KR102272389B1 - Spraying device of autonomous driving type unmanned control vehicle - Google Patents

Abstract

The present invention relates to an injection device for an autonomous driving type unmanned control vehicle,
In more detail, a vehicle body part that is a means of transport by loading a chemical control solution, an injection part configured at the rear of the vehicle and configured to spray the chemical control solution, and control of vehicle movement and injection control of the chemical solution. Using an unmanned control vehicle consisting of a control unit and a monitoring unit that can confirm autonomous movement and spraying of chemicals from a distance, it moves by itself through a remotely controlled or programmed route, sprays pesticides or chemicals, and invents them to be supervised from a distance It is a device that not only robotizes laborious and laborious pesticide control or chemical spraying operation, but also prevents safety accidents such as pesticide poisoning and overturning accidents of workers in advance. is configured so that selective or simultaneous injection of the device is made to increase the utilization of the device and at the same time, it is possible to efficiently operate by removing the chemical injection in the unnecessary direction, and in addition to this, an autonomous driving type unmanned vehicle that can be expected to reduce labor and reduce working hours It relates to the injection device of the control vehicle.

Description

Spraying device of autonomous driving type unmanned control vehicle

The present invention relates to an injection device for an autonomous driving type unmanned control vehicle, and more particularly, to a vehicle body part that is a means of transport by loading a chemical control solution, and an injection unit configured at the rear of the vehicle to spray the control solution; , a remote control or programmed route using an unmanned control vehicle consisting of a control unit configured to control vehicle movement and injection control of chemical liquid, and a monitoring unit that can confirm autonomous movement and chemical liquid injection from a distance It is an unmanned robot device field invented to move and spray pesticides or chemical liquids and supervise them from a distance. In particular, the spraying part is an autonomous driving type unmanned control system configured to selectively or simultaneously spray the chemical liquid upward, downward, or sideways. It relates to a vehicle injector.

As one of the methods of cultivation of crops currently being implemented, in order to protect crops from pests and diseases and to increase the marketability of crops, a method of diluting chemical solutions such as various pesticides or nutrients with water and spraying them directly on crops at appropriate times is generally used. Unlike in the past, when looking at a conventional pesticide control method or chemical liquid spraying method, various machines are used to increase the efficiency of the control operation. For example, places with open air, such as paddy fields and fields, are controlled using agricultural drones and drones, and fruit control devices commonly used in orchards spray chemicals in all directions while moving between fruit trees. Various machines in the world are helping people to do various activities.

However, if you look closely at their activities, there are many disadvantages. In the case of helicopters and drones with high control efficiency and rapid control, gas downwind is added to the chemical solution sprayed downward, which has the advantage of penetrating between crops. In addition, in the case of fruit crops, spraying the chemical downward from the top of the fruit tree is practically advantageous only for the control method of spraying a small amount of the chemical over a large area due to restrictions, and flying with a large amount of chemical is also limited. It is easy to find that the chemical solution is not well applied to the back of the leaves where the pests are hiding, as well as the medicinal solution is not well applied to the fruits because they are covered by the leaves. In addition, even if it is designed to spray chemical liquid upwards, it is quite difficult with current technology to safely fly between trees under a tree.

On the other hand, the orchard control system used in orchards can spray the chemical in all directions, but it is limited to equipment dedicated to orchard control, and the manned orchard control system often causes a slope overturn accident. Therefore, if the drug is sprayed from the edge of the spraying area, side effects such as direct influence on adjacent threshing crops follow. This may result in contravention of the Pesticide Allowance Standard Enforcement System (PLS), which will be implemented in 2019.

In addition, the size and shape of crop trees are very diverse, so it is difficult for orchards that grow small orchard trees to enter the orchard control system, so as in the past, farmers directly carry chemical solutions and control them, as in the past.

Various methods are carried out in the scope of spraying of drugs, and in particular, in the case of spraying herbicides in orchards, spraying should be done only to the bottom of the soil by minimizing the scattering agent in order not to adversely affect the crop, whereas the equipment listed above is In addition, it is not suitable for use, and farmers are complaining about difficulties in cultivating crops, such as direct spraying. In addition, a number of equipment exist, but in some cases, the use is insignificant because it contains various inconveniences such as having to change the nozzle and the nozzle support to attach and detach it.

