KR101864715B1 - Multi-function agricultural automatic guide vehicle of wheel type - Google Patents

Abstract

The present invention relates to a wheel-type multi-functional automatic conveying vehicle for facility horticulture, and more particularly, to a wheel-type multi-functional automatic conveying vehicle for facility horticulture, which is used for facility horticulture and soil cultivation, and easily replaceable for a functional unit. As for an automatic conveying vehicle, the wheel-type multi-functional automatic conveying vehicle for facility horticulture includes: a body unit forming an exterior of the automatic conveying vehicle; a wheel unit having a plurality of wheels provided on the body unit; a drive unit provided to the body unit to provide power to the wheel unit; a steering unit connected to the wheel unit; a control unit installed in the body unit to track a movement path; a platform unit provided on an upper portion of the body unit; and a functional unit detachable to the upper portion of the body unit through the platform unit.

Description

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

The present invention relates to an all-wheel type multi-function platform unmanned transportation device for facility horticulture, and more particularly, to a multi-functional platform unmanned transportation device for gardening and facility cultivation, ≪ / RTI >

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.

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

An object of the present invention is to provide a multifunctional platform unattended transporting apparatus for use in an all-wheel-type facility for gardening, which can be used in institutional gardening and land cultivation, and in which functional units can be easily replaced.

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 having a plurality of wheels provided on the main body unit; A drive unit provided in the main body unit to provide power to the wheel unit; A steering unit connected to the wheel unit; A control unit installed in the main body unit and provided so as to track the movement path; 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, 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 steering unit to move along the movement path.

In the embodiment of the present invention, the wheel unit includes a pair of wheels on one side and the other side of the main unit, the wheels provided on one side are connected to the drive unit to receive power, And the wheel is connected to the steering unit to switch the traveling direction of the main unit.

In an embodiment of the present invention, a guide wall extending along an upper surface of the main unit; And a coupling 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 coupling body in a one-touch manner.

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 an all-wheel type multifunctional platform unmanned conveying apparatus for facility gardening.

The effect of the present invention according to the above-described structure is easy to use even in land cultivation.

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.

In addition, since the present invention can safely carry out a steering operation on an unpaved road and carry a large amount of crops, it is possible to shorten the working time of a farming 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.

1 is a perspective view of an all-wheel type multi-function platform unmanned transporting apparatus for facility horticulture according to an embodiment of the present invention.
FIG. 2 is a top plan view of an all-wheel type multi-function platform unmanned transporting apparatus for gardening according to an embodiment of the present invention.
3 is a perspective view illustrating a steering unit of an all-wheel type multi-function platform unmanned transporting apparatus for facility horticulture according to an embodiment of the present invention.
4 is a cross-sectional view taken along the line AA in Fig.
FIG. 5 is a view illustrating the types of function units of the multi-function platform unmanned transporting apparatus for facility horticulture of the all-wheel type according to the embodiment of the present invention.
FIG. 6 is an exemplary view illustrating a state where a functional unit of an all-wheel type multi-function platform unattended transport device for facility horticulture 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 an all-wheel type multi-function platform unmanned transporting apparatus for gardening according to an embodiment of the present invention, FIG. 2 is a perspective view of a multi- Fig.

As shown in FIGS. 1 and 2, an all-wheel type multifunctional platform unattended transport apparatus 1000 for facility gardening includes a main body unit 100, a wheel unit 200, a drive unit 300, a steering unit 400, A unit 500, a platform unit 600, and a functional unit 700. [

The main body unit 100 forms the outer shape of the all-wheel type multifunctional platform unattended transport apparatus 1000 for facility horticulture and includes a body 110, a handle 120, and a foot plate 130.

The body 110 is provided to form the outer shape of the front wheel type multifunctional platform unattended transport apparatus 1000 for facility horticulture, 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 700 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. A pair of wheels provided on one side of the main body unit 100 may be referred to as a first wheel 210 and a pair of wheels provided on the other side of the main body unit 100 may be referred to as a second wheel 210. [ (220). However, the number of the wheel units 200 is not limited to four as shown. The first wheel 210 provided at one side of the main body unit 100 is connected to the driving unit 300 to receive power and the second wheel 220 provided at the other side is connected to the steering unit 400, And the direction of movement of the main unit 100 is switched. A detailed description of the steering unit 400 for steering the second wheel 220 will be given later.

The drive unit 300 may be provided in the main body unit 100 to provide power to the wheel unit 200. The driving unit 300 may be provided with a driving motor for providing power to the wheel unit 200. The first wheel 210 may be driven by the power supplied from the driving unit 300 Can be rotated.

