipment, transportation storage equipment, and control storage equipment, it was not economical because each equipment had to be purchased and used in order to perform each operation.

On the other hand, in the case of an unmanned conveyance vehicle conventionally provided to move on a rail, there is a problem that it is impossible to move outside the rail. Therefore, conventionally, there has been a problem that the equipment purchase cost increases because the unmanned transport vehicle must be provided in the farmland where the rails are provided and the farmland where the rails are not provided, respectively. In addition, when the unmanned conveying vehicle which is moving on the rail and loaded the luggage is moved out of the rail and the luggage is to be moved, it is impossible to use the luggage.

Korean Published Patent No. 10-2012-0025403 (published on March 15, 2012)

An object of the present invention to solve the above-mentioned problems is to provide a wheel-rail type vehicle which can be used for facility horticulture and land cultivation, is movable on a flat ground and a rail, And to provide a multifunctional platform unattended transportation device for facility horticulture.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. There will be.

According to an aspect of the present invention, there is provided an agricultural unmanned transport system, comprising: a main body unit forming an outer shape of the unmanned transport system; A wheel unit provided at the center of a lower portion of the main body unit; A rail wheel unit provided at a lower portion of the main body unit; A wheel drive unit provided in the main body unit and providing power to the wheel unit, the wheel drive unit having a first wheel drive unit and a second wheel drive unit; A rail wheel drive unit provided in the main body unit to provide power to the rail wheel unit; And a control unit installed in the main body unit, the control unit being provided to track the movement path, wherein the control unit is moved by the rail wheel unit when moving on a rail, and by the wheel unit when moving on a rail- The present invention provides a multifunctional platform unattended transporting device for a facility horticulture, which is combined with a wheel and a rail.

In an embodiment of the present invention, the wheel unit may include: a first wheel provided at one side of a lower center of the main body unit and connected to the first wheel drive unit; And a second wheel that is provided on the other side of the lower center of the main body unit and is connected to the second wheel drive unit, wherein the first wheel and the second wheel are connected to the first wheel drive unit and the second wheel drive unit, And steering is performed by individually receiving power by the wheel driving unit.

In an embodiment of the present invention, the rail wheel unit may include: a first rail wheel provided at a lower side of the main body unit; And a second rail wheel provided on the other side of the lower portion of the main body unit, wherein the second rail wheel is connected to the rail wheel driving unit.

In an embodiment of the present invention, the control unit includes: a sensor module for sensing a magnetic field of a magnet installed along the movement path; And a control module for analyzing the magnetic field sensed by the sensor module and controlling the wheel drive unit to move along the movement path.

In an embodiment of the present invention, a platform unit provided on an upper portion of the main body unit; And a functional unit detachably attached to the upper portion of the main body unit by the platform unit.

In an embodiment of the present invention, a guide wall extending along an upper surface of the main unit; And an assembled body formed on an inner surface of the guide wall so as to be able to be drawn in and drawn out, wherein the functional unit is detachably attached to the body in a one-touch manner by the assembled body.

According to an embodiment of the present invention, the functional unit may have a coupling groove formed in a position corresponding to the coupling body at a position corresponding to the coupling body.

In the embodiment of the present invention, when the functional unit is seated on the upper surface of the main unit, the coupling body is drawn into the guide wall while the functional unit is seated on the upper surface of the main unit, And is pulled out to be engaged to fix the functional unit.

In the embodiment of the present invention, the platform unit may further include a desorption body for drawing the coupling body into the guide wall when the functional unit is detached from the upper surface of the main body unit .

In the embodiment of the present invention, a plurality of fastening holes may be formed on the upper surface of the main body unit, and the functional unit may be bolted to the fastening holes.

In the embodiment of the present invention, the functional unit may be any one of a storage device, a lifting device, and a control device.

According to an aspect of the present invention, there is provided a magnetic field position recognition system for improving driving accuracy based on a magnetic field applied to a multifunctional platform unmanned conveying apparatus for utility horticulture combined with a wheel and a rail.

The effect of the present invention with the above-described structure is convenient in that it can be used both when moving on a rail or when traveling on a road without a rail.