In order to solve the above problems, the present invention includes a vehicle body part that is a means of transport by loading a chemical control solution, an injection part configured at the rear of the vehicle and configured to spray the chemical control solution, control of vehicle movement and a chemical injection command, etc. The autonomous driving unmanned control vehicle, which is composed of a control unit configured to perform the operation, and a monitoring unit that can check the location of the vehicle and the camera image captured and transmitted from the vehicle in real time, and each part is interconnected, can be controlled by the user's remote control. By moving to the location and spraying chemical liquid, or by moving the programmed path by itself to automatically spray the pesticide or chemical to the designated location, it reduces the labor force of the operator and shortens the work time, and at the same time the operator It reduces the burden of work by being free from safety accidents that are exposed, and the operator can monitor the work situation in real time from a distance, improving work accuracy, and stable operation such as being able to easily recognize unexpected situations from a distance and take immediate action. It is to provide an injection device for an autonomous driving unmanned control vehicle that makes this possible.

In addition, the present invention is in the form of a vehicle, unlike unmanned helicopters and drones that have to fly with heavy drugs, it is possible to transport a relatively large amount of drug with little energy, and the driving part configured in the body part is composed of a full wheel system. Thus, it is possible to move stably on uneven roads, and the skid steering rotation, in which the vehicle is rotated by varying the rotational speed of the left and right driving unit reduction motors, is driven independently, and the rotation radius is smaller than the rotation radius of the general steering device. It has another purpose, which can even rotate in place, so that it is possible to move the narrow passage more effectively.

In addition, the injection unit is configured to spray the chemical solution upward, downward, or sideways in the direction of the chemical liquid sprayed through the injection nozzle bound to the rotation supporter that is rotated according to the hinge rotation, so that the setting of the chemical liquid injection direction is suitable for each control case. Convenience is emphasized as the rotation of the rotary supporter is configured to be easily set in a one-touch type or can be set automatically through servo operation. In particular, in the case of upward injection, the propeller bound to the blower motor is rotated to cause It is possible to spray the chemical liquid sprayed from the nozzle through the strong wind very smoothly above a certain height, and the structure is simple despite the fact that it is composed to have excellent penetrating power between crops by applying pressure to the sprayed chemical liquid through the wind. By making it possible to miniaturize, it is not only possible to perform smoothly in the control work area where existing control equipment cannot enter, but also the spraying unit composed of left and right independent parts is configured to selectively or simultaneously spray the chemical liquid sprayed from the nozzle to the left and right, so that the chemical solution is sprayed in an unnecessary direction. In addition to being able to block the source of the chemical spray, it is possible to spray the chemical in accordance with the control purpose and control method, thereby increasing the utilization of the equipment, and the chemical solution container configured on the upper part of the main body is large enough for an adult to lift easily. It can also be configured as individual medicine container, so there is another purpose of using it by immediately replacing the exhausted individual medicine container with an individual medicine container prepared in advance.

In order to achieve the above object, the present invention includes a main body including a driving unit that loads a chemical control solution and becomes a moving means, a spray unit configured to spray the control solution, and wireless control and autonomous movement and spraying of the chemical solution In the injection device of an autonomous driving type unmanned control vehicle comprising: a control unit configured to perform control, etc.; and a monitoring unit capable of confirming that radio control and autonomous movement are performed from a distance,

The main body includes a frame in the form of a square box for accommodating the chemical container in which the chemical control solution is stored, and the bottom plate extends forward and rearward on the lower part of the frame, and the control unit is seated toward the front side of the bottom plate, and the rear sides of the bottom plate a plurality of injection units are provided, and the injection unit includes a fixed nozzle and a rotating nozzle to which the chemical liquid is injected, respectively, and is connected to the chemical liquid container to apply pressure to the fixed nozzle and the rotating nozzle and to supply the chemical liquid. A pump configured to be connected with a hose is included, and the circular pipe shape is extended to one end and is assembled and fastened through the back of the frame, the pipe base and the pipe clamp to one end, and a fixed supporter for supporting the fixing nozzle by binding and supporting it is included, and the circular pipe shape is included It is configured to extend and supports by binding and supporting the rotary nozzle at one end, and includes a rotary supporter constituting a hinge rotation with the other end of the fixed supporter as the other end, wherein the fixed supporter and the rotary supporter abut at a position for hinge rotation. A fixing bracket, a rotation bracket, and a hinge pin hingedly fastened to the upper side of the fixing bracket and the upper side of the rotation bracket are included, and when the pump is driven, the chemical liquid is sprayed from the fixed nozzle and the rotation nozzle, and is attached to the fixed supporter The direction of the chemical sprayed by the fixed nozzle is fixed, and the direction of the chemical sprayed by the rotary nozzle bound to the rotary supporter is changed according to the hinge rotation of the rotary supporter. do.

