KR102053162B1 - Agricultural Unmanned Aerial Vehicles - Google Patents

Abstract

According to one embodiment of the present invention, an agricultural unmanned aerial vehicle includes: a flight main body flying in an agricultural pesticide control target area to spray agricultural pesticides stored in a container for chemicals; and a wireless control device controlling a flight path and an agricultural pesticide control point of the flight main body. The wireless control device is operated by one of a manual flight mode and an automatic flight mode.

Description

Agricultural Unmanned Aerial Vehicles

The present invention relates to an unmanned aerial vehicle for farming, and more particularly, to an unmanned aerial vehicle for farming which can automatically spray drugs in consideration of the characteristics of agricultural land.

Unmanned Aerial Vehicles (UAVs) are typically remotely controlled aircrafts on the ground, without pilots, and can be used to remotely control aircraft, fly autonomously according to pre-programmed programs, or perform tasks that are difficult for personnel to do. Means a vehicle designed and manufactured to be able to. Unmanned aerial vehicles were initially developed for military purposes, but with the recent development of technology, they have been widely distributed in various fields such as aerial photography, disaster / disaster surveillance, logistics transportation, and pesticide spraying.

In particular, agricultural drones have recently been increasing interest in agricultural drones and farming technology using them because they can replace the reduction of work loss in rural areas due to aging and low fertility problems.

However, unmanned aerial vehicles performing missions such as pesticide control need only be operated by skilled pilots who possess certain certifications or are skilled at manipulating unmanned aerial vehicles for safety reasons. It is biased in technology, and in pesticide control, there is a problem in that it depends only on the proficiency and reliability of the drone operation of the pilot operating the unmanned aerial vehicle.

Korean Patent Registration No. 10-1948635 Korean Patent Publication No. 10-2018-0133819

One aspect of the present invention provides an agricultural drone for performing automatic flight and drug injection according to an automated process according to the characteristics of the pesticide control area.

The present invention also provides a transfer guide unit for transferring a medicine container coupled to an unmanned aerial vehicle to a required position.

In addition, it provides an agricultural drone with improved durability of the device while reducing the impact generated during the transport process.

The technical problem of the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

Agricultural unmanned aerial vehicle according to an embodiment of the present invention, may include a flying body for flying the pesticide control target area to spray pesticides stored in the medicine container.

In one embodiment, further comprises a radio control device for controlling the flight path and pesticide control time of the flight body,

The radio control apparatus automatically generates a control signal for controlling the flight body based on a manual flight mode and a flight simulation result for manually generating a control signal for controlling the flight body according to a pilot's operation. In any of the modes,

When the automatic flight mode is activated, after creating a virtual space reflecting the features of the feature of the pesticide control area, and setting an optimal flight path for spraying pesticides on the pesticide control area on the virtual space, the pesticide A flight simulation process is performed to set a point where the boundary line of the control target area intersects with the flight path as the injection point or the injection stop point,

In the flight simulation process, the flight path is divided by predetermined sections to estimate the three-axis attitude value of the flying body for each section, and the cumulative change amount of the three-axis attitude value is calculated to determine a section in which the cumulative change amount is greater than or equal to a preset threshold. The flight path is reset so that the cumulative variation in the extracted section is less than the threshold value,

After the flight simulation process, the real-time position collected in the actual flight process of the flight body is mapped to the virtual space to transmit the simulated three-dimensional attitude value at the current position to the flight body in real time. If the position is estimated to turn on the injection switch provided in the radio control device, if the flight body is estimated to be located at the injection stop time turn off the injection switch to control the braking of the pesticide injection process,

By comparing the actual three-axis attitude value collected in the actual flight process of the flight body and the three-axis attitude value estimated in the flight simulation process for each location can be updated the simulation program pre-installed in the radio control device.

According to one aspect of the present invention, before the actual operation of the agricultural drone by planning the operation of the flight body in advance through the simulation process by automatically controlling the flight path and pesticide control time of the flight body, pilot skill Irrespective of this, the reliability of the pesticide control process can be improved by constantly operating the flight body.

In addition, in the process of combining the flying body and the medicine container, the medicine container is transported by the transfer guide unit according to the present invention can safely transport the medicine container to a predetermined position, the present invention by the elastic support and the adhesive composition The durability of the flying body can be improved.

1 is a view showing a schematic configuration of an agricultural drone according to an embodiment of the present invention.
2 is a view showing a specific configuration of the flying body of FIG.
3 to 5 are diagrams for explaining a specific operation principle of the automatic flight mode of the radio control apparatus of FIG.
6 is a view showing a specific configuration of the multi-function transfer device of FIG.
FIG. 7 is a diagram illustrating an example of a transfer guide part formed in the multifunctional transfer device of FIG. 6.
8 is a view for explaining an example of a driving method of the transfer guide of FIG.
9 and 10 are views illustrating the frame driver of FIG. 7.
11 is a view illustrating the elastic support of FIG. 8.
12 and 13 are views illustrating the support pillar of FIG. 11.
FIG. 14 is a view showing the cross elastic part of FIG. 12.
FIG. 15 is a view illustrating the vertical elastic part of FIG. 13.

DETAILED DESCRIPTION The following detailed description of the invention refers to the accompanying drawings that show, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein may be embodied in other embodiments without departing from the spirit and scope of the invention in connection with one embodiment. In addition, it is to be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the invention. The following detailed description, therefore, is not to be taken in a limiting sense, and the scope of the present invention, if properly described, is defined only by the appended claims, along with the full range of equivalents to which such claims are entitled. Like reference numerals in the drawings refer to the same or similar functions throughout the several aspects.