Further, the present invention is economical because the functional unit is detachably attached to a platform provided on the upper part of the main body part so as to be replaced.

In addition, since the present invention can automatically perform the control work, it is possible to prevent a person from being poisoned by the pesticide caused by the control work.

It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.

FIG. 1 is a perspective view of a multifunctional platform unattended transporting apparatus for facility horticulture of a wheel-rail combined type according to an embodiment of the present invention.
FIG. 2 is a bottom plan view of a multifunctional platform unattended transporting apparatus for utility horticulture combined with a wheel-rail type according to an embodiment of the present invention.
3 is a sectional view taken along the line AA in Fig.
4 is a view showing an example of the types of function units of the multifunctional platform unmanned transporting apparatus for facility horticulture of the wheel-rail combined type according to the embodiment of the present invention.
FIG. 5 is an exemplary view showing a state where a functional unit of a multifunctional platform unmanned transporting apparatus for utility horticulture combined with a wheel-rail according to an embodiment of the present invention is attached to a platform unit.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" (connected, connected, coupled) with another part, it is not only the case where it is "directly connected" "Is included. Also, when an element is referred to as "comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view of a multifunctional platform unattended conveying apparatus for a facility horticulture of a wheel-and-rail type according to an embodiment of the present invention, FIG. 2 is a perspective view of a multi- Fig. 3 is a plan view of the platform unmanned conveying device as viewed from below. Fig.

As shown in FIGS. 1 and 2, a multifunctional platform unmanned conveying apparatus 1000 for combined use with a wheel and a rail includes a main body unit 100, a wheel unit 200, a wheel drive unit 300, a caster unit A rail wheel unit 500, a rail wheel drive unit 600, a control unit 700, a platform unit 800 and a functional unit 900. [

The main body unit 100 forms an outer shape of the multifunctional platform unattended transport apparatus 1000 for combined use with the wheel and rail and includes a body 110, a handle 120, and a foot plate 130.

The body 110 is provided to form an outer shape of the multifunctional platform unmanned conveying apparatus 1000 for combined use with the wheel and rail, and may be provided in a rectangular parallelepiped shape as shown in the figure. However, the shape of the body 110 is not limited to the shape of a rectangular parallelepiped. A plurality of fastening holes 115 may be formed on the upper surface of the body 1110 so that the functional unit 900 may be bolted to the fastening holes 115.

The handle 120 may extend from one side of the body 110 to the upper side.

The footrest 130 is provided on one side of the body 110 and fixed to one side of the body 110 when the body 110 rotates forward. When the footrest 130 is rotated backward, And may be provided so as to be in close contact with the side surface.

The wheel unit 200 has a plurality of wheels provided on the main unit 100. In an embodiment, a wheel provided on one side of the lower center of the main body unit 100 is referred to as a first wheel 210 for convenience of explanation, and a pair of wheels provided on the other side of the lower center of the main body unit 100 And is referred to as a second wheel 220. However, the number of the wheel units 200 is not limited to two as shown. The first wheel 210 and the second wheel 220 provided at the center of the main body unit 100 are connected to the wheel drive unit 300 to receive power and at the same time, And the direction is switched.

The wheel drive unit 300 may be provided in the main body unit 100 to provide power to the first wheel 210 and the second wheel 220 of the wheel unit 200 individually, And includes a wheel drive unit 310 and a second wheel drive unit 320.

The first wheel drive unit 310 and the second wheel drive unit 320 are connected to the first wheel 210 and the second wheel 220 respectively and the first wheel drive unit 310 is connected to the first wheel drive unit 310 and the second wheel drive unit 320, And the second wheel drive unit 320 may provide power for rotation of the second wheel 220. In this case, At this time, the first wheel drive unit 310 and the second wheel drive unit 320 may provide the same power to each other, or may perform steering to switch the direction by providing power that is not identical to each other.

For example, when the multifunctional platform unmanned conveying apparatus 1000 for combined use with the wheel and rail is to rotate toward the first wheel 210, the second wheel drive unit 310 drives the first wheel drive unit 310 ) To the second wheel (220). In this case, since the rotation speed of the second wheel 220 is faster than the rotation speed of the first wheel 210, the multifunctional platform unattended transport apparatus 1000 for combined use with the wheel and the rail, (Not shown). The greater the difference in power between the second wheel drive unit 320 and the first wheel drive unit 310, the faster the direction change speed of the multifunctional platform unattended transport apparatus 1000 for combined use with the wheel and rail have.