The control unit 500 includes a sensor module (not shown) and a control module 510 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 full-wheel type multifunctional platform unattended transport apparatus 1000 for facility horticulture 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 510 may analyze the magnetic field sensed by the sensor module and control the steering unit 400 to move along the movement path. Specifically, the control module 510 analyzes the magnetic field sensed by the sensor module to grasp the movement route, and controls the steering unit 400 to move along the movement route, Function platform unmanned conveying apparatus 1000 can be changed.

3 is a perspective view illustrating a steering unit of an all-wheel type multi-function platform unmanned transporting apparatus for facility horticulture according to an embodiment of the present invention.

3, the steering unit 400 is connected to the second wheel 220 of the wheel unit 200 and includes a wheel support portion 410, a base portion 420, a rotation guide portion 430, And includes a steering link portion 440, a motor portion 450, a gear portion 460, a drive link portion 470, a guide portion 480, and a timing belt 490.

The wheel support portion 410 is coupled to the inside of the pair of second wheels 220 and includes a bracket 411, a driving rotation axis 413, and a wheel rotation axis 414.

The brackets 411 are coupled to the inner sides of the pair of the second wheels 220 and extend to cover the inner and upper surfaces of the second wheels 220, As shown in FIG.

The driving rotation shaft 413 may extend vertically from the center of the second wheel 220 toward the bracket 411 and be rotatably coupled to the bracket 411. That is, the driving rotation shaft 413 connects the bracket 411 and the second wheel 220 so that the second wheel 220 rotates freely forward or rearward to perform a rolling operation Can be achieved.

The bracket 411 is provided to transmit the steering power transmitted from the wheel link unit 440 to the second wheel 220. Specifically, as described above, the bracket 411 is provided to cover the inner side surface and the upper surface of the second wheel 220, and the bracket 411 is provided to cover the inner surface and the upper surface of the second wheel 220, And may be spaced apart from the wheel 220 by a predetermined distance. A plurality of ribs 412 may be formed on the side surface of the bracket 411. The ribs 412 can structurally support the brackets 411 so that the brackets 411 do not deform when the brackets 411 rotate the wheels leftward or rightward.

The wheel rotation shafts 414 are provided as a pair and can be fixedly coupled to the brackets 411 on the pair. The wheel rotation shaft 414 extends upward and is coupled to the steering link portion 440 to be described later.

The base portion 420 is coupled to an upper portion of the wheel support portion 410 and includes a first base member 421 and a second base member 422. The first base member 421 may be coupled to the pair of wheel rotation shafts 414 at both sides thereof. Specifically, the first base member 421 is provided on a pair of the second wheels 220, and the first base member 421 may be extended to be coupled with both the pair of wheel rotation shafts 414. For example, the first base member 421 may be provided in the form of a plate, but the shape of the first base member 421 is not limited thereto.

The second base member 422 is provided at the center of the first base member 421 and may extend from the first base member 421 to one side. The second base member 422 extended in this manner may be formed with a hole to which a drive link portion 470 to be described later can be coupled.

The rotation guide portions 430 may be provided on a pair of upper portions of the base portion 420 and may have centers thereof coupled to the wheel rotation shaft 414.

A bearing (not shown) is provided on the inside of the rotation guide part 430 so that the steering link part 440 can be easily rotated in one direction or another direction. Further, a snap ring (not shown) may further be provided on the inner side of the rotation guide part 430. The snap ring is coupled to an upper portion of the bearing to prevent the bearing from being separated from the bearing.

The steering link portions 440 are provided on the upper portions of the respective rotation guide portions 430 and may be coupled to the wheel rotation shaft 414. [ The steering link portion 440 includes a steering link main body 441 and a steering link gear 442.

The center of the steering link body 441 is penetrated by the wheel rotating shaft 414 and is fixedly coupled to the wheel rotating shaft 414. [ The steering link body 441 is rotatably coupled to the rotation guide part 430 in one direction or another direction. When the steering link body 441 is rotated in one direction or the other direction, the wheel rotation shaft 414 is rotated together. That is, the second wheel 220 is also rotated with respect to the steering link body 441 It can be rotated together.

The steering link gear 442 is formed along the outer circumferential surface of the steering link body 441 and may be formed in a shape that can be engaged with the timing belt 490 described later. That is, the steering link gear 442 may be formed such that the steering link body 441 can be rotated in accordance with the direction in which the timing belt 490 moves.