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

1 is a view showing a schematic configuration of an agricultural drone according to an embodiment of the present invention.

Specifically, the agricultural unmanned aerial vehicle 1 according to the embodiment of the present invention may include a flight body 10, a radio control device 20, and a multifunctional lifting device 30.

The flying body 10 is a flying device for flying the pesticide control target area to spray the pesticide stored in the medicine container.

Referring to FIG. 2, the flying body 10 according to an embodiment of the present invention includes a main body 11 and a landing gear 12 supporting the main body 11 from the ground during takeoff and landing of the main body 11. Can be.

Although not shown, one side of the landing gear 12 is provided with a medicine container for storing the pesticide, the medicine container is connected to the injection nozzle provided in the main body 11, the pesticide stored in the medicine container is a flying body (10) In the process of flight, it is sprayed by the spray nozzle, it can spray the pesticide to the pesticide control area.

In the illustrated embodiment, the flying body 10 is a helicopter shape, the specific dimensions are as shown, but is not limited thereto, and may further include various gas types such as quadcopter. In addition, since the pesticide injection technique performed by the flying body 10 is a known technique, specific details thereof will be omitted.

The radio control device 20 may be connected to the flight body 10 through wireless communication to control the flight attitude, flight speed, flight direction, and pesticide control time of the flight body 10.

In this case, the radio controller 20 automatically generates a control signal for controlling the flight body based on a manual flight mode for manually generating a control signal for controlling the flight body according to a pilot's operation and a flight simulation result. It can operate in any one of the automatic flight mode.

To this end, the radio control apparatus 20 is provided with an automatic flight mode button, and if the operator does not press the automatic flight mode button, the flight main body 10 is manually operated by operating the operation lever provided in the radio control apparatus 20. Can be controlled by In this case, the radio control apparatus 20 receives a control signal from the pilot for controlling the flight body 10.

On the other hand, when the operator presses the automatic flight mode button, the radio control device 20 is switched to the automatic flight mode, and when the automatic flight mode is activated based on the flight simulation results previously performed regardless of the pilot's operation the flight body It can automatically generate a control signal to control the. In this regard, it will be described with reference to FIGS. 3 to 5 together.

3 to 5 are diagrams for explaining a flight simulation process for automatically controlling the flight path of the flight body 10 when the automatic flight mode is activated.

The radio controller 20 is pre-installed with a program (software) for performing a flight simulation process to be described later, the pre-installed simulation program can be activated when the operation of the automatic flight mode button is detected from the operator.

First, the radio controller 20 may virtually generate a simulation space. Specifically, the wireless control device 20 is a virtual space reflecting the characteristics of the feature of the pesticide control area based on the service information including information such as the location (address), the area of the farmland desired pesticide control input from the pilot Can be generated.

For example, the radio controller 20 may search for geographic data corresponding to the location information based on the location information included in the service information. For example, the radio control apparatus 20 may access the national geographic information DB provided as public data and collect information on a 3D topographical map, soil, and surrounding facilities for areas where pesticide control is required. Alternatively, the radio controller 20 may search for geographic data corresponding to the location information by using three-dimensional map data stored in the management server itself linked to the radio controller 20. Alternatively, the radio controller 20 may search for geographic data based on the GPS location information of the pilot terminal (for example, the smartphone) that transmitted the service information. That is, the radio controller 20 may query the GPS location information of the pilot terminal at the time of receiving the service information, and may search for geographic data corresponding to the GPS location coordinates of the corresponding time point.

The radio controller 20 may generate 3D terrain information, which is a virtual space in which features of the retrieved geographic data are reflected. The three-dimensional terrain information generated by the radio control apparatus 20 may be represented in the form of a three-dimensional object, such as mountains, hills, plains, lakes, irrigation facilities, using the flight body 10 based on the service information Service areas requiring pesticide control may be indicated.

Thereafter, the radio controller 20 may simulate a flight path of the unmanned aerial vehicle according to the service information on the generated virtual 3D terrain information. Specifically, as shown in FIG. 3, the radio control apparatus 20 sets the shortest flight path for spraying pesticides on the pesticide control target region on the generated virtual space, and then the boundary line of the pesticide control target region and the The flight simulation process may be performed to set the point where the flight paths intersect to the injection point or the injection stop point.

In the illustrated embodiment, the points marked with black dots are the pesticide injection points and the points marked with white dots are the injection stop points.

After the initial simulation process, the radio controller 20 may modify the flight path set as the shortest path in the flight simulation process.

As described above, in the initial simulation process, the radio control apparatus 20 may be set as the shortest path for the flight main body 10 to spray all pesticides to the pesticide control area.

In this process, when obstacles such as trees, hills, buildings, etc. are located on the flight path, the flight main body 10 needs to change direction sharply. The problem is that it can be lost.

In order to prevent such a problem, as shown in FIG. 4, the radio control apparatus 20 divides the initially set flight path into predetermined sections (for example, 10 m) and divides three-axis attitude values of the main body 10 by sections. It can be estimated.