Therefore, by controlling the power of the first wheel drive unit 310 and the second wheel drive unit 320, it is possible to change the direction of the multi-function platform unattended transport apparatus 1000 for facility gardening combined with the wheel- Can be adjusted. Conversely, since the above-mentioned contents can be easily understood, the detailed description will be omitted for the above-described wheel-rail type multifunctional platform unmanned conveying apparatus 1000 for facility gardening to rotate in the direction of the second wheel 220.

When the multifunctional platform unattended conveying apparatus 1000 of the combined use type for wheel and rail is to go straight without turning, the motive power of the first wheel drive unit 310 and the second wheel drive unit 320 is the same The number of rotations of the first wheel 210 and the second wheel 220 can be equalized.

The multifunctional platform unattended transport apparatus 1000 for combined use with the wheel and rail of the present invention may further include a caster unit 400. The caster unit 400 may be provided on one side and the other side of the main body unit 100. The first and second casings 210 and 220 may be coupled to the main body unit 100, The rolling operation can be performed together with the first wheel 210 and the second wheel 220. [ The caster unit 400 provided in this way can support the load of the main body unit 100 and the load in a dispersed manner.

The control unit 700 includes a sensor module (not shown) and a control module 710 installed in the main body unit 100 and capable of tracking a movement path.

The sensor module is provided in the main body unit 100 and can sense a magnetic field of a magnet (not shown) installed along the movement path on the floor surface. Specifically, the magnet may be installed along a path through which the multifunctional platform unmanned conveying apparatus 1000 for facility horticulture combined with the wheel-and-rail type can move. The magnet thus prepared is inexpensive and low in installation cost as compared with the conventional wire for generating electromagnetic force. In addition, the wire is required to generate an electromagnetic field by supplying electric power, but a separate maintenance cost is unnecessary because the magnet always forms a magnetic field. Therefore, the sensor module may be provided to sense the magnetic field of the magnet installed in the front.

The control module 710 may analyze the magnetic field sensed by the sensor module and control the wheel drive unit 300 to move along the movement path. Specifically, the control module 710 analyzes the magnetic field sensed by the sensor module to grasp the movement path, and controls the wheel driving unit 300 to move along the movement path to control the wheel- Type facility facility gardening multifunctional platform can change the traveling direction of the automatic guided vehicle 1000. Specifically, the process of controlling the wheel drive unit 300 by the control module 710 is as described above.

The rail wheel unit 500 is provided at a lower portion of the main body unit 100 and includes a first rail wheel 510 and a second rail wheel 520.

The first rail wheel 510 may be provided on one side of the lower portion of the main body unit 110 and the second rail wheel 520 may be provided on the other side of the lower portion of the main body unit 110. The second rail wheel 520 may be connected to the rail wheel drive unit 600. The rail wheel drive unit 600 may be provided in the main body unit 100 to provide power to the rail wheel unit 500. The first rail wheel 510 and the second rail wheel 520 are mounted on a rail (not shown) installed on agricultural land and are moved along the rail by the power generated by the rail wheel driving unit 600 .

The first rail wheel 510 and the second rail wheel 520 are each provided in a pair and the pair of first rail wheels 510 and the pair of second rail wheels 520 are connected to each other, May be arranged such that the mutual intervals are adjusted. The first and second rail wheels 510 and 520 may be adjusted to correspond to the width of the rail. Here, the rail may be provided so that the wheel unit 200 is spaced from the ground when the rail wheel unit 500 is seated.

The multifunctional platform unattended conveying apparatus 1000 for a facility-gardening type wheel-and-rail combined type as described above is moved by the rail wheel unit 500 when moving on the rail, and when moving on the railless road, 200). ≪ / RTI >

Therefore, the multifunctional platform unattended transport apparatus 1000 for combined use with the wheel-and-rail type facility is convenient in that it can be used both when moving on the rail or when traveling on the rail-free road. That is, the multifunctional platform unmanned conveying apparatus 1000 of the wheel / rail combined type for gardening is convenient because it can move on the rail, load the load, move outside the rail, move on the general road, and move the load. In addition, the multi-function platform unmanned transporting apparatus 1000 for combined use with the wheel and rail system is economical because it is unnecessary to separately purchase an unmanned transporting device for rails and an unmanned transporting device for general roads .