Meanwhile, the motor unit 450 is provided below the second base member 422 and can provide the steering power that can change the traveling direction by rotating the second wheel 220. The motor unit 450 is connected to a battery (not shown) provided in the main body unit 110 to obtain power.

The gear portion 460 may be provided on the upper portion of the motor portion 450 and may be provided on the lower portion of the second base member 422. Specifically, the gear portion 460 may include a speed reducer, and the speed reducer may appropriately adjust the steering power of the motor portion 450. That is, the gear portion 460 can prevent the traveling direction of the second wheel 220 from changing too fast because of the high output of the motor portion 450. The gear portion 460 reduces a speed of changing the traveling direction of the second wheel 220 so that the motor portion 450 can rotate the second wheel 220 in a direction (Not shown) can be increased. That is, the gear portion 460 may reduce the rotational speed of the driving rotational shaft, increase the rotational force, and perform a stable steering function.

The driving rotation shaft may be connected to the gear portion 460 and extend toward the upper portion through a central portion of the second base member 422. Specifically, the driving rotation shaft may extend toward the upper portion through the second base member 422 provided in the base portion 420. The driving rotation shaft receives the steering power of the motor unit 450 from the gear unit 460 and is rotated to change the traveling direction of the second wheel 220. The driving rotation axis may be connected to the control unit 500 so that the direction of rotation may be controlled.

The driving link portion 470 is provided on the upper portion of the second base member 222, and the center of the driving link portion 470 passes through the driving rotation shaft and is fixedly coupled. The driving link portion 470 includes a driving link body 471 and a driving link gear 472.

The drive link main body 471 has a center passing through the drive rotation shaft, and is fixedly coupled to the drive rotation shaft. The driving link body 471 is coupled to the second base member 422 so as to be rotatable in one direction or the other direction. The drive link body 471 is rotated together with the drive rotation shaft when the drive rotation shaft is rotated in one direction or the other direction.

The driving link gear 472 may be formed along the outer peripheral surface of the driving link main body 471 and may be formed to be engageable with the timing belt 490 described later. That is, when the drive link main body 471 is rotated, the timing belt 490 engages with the drive link gear 472 to rotate the drive link main body 471 in a direction in which the drive link main body 471 rotates The timing belt 490 may be formed to move.

The guide portion 480 may be provided on both sides of the second base member 422, and may be provided on the first base member 421. The guide portion 480 may guide the timing belt 490 to move along a predetermined path. The position and the number of the guide part 480 are not limited to the embodiment, and the timing belt 490 may be moved along a predetermined path and may be provided to perform steering.

The timing belt 490 is provided to abut a part of the outer circumferential surface of the steering link portion 440, the driving link portion 470, and the guide portion 480. The timing belt 490 is moved together in one direction as the driving link portion 470 is rotated in one direction. When the timing belt 490 is moved in one direction, the timing belt 490, The link portion 440 is also rotated in one direction. The second wheel 220 coupled to the wheel support portion 410 is also rotated in one direction so that the steering wheel 440 is rotated in one direction, An operation can be performed.

FIG. 4 is a cross-sectional view taken along the line AA of FIG. 1, FIG. 5 is a view showing a kind of a functional unit of a multi-function platform unmanned transporting apparatus for a horticultural use of an all-wheel type according to an embodiment of the present invention, Fig. 8 is an exemplary view showing a state in which a functional unit of an all-wheel type facility-gardening multi-function platform unattended transport device according to an embodiment is attached to a platform unit;

1 to 6, the platform unit 600 is provided at an upper portion of the main body unit 100 and includes a guide wall 610, a coupling body 620, and a desorption body 630.

The guide wall 610 may extend along the upper surface of the main body unit 100 and may have a predetermined thickness and height. The functional unit 700 may be coupled and fixed to the inside of the guide wall 610 and a small amount of crop may be easily loaded when the functional unit 700 is not coupled.

The coupling body 620 may be formed on the inner surface of the guide wall 610 to be capable of being drawn in and drawn out. Specifically, as shown in FIGS. 5A to 5C, the coupling unit 620 may have a sloped surface at one side thereof so that the functional unit 700 can slide and descend. 5 (b), the coupling unit 620 may be inserted into the guide wall 610 while the functional unit 700 is seated on the upper surface of the main unit 100 have. 5 (c), when the functional unit 700 is fully seated on the upper surface of the main unit 100, the coupling unit 620 may be mounted on the upper surface of the main unit 100, The functional unit 700 can be fixed and fixed. The coupling groove 705 may be formed in the functional unit 700 and may correspond to the coupling body 620 at a position corresponding to the coupling body 620. More specifically, the engaging groove 705 allows the engaging body 620 to be engaged with the engaging groove 705 when the functional unit 700 is completely placed on the upper surface of the main body unit 100 May be provided.