For example, when the unmanned aerial vehicle performs only straight flight without changing the altitude in the first section A1, the pitch axis, the roll axis, and the yaw of the device coordinate system having the flight body 10 as the center position. Since there is no change in the rotation angle of the yaw axis, the cumulative change amount of the three-axis attitude value in the first section A1 may be calculated as zero. On the other hand, when obstacles are formed in the eleventh section A2, the flight main body 10 must fly up to avoid obstacles. The amount of change may occur. In this way, the radio control apparatus 20 may analyze the simulation flight path for each section to estimate the change amount of the three-axis attitude value, and accumulate the estimated change amount of the three-axis attitude value for each section.

Subsequently, as shown in FIG. 5, the radio controller 20 extracts a section in which the cumulative change amount of the three-axis posture value is greater than or equal to a preset threshold value (a2 section in the illustrated embodiment). The flight path may be reset to be below this threshold. Accordingly, the radio control device 20 can not only prevent the collision of the aircraft in advance in the process of automatically controlling the flight body 10, but also can safely operate the flight body 10 by minimizing the change of attitude of the aircraft. have.

Thereafter, the radio controller 20 maps the real-time position collected in the actual flight process of the flight main body 10 after the flight simulation process to the virtual space, and maps the three-dimensional posture value simulated at the current position to the flight body 10. By real-time transmission to fly the main body 10 without the pilot's manipulation.

In this process, if it is estimated that the flight main body 10 is located at the injection time according to the simulation result, the radio control apparatus 20 turns on the injection switch provided in the radio control apparatus 20 to automatically fly the flight main body 10. Can be controlled to spray pesticides. And, if it is estimated that the flight main body 10 is located at the injection stop time, turn off the injection switch to temporarily stop the pesticide injection process until the injection switch is turned on to control the braking of the pesticide injection process of the flight main body 10 Can be.

On the other hand, when the operation of the flight body 10 is terminated, the radio control device 20 positions the actual three-axis attitude value collected in the actual flight process of the flight body 10 and the three-axis attitude value estimated in the flight simulation process By comparison, the simulation program pre-installed in the radio controller can be updated. Accordingly, the radio controller 20 may improve the accuracy of the next simulation process by using a simulation program that is cumulatively updated.

Multi-function transfer device 30 is a device for raising and lowering the medicine barrel to the coupling position of the flight body (10).

6 is a view showing a specific configuration of the multi-function transport device 30, referring to Figure 6, the multi-function transport device 30 is a flying body 10 is a medicine container coupled to the flying body 10 as described above Is a device for elevating to the combined position of).

The multifunctional conveying device 30 is connected between the upper plate 31 on which the medicine container is seated, the lower plate 32 provided with the moving means, and the upper plate 31 and the lower plate 32, and the upper plate 31 from the lower plate 32. It may be composed of a support 33 for lifting or lowering.

In this case, the transfer guide 300 according to the present invention may be installed on the upper plate 31.

The transfer guide part 300 is provided at both upper side edge portions of the upper plate 31 to guide the transfer of the medicine container corresponding to the width of the upper plate 31. By this transfer guide part 300, the pilot can always transport the medicine container in a certain direction.

Referring to FIG. 7, the transfer guide part 300 may include a guide bar 310, a first cross frame 320, a second cross frame 330, and a frame driver 340. For convenience of description, the transfer guide 300 is shown as being provided only on the left side of the upper plate 31, but is not limited to this, more preferably a pair of transfer guide unit 300 is the upper plate 31 It can be formed on both sides of the). In this case, since the pair of transfer guide units 300 perform the same functions, only one transfer guide unit 300 will be described below.

The guide bar 310 is formed on the upper plate 31 to guide the transfer of the object by allowing the medicine container seated on the upper plate 31 to be transferred in a predetermined direction, and connected to the rear end so as to be rotatable in a first cross frame 320. Or forward or retreat toward the center of the upper plate 31 in accordance with the driving of the second crossing frame 330.

The first intersecting frame 320 is connected to the rear end of the guide bar 310 so as to be rotatable, and the front end of the first cross frame 320 is rotatably connected to the other side of the frame driving unit 340, and is connected to the frame driving unit 340. Is driven.

The second cross frame 330 is connected to the rear end so as to be rotatable on the other side of the guide bar 310, and cross connects the first cross frame 320 to the “X” shape.

The frame drive unit 340 is installed along one of the two side surfaces of the first transfer unit 100 along the longitudinal direction, and is spaced apart at the front end of the guide bar 310 and crosses the first side at one side and the other side. The front end of the frame 320 or the second intersecting frame 330 is rotatably connected, and the front end is rotatably connected to one side of the frame driver 340, and is driven by the frame driver 340. The shear gap between the first cross frame 320 and the second cross frame 330 is adjusted.

Referring to FIG. 8, the frame driver 340 may include a pivoting portion 341 connected to each front end at a portion where the first cross frame 320 or the second cross frame 330 is connected to the hollow groove 343. The front end of the cylinder 341, the first cross frame 320 or the second cross frame 330 to be moved along the () is rotatably connected to the hollow groove 343 by the drive of the cylinder 341 The moving part 342 and a hollow groove 343 may form a space for the moving part 342 to move.

That is, as shown in FIG. 9, the frame driver 340 may freely adjust an interval with another frame in response to the rotatable part 342 installed to be rotatable in each frame to be moved along the hollow groove 343. It can be.

In an embodiment, the frame driver 340 pushes the guide bar 310 toward the center of the conveyor belt 120 as the front ends of the first cross frame 320 and the second cross frame 330 are close to each other. In addition, as the front ends of the first cross frame 320 and the second cross frame 330 move away from each other, the guide bar 310 may be pulled from the center of the upper plate 31.