FIG. 3 is a cross-sectional view taken along the line AA in FIG. 1, FIG. 4 is a view showing a kind of a functional unit of a multifunctional platform unattended transporting apparatus for a facility horticulture of a wheel-rail combined type according to an embodiment of the present invention, FIG. 8 is a view illustrating a state where a functional unit of a multifunctional platform unattended transporting apparatus for utility horticultural use combined with a wheel-rail according to an embodiment of the present invention is attached to a platform unit.

3 and 5, the platform unit 800 is provided on the upper portion of the main body unit 100 and includes a guide wall 810, a coupling body 820, and a desorption body 830 ).

The guide wall 810 may extend along the upper surface of the main body unit 100 and may have a predetermined thickness and height. The functional unit 900 can be coupled and fixed to the inside of the guide wall 810. When the functional unit 900 is not coupled, a small amount of crops can be easily loaded.

The coupling unit 820 may be formed on the inner surface of the guide wall 810 to allow entry and withdrawal of the coupling unit 820. Specifically, as shown in FIGS. 4A to 4C, the coupling unit 820 may be formed with an inclined surface at one side thereof so that the functional unit 900 can slide and descend. 4 (b), the coupling unit 820 may be inserted into the guide wall 810 while the functional unit 900 is seated on the upper surface of the main unit 100 have. 4 (c), when the functional unit 900 is completely seated on the upper surface of the main unit 100, the coupling unit 820 is inserted into the coupling groove 905, The functional unit 900 can be fixed and fixed. The coupling groove 905 may be formed in the functional unit 900 and may correspond to the coupling unit 820 at a position corresponding to the coupling unit 820. More specifically, the coupling groove 905 allows the coupling body 820 to be fitted into the coupling groove 905 when the functional unit 900 is completely placed on the upper surface of the main body unit 100 May be provided.

The detachable body 830 may be provided to draw the coupling body 820 into the guide wall 810 when the functional unit 900 is detached from the upper surface of the main body unit 100 have. Specifically, when the desorption body 830 is pressed and pressed, the coupling body 820 can be drawn into the guide wall 810. As shown in the drawing, the desorption body 830 is provided in the form of a pedal on the side surface of the main body unit 100, and may be provided in a form in which the depressed body 830 is stepped on by a person. However, the position of the desorption body 830 is not limited to the illustrated position, and may be included in the embodiment as long as the coupling body 820 can be inserted into the guide wall 810. For example, the desorption body 830 may be provided in the control unit 700.

As described above, the functional unit 900 can be detached from the platform unit 800 in a one-touch manner by the coupling unit 820.

The functional unit 900 may be detachably attached to the upper portion of the main body unit 100 by the platform unit 800 and the functional unit 900 may include a storage device 910, a lifting device 920, Device 930. In this case,

5 (a), the storage device 910 may be loaded with a large amount of cargo such as crops or boxes, and may be coupled with the platform unit 800 to easily move a large amount of cargo can do.

As shown in FIG. 5 (b), the elevating device 920 is provided so as to be able to be elevated or lowered, and is capable of harvesting crops located on a high level in a state where the person is on board. At this time, when the functional unit 900 is to be more strongly coupled to the main body unit 100 for safety, such as when a person is aboard the elevating apparatus 920, the functional unit 900 May be bolted to the fastening hole 115.

As shown in FIG. 5 (c), the control device 930 may be composed of an agrochemical tank and a spray to perform the control work. The multifunctional platform unmanned conveying apparatus 1000 for combined use with the wheel and rail combined with the control device 930 can automatically spray the pesticide even when there is no person, have.

The multifunctional platform unmanned transportation device 1000 for a facility gardening type wheel-and-rail combined type as described above can separately use devices having different functions in the platform unit 800, There is no need to be economical.