The detachable body 630 may be provided to draw the coupling body 620 into the guide wall 610 when the functional unit 700 is detached from the upper surface of the main body unit 100 have. Specifically, when the desorption body 630 is pressed and pressed, the coupling body 620 can be drawn into the guide wall 610. As shown in the drawing, the desorption body 630 may be provided in a pedal shape on the side surface of the main body unit 100, and may be provided in a form in which the depressed body 630 is stepped on by a person. However, the position of the desorption body 630 is not limited to the illustrated position, and the position of the desorption body 630 may be included in the embodiment as long as it can draw the coupling body 620 into the guide wall 610. For example, the desorption body 630 may be provided in the control unit 500.

As such, the functional unit 700 can be detached from the platform unit 600 in a one-touch manner by the coupling unit 620.

The functional unit 700 may be detachably attached to the upper portion of the main body unit 100 by the platform unit 600 and the functional unit 700 may include a storage device 710, a lifting device 720, Device 730. In this case,

6 (a), the storage device 710 can be loaded with a large amount of cargo such as crops or boxes, and is coupled with the platform unit 600 to easily move a large amount of cargo can do.

As shown in FIG. 6 (b), the elevating device 720 is provided so as to be able to be elevated or lowered, and is capable of harvesting crops located at a high place while a person is on board. At this time, when the functional unit 700 is to be more strongly coupled to the main unit 100 for safety, such as when a person is aboard the elevator apparatus 720, the functional unit 700 May be bolted to the fastening hole 115.

6 (c), the control device 730 may be composed of an agrochemical tank and a spray to perform the control work. The whole-wheel type multifunctional platform unattended transporting apparatus 1000 for a gardening type, to which the control device 730 is coupled, automatically dispenses pesticide even when there is no person, so that a problem that a person is poisoned with pesticides can be prevented.

Since the all-wheel type multi-function platform unattended transport apparatus 1000 provided as described above can use devices having different functions in combination with the platform unit 600, there is no need to separately purchase each device It is economical.

In addition, the multi-function platform unmanned conveying apparatus 1000 for the facility horticulture of the all-wheel type can be used even on unpaved roads such as soil cultivation.

In addition, a magnetic field position recognition system for improving magnetic field-based traveling accuracy can be applied to the all-wheel type multi-function platform unmanned conveyance apparatus 1000 for facility horticulture.

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: drive unit 400: steering unit
410: wheel support 411: bracket
412: Rib 413: Driving rotary shaft
414: wheel rotating shaft 420: base portion
421: first base member 422: second base member
430: rotation guide part 440: steering link part
441: Steering link body 442: Steering link gear
450: motor section 460: gear section
470: drive link portion 471: drive link body
472: drive link gear 480: guide part
490: timing belt 500: control unit
510: control module 600: platform unit
610: guide wall 620:
630: Desorption body 700: Functional unit
705: coupling groove 710: storage device
720: lifting device 730: control device
1000: All-wheel type facility Multi-function platform unmanned transfer system for gardening

Claims (10)

1. An agricultural unmanned conveying apparatus comprising:
A main body unit forming an outer shape of the automatic transfer device;
A wheel unit having a plurality of wheels provided on the main body unit;
A drive unit provided in the main body unit to provide power to the wheel unit;
A steering unit connected to the wheel unit;
A control unit installed in the main body unit and provided so as to track the movement path;
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,
The platform unit includes:
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 coupling unit in a one-touch manner. 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 steering unit to move along the movement path. The method according to claim 1,
The wheel unit includes:
A pair of wheels are provided on one side and the other side of the main unit,
The wheel provided at one side is connected to the drive unit to receive power,
And the wheel provided on the other side is connected to the steering unit to switch the traveling direction of the main unit. delete The method according to claim 1,
Wherein the functional unit has a coupling groove formed at a position corresponding to the coupling body in a shape corresponding to the coupling body. 6. The method of claim 5,
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, Wherein the stationary-type platform-unmanned conveying apparatus for gardening is provided. The method according to claim 1,
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. The method according to claim 1,
Wherein a plurality of fastening holes are formed on an upper surface of the main body unit, and the functional unit is bolted to the fastening hole. The method according to claim 1,
The functional unit includes:
Wherein the control unit is any 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 an all-wheel-type multi-function platform unmanned conveyance apparatus for gardening facilities according to claim 1.

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