That is, according to the driving of the first cross frame 320 and the second cross frame 330 by the frame driver 340, the driving is performed as the movement of the scissors to adjust the distance between the frame driver 340 and the guide bar 310. It can be.

In one embodiment, the frame drive unit 340, the first bar to be in the longitudinal direction of the first transfer unit 100, that is, when the first bar is to cross the first bar so that the object is in balance with the object It is possible to drive the frame 320 and the second cross frame 330 at the same time, as well as one side (t2) of the guide bar 310 during the transfer of the object when the object is to be transferred in a direction different from the linear direction or Only one frame of the first cross frame 320 or the second cross frame 330 may be driven to move only the other side t1 (see FIG. 7).

That is, when the first cross frame 320 and the second cross frame 330 move in the same manner, the guide bar 310 keeps horizontal and moves toward the groove forming part 100 or retreats from the groove forming part 100. As a result, the object will also be horizontal and be transported in the longitudinal direction. However, if only one frame of the first crossing frame 320 or the second crossing frame 330 is driven, the guide bar 310 and the groove forming unit 100 are driven. Objects to be guided along the guide bar 310 to be inclined to be inclined and not to be horizontal are also inclined and are not passed straight through the top plate 31.

If there are multiple types of objects to be transported, it is necessary to move one object to another place according to the user's needs.If the bar is fixed to guide the movement of the object, always move the object to a fixed position. Problems that can only be transferred may occur.

Accordingly, the multi-function transfer device 30 having the above-described configuration, the transfer direction of the object before or during the transfer process using the transfer guide 300 for guiding the transfer of the object arbitrarily according to the needs of the user It can be adjusted and transported.

As illustrated in FIG. 9, the transfer guide part 300 having the above-described configuration may be installed at both rear ends of the frame driver 340 to prevent the guide bar 310 and the frame driver 340 from impacting each other. It may further include an elastic support 500 for.

10 is a view showing the elastic support of FIG.

Referring to FIG. 10, the elastic support part 500 includes a support frame 540, four support plates 510, four pairs of support frames 520, and a support column 530.

The supporting frame 540 is supported by the supporting plate 510 installed below, and when the guide bar 310 approaches, the supporting frame 540 supports the guide bar 310 by an elastic force.

The supporting plate 510 supports the supporting frame 540 seated on the upper side and is supported by the supporting pillar 530 by the supporting frame 520 connected to the lower side.

That is, the supporting plate 510 seats the supporting frame 540 on the upper side thereof, and in response to the vibration or shock transmitted from the supporting frame 540, the supporting plate 510 is oriented in the horizontal direction (ie, the first frame 521a). Alternatively, vibration or shock may be attenuated by being absorbed by the support frame 520 sliding in the up and down direction (ie, the second frame 521b).

In addition, the present invention is formed by varying the length of the first frame (521a) or the second frame (521b), to overcome the limitations of the existing elastic body that can reduce the impact by simply adjusting the height in the vertical direction The support position by the plate 510 can be freely adjusted not only in the vertical direction but also in the left and right directions.

The support frame 520 is connected to rotatably two frames of the first frame 521a and the second frame 521b at each lower portion of the four support plates 510 to support the plate 510. As described above, the support position of the support frame 540 by the plate 510 is determined by adjusting the length of the first frame 521a or the second frame 521b.

At this time, the upper part of the first frame 521a and the second frame 521b is connected to the lower part of the support plate 510, and the lower part of the first frame 521a is rotated on the upper side of the support column 530. The lower surface of the second frame 521b is connected and installed to enable horizontal sliding movement, and the lower side of the second frame 521b is connected to one side of the support pillar 530 so as to allow rotation and vertical sliding movement.

That is, the first frame 521a or the second frame 521b may be subjected to vibration or shock transmitted from the support plate 510 through a pivoting or sliding movement by elastic force on the upper surface or one side of the support pillar 530. The support pillar 530 is transferred.

The support pillar 530 is formed in the shape of a square pillar, and the lower portion of the first frame 521a is connected to the upper side so as to be rotated and horizontally slidably moved, and the lower portion of the second frame 521b is one side. It is connected to the rotational and vertical sliding movement in the installation, and the elastic force (ie, the cross-elastic portion 533 or vertical elastic portion 535) during the sliding movement of the first frame (521a) or the second frame (521b) Absorbs vibrations or shocks through.

Each of the supporting plate 510 or the supporting frame 520 is driven by the same method as the symmetrical structure of each other, and the contents described with respect to the one supporting plate 510 or the supporting frame 520 as described above are described. The same may be applied to the other support plate 510 or the other support frame 520, the description thereof will be omitted.

In addition, the elastic support 500 having the configuration as described above, can also be formed in a vertical symmetrical structure, in the case of Figure 10 is shown that each configuration is formed only on the upper portion of the support pillar 530 The configuration associated with four support plates 510 and four pairs of support frames 520 as one would be equally applicable to the bottom of the support pillars 530.

The elastic support 500 having the above-described configuration supports the guide bar 310 by using an elastic force, thereby preventing the guide bar 310 from colliding with the frame driver 340, thereby improving durability of the device. Can be improved.

11 and 12 are views illustrating the support pillar of FIG. 10.