In addition, the multifunctional platform unmanned conveying apparatus 1000 for a facility-garden type combined with a wheel and a rail can be used even on an unpaved road such as land cultivation.

In addition, the multifunctional platform unmanned conveying apparatus 1000 for combined use with the wheel-and-rail type facility can be applied to a magnetic field position recognition system for improving magnetic field based driving accuracy.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

100: main body unit 110: body
115: fastening hole 120: handle
130: foot plate 200: wheel unit
210: first wheel 220: second wheel
300: wheel drive unit 310: first wheel drive unit
320: second wheel drive unit 400: caster unit
500: rail wheel unit 510: first rail wheel
520: second rail wheel 600: rail wheel drive unit
700: control unit 710: control module
800: Platform unit 810: Guide wall
820: Coupling body 830: Desorption body
900: Functional unit 905: Coupling groove
910: Storage device 920: Lifting device
930: Control device
1000: Combined wheel-rail type facility Multi-function platform unmanned transportation system for gardening

Claims (12)

1. An agricultural unmanned conveying apparatus comprising:
A main body unit forming an outer shape of the automatic transfer device;
A wheel unit provided at the center of a lower portion of the main body unit;
A rail wheel unit provided at a lower portion of the main body unit;
A wheel drive unit provided in the main body unit and providing power to the wheel unit, the wheel drive unit having a first wheel drive unit and a second wheel drive unit;
A rail wheel drive unit provided in the main body unit to provide power to the rail wheel unit; And
And a control unit installed in the main unit, the control unit being provided to track the movement path,
Wherein the wheel unit is moved by the rail wheel unit when moving on the rail, and is moved by the wheel unit when moving on the rail-free road. The method according to claim 1,
The wheel unit includes:
A first wheel provided at one side of a lower center of the main body unit and connected to the first wheel drive unit; And
And a second wheel provided on the other side of the lower center of the main body unit and connected to the second wheel drive unit,
Wherein the first wheel and the second wheel are separately powered by the first wheel drive unit and the second wheel drive unit connected to the first wheel and the second wheel, Platform unmanned conveying device. The method according to claim 1,
The rail wheel unit includes:
A first rail wheel provided on a lower side of the main body unit; And
And a second rail wheel provided on the other side of the lower portion of the main body unit,
And the second rail wheel is connected to the rail wheel driving unit. The method according to claim 1,
Wherein the control unit comprises:
A sensor module for sensing a magnetic field of a magnet installed along the movement path; And
And a control module for analyzing the magnetic field sensed by the sensor module and controlling the wheel drive unit to move along the movement path. The apparatus for gardening multifunctional platform unmanned transportation according to claim 1, The method according to claim 1,
A platform unit provided on an upper portion of the main body unit; And
And a functional unit detachably attached to the upper portion of the main body unit by the platform unit. 6. The method of claim 5,
A guide wall extending along an upper surface of the main body unit; And
And an engaging body formed on an inner surface of the guide wall to be capable of being drawn out and drawn out,
Wherein the functional unit is detachably attached to the wheel-rail by a one-touch method by the coupling unit. The method according to claim 6,
Wherein the functional unit is formed with a coupling groove in a shape corresponding to the coupling body at a position corresponding to the coupling body. 8. The method of claim 7,
The coupling body is drawn into the guide wall while the functional unit is seated on the upper surface of the main body unit and is drawn out to be engaged with the coupling groove when the functional unit is seated on the upper surface of the main body unit, And a plurality of wheel-and-rail assemblies are mounted on the floor. The method according to claim 6,
The platform unit includes:
Further comprising a detachable body for pulling the coupling body into the guide wall when the functional unit is detached from the upper surface of the main body unit. 6. The method of claim 5,
Wherein a plurality of fastening holes are formed on an upper surface of the body unit, and the functional unit is bolted to the fastening hole. 6. The method of claim 5,
The functional unit includes:
Wherein the control unit is one of a storage device, a lift device, and a control device. A magnetic field position recognition system for improving driving accuracy based on a magnetic field applied to a multifunctional platform unmanned conveying apparatus for facility horticulture combined with a wheel and a rail according to any one of claims 1 to 11.

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