The spraying device of the autonomous driving unmanned control vehicle configured as described above can spray pesticides or chemical liquids by moving a remotely controlled or programmed route by itself and monitor it in real time from a distance, thereby increasing the accuracy of the operation, and unexpectedly even from a long distance. Stable operation is possible because it can respond immediately to situations. In addition, it is possible to prevent safety accidents such as pesticide poisoning and rollover accidents in advance by robotizing tasks previously performed by humans due to difficult access and conditions. Through the injection part configured to be selectively or simultaneously injected from the side, it is possible to increase the utilization of the device and at the same time remove the chemical liquid injection in the unnecessary direction, thereby reducing the excessive consumption and unnecessary control of the pesticide, thereby enabling efficient operation It is advantageous to soil and water pollution by minimizing

1 is a perspective view showing a preferred form of an autonomous driving type unmanned control vehicle injection device and a monitoring unit according to the present invention;
2 is a perspective view showing a preferred form of an autonomous driving type unmanned control vehicle injection device according to the present invention;
3 is an exploded perspective view showing a preferred form of an autonomous driving type unmanned control vehicle injection device according to the present invention;
4 is a rear perspective view showing a preferred form of a driving unit configured in a body portion of an unmanned control vehicle according to the present invention;
5 is an exploded perspective view showing an independent configuration of a driving unit according to the present invention;
6 is a perspective view showing a preferred form of a control unit configured in an unmanned control vehicle according to the present invention;
7 is an exploded perspective view showing the inside of a control unit configured in an unmanned control vehicle according to the present invention;
8 is a schematic diagram illustrating a preferred configuration of an autonomous driving unmanned control vehicle injector according to the present invention;
9 is a rear perspective view showing a preferred form of the injection unit configured in the injection device of the autonomous driving type unmanned control vehicle according to the present invention;
10 is an exploded perspective view showing the detailed structure of the injection unit according to the present invention;
11 is a front view showing an example of a preferred operation of the injection unit according to the present invention;
12 is an exploded perspective view showing an independent configuration of the injection unit according to the present invention;
13 is a rear view showing a preferred embodiment of the injection unit according to the present invention;
14 is a perspective view showing a preferred form of the injection unit including a servo according to the present invention;
15 is a perspective view showing the configuration of an individual liquid container included in the main body according to the present invention;
16 is a perspective view showing a preferred form of a monitoring unit configured in the autonomous driving unmanned control vehicle injector according to the present invention;

The present invention relates to an injection device for an autonomous driving type unmanned control vehicle, and is configured to selectively or simultaneous injection of a chemical liquid upward, downward, or sideways, thereby increasing the utility of the device and simultaneously injecting a chemical liquid in an unnecessary direction. It relates to a spraying device for an autonomous driving type unmanned control vehicle that can be efficiently operated by removing it, and can be expected to reduce labor and reduce working hours in addition to this.

Referring to the injection device of the autonomous driving type unmanned control vehicle according to the present invention based on the bars shown in FIGS. 1 to 16, first, the injection device of the autonomous driving type unmanned control vehicle of the present invention as shown in FIG. A body part (B) including a driving part (D) that is a means of loading and moving a chemical, a spraying part (S) configured to spray the control chemical, and wireless control and autonomous movement and injection control of the chemical are performed. It is composed of a control unit (C) configured to do so, and a monitoring unit (M) that can confirm that radio control and autonomous movement are performed from a distance.

As can be seen from the bars shown in FIGS. 1 and 15, the injector of the autonomous driving type unmanned control vehicle according to the present invention is an unmanned remote control device that does not require a person to board or directly operate equipment to perform a mission. Therefore, the controller 400 and PC 410, which are control means to be described later, are configured to operate and control the vehicle from a distance, and the unmanned control vehicle wirelessly operated by the control means moves and controls according to the transmitted wireless signal. carry out the task

As shown in FIGS. 2 and 3 , the main body B is configured such that the control unit C and the injection unit S are coupled to each other to perform the control mission of the unmanned control vehicle. The control unit (C) and the injection unit (S) configured in front and behind the upper body portion (B) are seated and fixed through the frame 110 configured to serve as a skeleton of the unmanned control vehicle.