Referring to FIG. 11, the support pillar 530 includes a pillar body 531, a cross groove 532, a cross elastic portion 533, four vertical grooves 534 (see FIG. 10), and four vertical elastic portions. 535 (see FIG. 14).

The pillar body 531 is formed in the shape of a square pillar, a cross groove 532 is formed on the upper portion, the vertical groove 534 is formed on each side.

The cross grooves 532 are recessed in a “+” shape in the upper portion of the pillar body 531, and a cross elastic portion 533 is inserted into the inner space.

The cross resilient portion 533 is formed in a shape corresponding to the shape of the cross groove 532 and is inserted into the cross groove 532, so that the lower side of the first frame 521a is rotatable on the upper ends of the four branches. It is connected and installed to absorb the vibration or shock transmitted from the first frame 521a by using the elastic force to attenuate the vibration or shock.

The vertical groove 534 is formed in each of the surface of the pillar body 531 in the vertical direction, the vertical elastic portion 535 is inserted into the interior space.

The vertical elastic portion 535 is formed in a shape corresponding to the shape of the vertical groove 534 is inserted into the vertical groove 534, the lower side of the second frame 521b is connected to the upper outer side so as to be rotatable and elastic force By absorbing the vibration or shock transmitted from the second frame 521b to reduce the vibration or shock.

FIG. 13 is a view illustrating the cross elastic part of FIG. 11.

Referring to FIG. 13, the cross elastic part 533 includes a cross case part 5313, an upper support part 5332, four upper elastic parts 5333, four upper elastic support parts 5340, and four upper connecting links. A part 5335 is included.

The cross case part 5313 has an inner space formed in an empty “+” shape and is inserted into the cross groove 532. The upper support part 5332, four upper elastic parts 5333, and four that are described later in the inner space are provided. Top elastic support parts 5340 are installed.

At this time, the length of each branch of the cross case portion 5311 is formed to be shorter than the length of each branch of the cross groove 532, as shown in Figure 11, the upper portion in the space formed on the outside of the cross case portion (5331) The connecting link portion 5335 may be disposed and may form a space for sliding movement.

The upper support part 5332 is formed of a cube, and is disposed at the center of the cross case part 5311, so that the upper elastic part 5333 is disposed outside each of the four surfaces, and supports the upper elastic part 5333. do.

The upper elastic part 5333 is disposed on each side surface of the upper support part 5332 to support the upper elastic support part 5340 by elastic force, thereby absorbing vibrations or shocks transmitted from the upper elastic support part 5344.

The upper elastic support part 5340 is disposed at each end of each branch of the internal space of the cross case part 5313, is supported by the elastic force of the upper elastic part 5333, and is provided between the upper connection link parts 5335. The upper connecting link portion 5335 is supported by the support bar 5336.

The upper link link portion 5335 is disposed at each end of each branch of the cross groove 532, and is provided between the side of the cross case portion 5313 and the support bar 5336 provided between the upper elastic support portion 5340. It is maintained at a predetermined interval by a), and the lower side of the first frame 521a is connected to the upper side so as to be rotatable, and each branch of the cross groove 532 meets in accordance with the vertical movement of the plate 510. Sliding along the groove of the cross groove 532 in the center direction.

14 is a view illustrating the vertical elastic part of FIG. 12.

Referring to FIG. 14, the vertical elastic part 535 includes a vertical case part 5331, a side support part 5332, a side elastic part 5344, a side elastic support part 5344, and a side connection link part 5345. do.

The vertical case portion 5331 is formed in a shape corresponding to the shape of the vertical groove 534 in which the inner space is empty, and the side support portion 5332, the side elastic portion 5431, and the side elastic support portion 5344 are formed from the lower side of the inner space. ) Are installed in order.

The side support part 5332 is formed of a cube, is disposed in a lower space of the vertical case part 5331, and a side elastic part 5435 is disposed on the upper side to support the side elastic part 5435.

The side elastic part 5343 is disposed above the side support part 5332, and supports the side elastic support part 5344 disposed above by the elastic force, thereby preventing vibration, shock, and the like transmitted from the side elastic support part 5344. Will be absorbed.

The side elastic support part 5344 is disposed above the inner space of the vertical case part 5331, is supported by the elastic force of the side elastic part 5435, and is provided between the side connecting link parts 5345. It supports the side link link portion 5345 by.

The side link link portion 5345 is disposed at an upper end of the vertical groove 534 and is provided between a lower side facing the vertical case portion 5331 and an upper side of the side elastic support portion 5344. It is maintained at a predetermined interval by a), and the lower side of the second frame 521b is connected to the outer side so as to be rotatable, and slides along the groove of the vertical groove 534 in the lower direction of the vertical groove 534. .

In some other embodiments, each component constituting the flying vehicle 100 according to the present invention may be joined by an adhesive composition according to the present invention. For example, the main body 110 and the landing gear 120 constituting the flying body 100 may be combined by the adhesive composition according to the present invention described below, but is not limited thereto, and all of the respective components constituting the present invention are This may be the case.

Adhesive composition according to an embodiment of the present invention, 40 to 80 parts by weight of thermoplastic resin, 5 to 40 parts by weight of adhesive resin, 1 to 5 parts by weight of rosin, 1 to 10 parts by weight of plasticizer, 1 to 10 parts by weight of filler Contains 0.1 to 1 parts by weight of antioxidant. Hereinafter, each component will be described in detail.

The thermoplastic resin serves as a main component of the composition to control adhesion and cohesion. If the type includes a vinyl group or a hydroxyl group, the type thereof is not particularly limited, and examples thereof include ethylene vinyl acetate copolymer, polyvinylacetate, polyvinyl alcohol, ethylene-acrylic acid copolymer and ethylene-methacrylic acid copolymer, and polyurethane. It may be composed of any one or more selected from the group consisting of.

The content of the thermoplastic resin is preferably 40 to 80 parts by weight based on the total composition. If the content is less than 40 parts by weight, the melt viscosity is high and the melt flow index is low, the workability is very poor, if the content is more than 80 parts by weight it is difficult to exert sufficient adhesive force to be applied directly to the fabric.

The tackifier resin is a low molecular weight resin, lowers the melt viscosity to improve workability, improves the initial wettability of adhesion and adhesion of the adhesive on the surface of the adherend, and enables control of the solidification time.

The tackifying resin is not particularly limited in kind, but is preferably a petroleum resin. More specifically, the tackifier resin may be composed of one or more selected from the group consisting of aliphatic hydrocarbon resins, alicyclic hydrocarbon resins, aromatic hydrocarbon resins, aromatic hydrocarbon-modified aliphatic hydrocarbon resins, and hydrogenated hydrocarbon resins.

The aliphatic hydrocarbon resins are commercial products such as Hikorez A-1100, Hikorez A-1100S, Hikorez C-1100, Hikorez R-1100, Hikorez R-1100S, and the like. In addition, alicyclic hydrocarbon resins include hydrocarbon resins containing dicyclopentadiene (DCPD) as monomers, and aromatic hydrocarbon resins are commercially available from Kolon Oil Co., Ltd. of Hikotack P-110S, Hikotack P-120, Hikotack P-120HS, Hikotack P-120S, Hikotack P-140, Hikotack P-140M, Hikotack P-150, Hikotack P-160, Hikotack P-90, Hikotack P-90S, Hirenol PL-1000, Hirenol PL-400. In addition, aromatic hydrocarbon-modified aliphatic hydrocarbon resins include Hikorez T-1080, Hikorez T-1100, etc. of Kolon Oils. Hydrogenated hydrocarbon resins may also be subdivided into hydrogenated aliphatic hydrocarbon resins, hydrogenated aromatic hydrocarbon resins, and the like, and commercially available from Kolon Oil Co., Ltd. Sukorez SU-120, Sukorez SU-130 and Sukorez SU-90.

The tackifier resin is preferably a hydrocarbon resin having 4 to 10 carbon atoms in the monomer, and specifically, a C5 aliphatic resin, a C9 aromatic resin, a C5 / C9 aliphatic / aromatic copolymer resin, or the like may be used.

In addition, the tackifying resin of the present invention is more preferably characterized in that the hydrocarbon hydrocarbon resin containing dicyclopentadiene as a monomer, commercially available from Sukorez D-300, Sukorez D-390, Kolon Emulsifier (Korea), Sukorez SU-100, Sukorez SU-110, Sukorez SU-120, SukorezSU-130 and Sukorez SU-90.

On the other hand, the adhesive composition of the present invention, in order to minimize the irritation as much as applied to the part directly in contact with the skin, it is preferable to use a mixture of biodegradable hypoallergenic resin in the various petroleum resin described above.

The biodegradable hypoallergenic resin may be prepared by melt-mixing a monomer of a polymer into a biodegradable polymer, and polylactic acid is preferably used as the biodegradable polymer.

The polylactic acid is a polyester synthesized by polycondensation of lactate or ring-opening polymerization of lactide, and has a medium physical property between polyamide and polyethylene terephthalate, and is mainly made of natural vegetable sugar components obtained from potatoes and corn. Biodegradability is high, but generally has high hardness, low elasticity, and poor durability.

The biodegradable polymer is melt-mixed with the same polymer monomer, wherein the biodegradable polymer is partially bonded with the monomer to cause chain breakage, thereby lowering the overall number average molecular weight. As the number average molecular weight falls, the physical properties that can be used as an adhesive are exhibited, and the workability is increased.

With respect to 100 parts by weight of the polylactic acid, the lactic acid monomer may be mixed 20 to 30 parts by weight. When the monomer is mixed in less than 20 parts by weight, the number average molecular weight is high and hard to be used as a pressure-sensitive adhesive, when the monomer exceeds 40 parts by weight migration may occur on the surface and may also be difficult to use as an adhesive.

It is preferable that the mixing ratio of the petroleum resin and the biodegradable hypoallergenic resin is 1 to 2: 1 (w / w). When the mixing ratio of the petroleum resin is too high, the biodegradable hypoallergenic effect is less likely to occur. If the mixing ratio is too high, economic efficiency may be lowered and the overall adhesive effect may be lowered.

In addition, the content of the tackifying resin is preferably 5 to 40 parts by weight relative to the total composition. If the content is less than 5 parts by weight, the effect of lowering the melt viscosity due to the addition of the tackifying resin is insufficient, and there is a fear that the increase in the melt flow index is not so large that the workability may not be satisfactorily reached, and the content is more than 30 parts by weight. If the melt flow index increase rate due to the excess of the tackifier resin is not large, the economical efficiency is lowered and the content of the thermoplastic polymer is relatively reduced, thereby reducing the overall physical properties of the composition.