The upper frame 110 is composed of a frame 110 in the form of a square box for accommodating the chemical solution container 130 in which the chemical control solution is stored, and the bottom plate 111 is extended to the front and rear at the lower portion of the frame 110. , the control unit (C) is seated on the front side of the bottom plate (111), and a plurality of injection parts (S) are provided on both rear sides of the bottom plate (111). The example showing the frame 110 in the present invention is composed of an assembly structure of an aluminum profile, but under the condition that it withstands the load of the chemical liquid container 130 and does not cause distortion or deformation in mission performance, the same of a square pipe or other material It can be said that the composition of the form is also free.

In addition, the main body (B) is configured to include a driving unit (D) for driving the wheel 120, which is a moving means of the unmanned control vehicle. As shown in FIGS. 2, 3, and 4, the unmanned control vehicle comprises four wheels 120 in contact with the floor and removes the frame lower cover 140 of the unmanned control vehicle having the shape of a vehicle. , at one end of the main shaft 170 that is fixedly coupled with one wheel 120 and rotates together, and the main shaft 170 is fixed at the opposite end of the wheel 120 based on the main shaft 170 to transmit rotational power to the main shaft 170 A double sprocket 161 or a counterpart sprocket 160 is configured, and the rotating main shaft 170 is fastened together with a bearing 150 configured to smoothly rotate even including both the body and the chemical load, so that the frame bottom upper side is fixed to the double sprocket 161 or the opposite sprocket 160, and is configured to horizontally move the frame 110 through the rotating wheel 120 by receiving power, the bearing 150 has a binding portion With the included unit bearing 150, it is preferable to configure two or more bearings 150 so that the rotation axis of the main shaft 170 is centered.

In addition, as shown in FIG. 4 , the four wheels 120 are configured in the form of a total wheel that is rotated and driven by receiving each power, so that smooth movement is made even in an uneven or curved area, FIGS. 4 and 5 . Looking in more detail through, the driving unit (D) is characterized in that it is composed of two independent operation structures on the left and right, and a reduction motor 190 configured to be combined with the reducer to generate driving power of the wheel 120 and output an appropriate RPM. The power generated from the reduction motor 190 is output to the driving sprocket 162 located on the output shaft, and the double sprocket 161 and the chain 163 coupled to the front main shaft 170 with reference to the front of the main body (B) are connected by a chain 163 . It is coupled and configured to transmit power, and the double sprocket 161 coupled to the front spindle 170 and the mating sprocket 160 coupled to the rear spindle 170 are also independently coupled through the chain 163, so that the It is connected with the drive sprocket 162 so that the power of the reduction motor 190 is transmitted to both the front and rear wheels 120 .

In addition, the double sprocket 161 attached to the front main shaft 170 is connected to the driving sprocket 162 and the opposite sprocket 160 attached to the rear main shaft 170 and the chain 163 can be connected at the same time in two rows. It is preferable that the teeth of the double sprocket 161 are combined, and the gear ratio of the driving sprocket 162 and the double sprocket 161 can be configured as an acceleration/deceleration ratio according to the rotational speed of the wheel 120, but the double sprocket The gear ratio of 161 and the mating sprocket 160 is necessarily configured to have the same gear ratio to achieve synchronous rotation of the front and rear wheels 120 .

In addition, the chain 163 fastened to the double sprocket 161 and the mating sprocket 160 is loosely fastened depending on the position of the front and rear main shafts 170 in some cases. The idle sprocket 180 is configured to minimize , and the idle sprocket 180 is configured to move up and down through a long hole configured in the idle sprocket supporter 181 that is attached to the center of the rear surface of the frame 110, so that the idle sprocket ( 180), the loosely fastened chain 163 is pressed down to maintain proper tension by the fastener.

In addition, the driving unit (D) configured as an independent operation structure as described above is composed of two driving units (D) with the same configuration in the form of left and right symmetry with respect to the front of the vehicle, and the driven left and right wheels (120) By changing the rotation of the vehicle, the rotation movement of the vehicle desired by the operator is performed.