The rosin acts to improve the overall adhesion of the adhesive composition and is harmless to the human body and acts as a natural preservative. The content of the rosin is preferably 1 to 5 parts by weight based on the total composition. If the content is less than 1 part by weight, it is difficult to obtain an effect of improving the adhesive strength, and if the content exceeds 5 parts by weight, there is a problem in that the adhesion is increased during processing, making it difficult to process the product.

The plasticizer is used to impart flexibility and adhesion to the polymer, and the type of plasticizer according to the present invention is not particularly limited, and for example, sorbitol, ethylene glycol, glycerin, glycerin diacetate, and pentaerythritol It may consist of one or more selected from the group consisting of.

The amount of the plasticizer is preferably 1 to 10 parts by weight based on the total composition. If the content is less than 1 part by weight, the effect of the addition of the plasticizer is insignificant. If the content is more than 10 parts by weight, the economical efficiency may be reduced by excessive use of the plasticizer, and there is a concern that the overall physical properties of the adhesive may be lowered.

The filler is used to control the reinforcement and flow of the composition. The type of filler is not particularly limited, and for example, calcium carbonate, clay, bentonite, calcium stearate or the like can be used.

On the other hand, the adhesive composition of the present invention is formed on the inner surface of the landing gear 120, odor and bacteria are likely to occur in the application environment. Therefore, in order to reduce the odor and bacteria generation while controlling the reinforcement and flow of the adhesive composition, it is preferable to use a mixture of stone powder and pulp powder as a filler. Stone powder can achieve high strength without using additives due to the compactness of the particles, and the cracking of the adhesive hardly occurs even when the temperature change is large due to low volumetric strain according to the surrounding environment.

The stone powder may be used in the form of powder of various rocks such as loess, marble, ganban stone, granite, jadeite, preferably characterized in that the loess has various functions such as antibacterial, anti-fungal, UV emission.

The pulp powder serves to agglomerate the stone powders while sucking the liquid components, to improve the miscibility and improve the cohesion between the components. At this time, the stone powder and the pulp powder is preferably mixed in a ratio of about 7: 3 to 8: 2 (w / w).

The content of the filler is preferably 1 to 10 parts by weight based on the total composition. If the content is less than 1 part by weight, the effect of adding the filler is insignificant, and if the content is more than 10 parts by weight, there is a concern that the overall physical properties of the adhesive is lowered.

The antioxidant is intended to improve the change in viscosity, yellowing, deterioration of adhesion and degradation of durability due to oxidation and decomposition, and the type thereof is not particularly limited, and specifically, phenols, aromatic amines, citric acid, or ascorbic acid may be used. Can be.

The content of the antioxidant is preferably 0.1 to 1 parts by weight relative to the total composition. If the content is less than 0.1 parts by weight, the effect of the addition of the antioxidant is inadequate, and if the content is more than 1 part by weight, not only the economy of the adhesive is lowered but also the overall physical properties may be lowered.

On the other hand, the adhesive composition of the present invention may further include a nano silica that can improve the adhesion by allowing the adhesive composition to be uniformly distributed on the landing gear 120 surface. At this time, the content of the nano silica is preferably 0.1 to 5 parts by weight, and the size of the nano silica (primary particles) is preferably 100 nm or less.

If the content of the nano-silica is less than 0.1 parts by weight, the effect of the addition of nano-silica is insignificant, and if the content exceeds 5 parts by weight, not only the adhesive strength is lowered, but also a bad phenomenon that blooming (blooming) occurs on the surface of the adhesive over time May occur.

Hereinafter, the configuration of the present invention and its effects through specific examples and comparative examples will be described in more detail. However, this embodiment is intended to illustrate the present invention in more detail, and the scope of the present invention is not limited to these examples.

Example 1

60 parts by weight of ethylene-vinylacetate copolymer, 25 parts by weight of Sukorez D-300, 3 parts by weight of rosin, 5 parts by weight of ethylene glycol, 4 parts by weight of ocherite, 2 parts by weight of pulp powder and 1 part by weight of ascorbic acid Melt kneading was carried out to prepare an adhesive composition, and then molded into pellets. At this time, the biodegradable hypoallergenic resin was prepared by melt-mixing 2.5 parts by weight of lactic acid monomer to 100 parts by weight of polylactic acid at 160 ° C. for 5 minutes.

 Example 2

60 parts by weight of ethylene-vinylacetate copolymer, 15 parts by weight of Sukorez D-300, 10 parts by weight of biodegradable hypoallergenic resin, 3 parts by weight of rosin, 5 parts by weight of ethylene glycol, 4 parts by weight of loess, 2 parts by weight of pulp powder and ascorb 1 part by weight of acid was mixed and melt kneaded at 170 to 180 ° C. to prepare an adhesive composition, and then molded into pellets. At this time, the biodegradable hypoallergenic resin was prepared by melt-mixing 2.5 parts by weight of lactic acid monomer to 100 parts by weight of polylactic acid at 160 ° C. for 5 minutes.

Example 3

Except for adding 1 part by weight of nano silica, it was prepared in the same manner as in Example 1, and was made as Example 3.

 [Comparative Example]

It was used after removing the backing paper from the conventional TPU hot melt film.

Experimental Example

(1) Mesh adhesive strength

In order to evaluate the mesh adhesive strength of the hot melt adhesive, the adhesive pellets quantitated between two pieces of overcoat fabrics were melt-coated at 170 ° C., and then pressed at 60 kgf / cm 2 for 30 seconds at 130 ° C. Adhesive strength (kgf / cm 2) was measured.