For example, when the left reduction motor 190 and the right reduction motor 190 rotate at the same RPM, the rotation of the left and right wheels 120 is the same, so that the unmanned control vehicle moves forward or backward, and the left and right reduction motors When the 190 rotates at different RPM, the skid steering rotation is performed according to the difference in the rotation speed of the left and right wheels 120, and in some cases, the pivot is performed by changing the rotation direction of the left and right wheels 120. -turn) to emphasize the agility of the unmanned control vehicle.

In addition, as shown in FIGS. 4 and 6 , the reduction motor 190 is included in the control unit C and is seated inside the outer case 210 , and is connected to the drive sprocket 162 of the reduction motor 190 output shaft. The chain 163 is coupled to the double sprocket 161 under the frame 110 through the case groove 164 and is configured to be driven without interference between parts.

6 shows a preferred form of the control unit (C) located on the front side of the body portion (B) described above, in particular, the above control unit (C) is mainly composed of electronic equipment, parts from the chemical liquid and dust sprayed during operation In order to protect the electronic device from short circuit and malfunction, and for stable operation, an empty outer case 210 in the form of a hexahedron is configured, and the components of the control unit C are seated therein.

The outer case 210 is divided into a side case 211, a front case 212, and a rotating case 213 for user convenience, and is preferably made of SUS material with strong corrosion resistance.

In addition, the rotating case 213 is configured to have a hinge at the bottom to be fixedly coupled with the upper end of the front case 212 to operate as an opening, so that the inside of the outer case 210 can be easily opened, and the rotating case 213 By placing the side case 211 and the vertical ears 215 in the parallel direction on both sides of the upper end, the latch of the toggle clamp 214 configured in the side case 211 is positioned and rotated by the locking operation of the toggle clamp 214 and the clasp. The case 213 is configured to be fixed in close contact with the upper portion of the side case 211 .

On the other hand, the wireless operation and control and autonomous driving of the unmanned control vehicle are performed by the control unit (C). Referring to FIGS. 7 and 8, first of all, the wireless control of the unmanned control vehicle is commonly used by radio control (RC). ) is used, and for this purpose, a manipulator 400 for transmitting a signal and a receiver 260 for receiving a signal are configured.

The RC system generally controls components through PWM (Pulse Width Modulation) control, and performs independent operation by allocating components to each channel.

For example, the reduction motor 190 configured in the driving unit D includes an ESC (Electronic Speed Controls) 191 connected to the reduction motor 190, and the PWM signal sent from the manipulator 400 is a receiver. The ESC 191 is reached through 260, and the ESC 191 reads the PWM signal and drives the reduction motor 190 at the speed and direction matching the signal, which is the controller 400 and the receiver ( 260) to transmit and receive signals independently of other components.

As with the method described above, the blower motor 310 and ESC 312, pump 330, ESC 333, and servo 340, which will be described later, are allocated to each channel in the same manner as above and are independently operated by the operator. It is configured so that human movement and control are made.

In addition, for autonomous driving of the unmanned control vehicle, a GPS 240 configured to receive a signal from the receiver 260, each ESC, and a GPS satellite to calculate the user's current location and a controller 290 interconnected therewith is composed

The controller 290 is programmable based on Arduino, has an independent operating system, and is a processor module including an acceleration sensor, a gyroscope, a direction sensor and a barometer for detecting changes in physical quantities and external factors. Position of GPS It is a device configured to process information and calculate and process information input from each sensor.

In addition, for smooth reception of satellite signals, the current position of the unmanned control vehicle is calculated through the coordinate information sent by the GPS 240, which is exposed to the upper portion of the outer case 210 of the control unit (C), and is programmed and inputted in advance. It is configured to collect information of each sensor to autonomously drive the movement path and command the PWM signal to the ESC and each component with the calculated result value, and the ESC 191 receiving the PWM signal from the controller 290 responds to the signal. Accordingly, autonomous driving and the added operation pump 330 and blower motor 310 are driven in an optimal path commanded by the controller 290 by driving the deceleration motor 190 .

In addition, the controller 290 is configured to be connected to the receiver 260 and the data link module 270 to integrally process the signals transmitted from the manipulator 400 and the PC 410, so that the operator directly manipulates the manipulator 400 It is possible to selectively drive the operation through the operation or the autonomous driving operation executed from the manipulator 400 and the PC 410 .

On the other hand, the controller 290 constituting the autonomous driving is the same as generally understood by those of ordinary skill in the art to which the present invention belongs, and detailed circuit descriptions or detailed operations are unnecessary to the gist of the present invention. Since it may be blurry, further detailed description will be omitted.