 (2) Melt Flow Index

The heating cylinder of the melt flow rate meter was filled with a pellet-type adhesive and melted at 160 ° C. for about 5 minutes. The weight of the adhesive (g) passed through the cylinder for 10 minutes was measured by placing a weight of 3 kg.

As can be seen from the table, it was confirmed that the adhesive composition of the present invention has improved adhesion and flow index than the existing product, even when using a biodegradable hypoallergenic resin it was confirmed that the adhesion and flow index does not fall significantly. In addition, when the nano-silica is mixed, the flow index can be seen to increase significantly.

Although described above with reference to the embodiments, those skilled in the art will understand that various modifications and changes can be made without departing from the spirit and scope of the invention as set forth in the claims below. Could be.

100: flying body
200: radio control

Claims (2)

A flying body for flying the pesticide control target area to spray the pesticide stored in the medicine container; And
In the drone for agricultural including a radio control device for controlling the flight path and pesticide control time of the flight body,
The radio control apparatus automatically generates a control signal for controlling the flight body based on a manual flight mode for manually generating a control signal for controlling the flight body according to a pilot's operation and a flight simulation result. In any of the modes,
When the automatic flight mode is activated, after creating a virtual space reflecting the characteristics of the feature of the pesticide control area, and setting the shortest path for spraying pesticides to the pesticide control area in the virtual space as the flight path, A flight simulation process is performed to set the point where the boundary line of the pesticide control target area and the flight path intersect as the injection point or the injection stop point,
In the flight simulation process, the flight path is divided into predetermined sections to estimate the three-axis attitude value of the flying body for each section, and the cumulative change amount of the three-axis attitude value is calculated to determine a section in which the cumulative change amount is greater than or equal to a preset threshold. The flight path is reset so that the cumulative variation in the extracted section is less than the threshold value,
After the flight simulation process, the real-time position collected in the actual flight process of the flight main body is mapped to the virtual space to transmit the simulated three-dimensional attitude value at the current position to the flight main body in real time, and the flight body at the injection time If the position is estimated to turn on the injection switch provided in the radio control device, if the flight body is estimated to be located at the injection stop time turn off the injection switch to control the braking of the pesticide injection process,
Update the simulation program pre-installed in the radio control apparatus by comparing the actual three-axis attitude value collected in the actual flight process of the flight body with the three-axis attitude value estimated in the flight simulation process for each location;
The agricultural unmanned aerial vehicle further includes a multifunctional transport device for elevating the medicine barrel to the coupling position of the flying body,
The multifunctional transport apparatus includes a top plate on which the medicine container is seated, a bottom plate provided with a moving means, and a support plate connected between the top plate and the bottom plate to lift the top plate from the bottom plate,
The upper plate is provided on both side edge portions of the upper surface of the upper plate is provided with a transfer guide portion for guiding the transfer of the medicine container,
The conveying guide part includes a guide bar, a first crossing frame, a second crossing frame and a frame driving part,
The guide bar is formed on the upper plate and guides the transfer of the object so that the medicine container seated on the upper plate is transferred in a predetermined direction, and is connected to a rear end of the first cross frame or the second cross frame. According to the driving forward or retreat toward the center of the upper surface of the upper plate,
The first cross frame is connected to the rear end is rotatably connected to one side of the guide bar, the front end is rotatably connected to the other side of the frame drive, and driven by the frame drive,
The second cross frame has a rear end connected to the other side of the guide bar to be rotatable so as to cross connect with the first cross frame in an "X" shape,
The frame driving unit may include a cylinder for moving a pivoting part connected to each front end along a hollow groove in a portion where the first cross frame or the second cross frame is connected and installed, the first cross frame or the second cross. The first intersecting frame and the first frame may include a rotating part moving along the hollow groove by a drive of the cylinder and a hollow groove forming a space for moving the rotating part. 2, the interval with the other frame is adjusted in response to the rotatable portion connected to the rotatable frame is moved along the hollow groove,
The transfer guide part may further include an elastic support part installed at both rear ends of the frame driving part to prevent an impact applied to the guide bar and the frame driving part.
The elastic support includes a support frame, four support plates, four pairs of support frames and support pillars,
The support frame is supported by the support plate installed on the lower side, and when the guide bar approaches the support bar by the elastic force,
The support plate supports the support frame seated on the upper side, and is supported by the support pillar by the support frame connected to the lower side, and is supported by the elastic force in response to the vibration or shock transmitted from the support frame. Vibration or shock is absorbed by the support frame which is sliding in the vertical direction,
The support frame is connected to the two frames of the first frame and the second frame rotatably at each lower portion of the four support plates to support the support plate,
Upper portions of the first frame and the second frame are connected to the lower portion of the support plate, and lower portions of the first frame are connected to the upper side of the support column to be pivotally and horizontally slidable. The lower part of the second frame is connected to one side of the support pillar to be pivotally and vertically slidably moved, and is transferred from the support plate through a pivoting or sliding movement by an elastic force on the upper or one side of the support pillar. Transmit the vibration or shock to the support column,
The support pillar is formed in the shape of a square pillar, the lower portion of the first frame is connected to the upper side to enable the pivoting and horizontal sliding movement, the lower portion of the second frame is pivotal and vertical sliding on one side It is connected to be installed to move, the agricultural unmanned aerial vehicle that absorbs vibration or shock through the elastic force during the sliding movement of the first frame or the second frame.
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