And the injection device of the autonomous driving type unmanned control vehicle is configured with a monitoring unit (M) to check the location of the unmanned control vehicle from a distance and the image sent by the unmanned control vehicle in real time.

7, 8, and 16, the data link module 270 connected to the controller 290 and the data link module 270 connected to the PC 410 of the monitoring unit M are respectively configured. The location of the unmanned control vehicle calculated by the controller is displayed on the map of the PC 410 in real time through the GCS (Ground Control System) installed in the PC 410 by connecting the data link modules to enable mutual wireless data exchange. By displaying in , it is configured to immediately check the location of the unmanned control vehicle even from a long distance, and through the above GCS, it is possible to program the controller 290, set a driving route, and perform autonomous driving.

In addition, as shown in FIGS. 6 and 7 , the camera 220 located in the central front part of the control unit C is configured in the front center of the front case 212 and uses a window made of a transparent material such as glass to open a hole cut off from the outside. It is configured to capture the front part of the unmanned control vehicle in real time and provide it as an image, and the image transmitter 221 connected to the camera 220 is configured to wirelessly transmit the captured image information.

In addition, the image receiver 222 configured in the monitoring unit M transmits the image information received from the image transmitter 221 to the PC 410 including the monitor or image input device to display the image of the front of the unmanned control vehicle in real time. It is configured so that the operator can check it, so that it can immediately respond to various situations in a remote working environment that is separated and increase the accuracy of work.

The data link module 270, the image transmitter 221, and the receiver 260 are seated and fixed inside the outer case 210 of the control unit C, and only each antenna is exposed to the outside of the outer case 210. It is preferable to protect each device from the sprayed chemical and dust while smoothly transmitting and receiving wireless signals.

In addition, since the unmanned control vehicle, which is controlled by wireless remote control, is operated out of the operator's immediate control range, it is natural that a safety device to prevent undesirable events should be provided in advance.

To this end, an emergency stop device 250 that can be recognized by a person skilled in the art is configured in the upper part of the control unit C, and the emergency stop device 250 first connected from the battery 280 presses a button by a person who recognizes an emergency situation. As a result, power is cut off from the battery 280 and all functions are immediately stopped, so that it is possible to cope with an emergency situation.

In addition, the distance measuring device 230 configured at both ends of the front lower part of the front case 212 measures the distance to the object by calculating the time obtained by measuring the reciprocal phase difference of the near-infrared modulated wave that hits the object and returns. By configuring the device, that is, the LIDAR, the distance to the object located in the direction of the unmanned control vehicle is recognized and provided to the controller 290, and the controller 290 waits until the preset distance condition value with the object is released. It is configured to command the vehicle to stop, and it is configured to avoid obstacles based on the pre-programmed movement angle, acceleration, and movement time values of the unmanned control vehicle and return to the designated route to drive safely and smoothly. be able to

On the other hand, all of the above-described components are operated by electric energy, and as shown in FIG. 7 to operate the components, a battery 280 is configured on both sides of the outer case 210 of the control unit C. .

The battery 280 is configured to provide electrical energy by being connected to the devices as shown in FIG. 8 , and according to the voltage required by each device through a power distributor 281 and a transformer 282 , if necessary Energy is supplied, and the battery 280 is composed of a rechargeable battery 280, is composed of a single or a plurality of parallel connections, and is configured to be easily separated using a fixing tool such as Velcro and is pre-charged. The battery 280 can be used for immediate replacement and is configured to enable continuous operation according to the spare battery 280 provided.

On the other hand, as shown in FIG. 9 , the injection unit S in which the chemical liquid of the unmanned control vehicle is sprayed is configured at the rear side of the unmanned control vehicle.

The injection unit (S) is composed of a fixed nozzle 301 and a rotating nozzle 300 through which the chemical is sprayed in the form of a spray. First, based on the fixed supporter 315 in which the fixed nozzle 301 is positioned and fixed. To describe, the fixed supporter 315 is configured to extend in the form of a circular pipe to serve as an arm, and is configured for assembly with the rear side of the frame 110 of the main body B at one end. A pipe clamp 314 is configured to fasten the pipe base 317 in the form of the fixed supporter 315 and the pipe base 317 to each other, and the pipe clamp 314 and the pipe base 317 are bolted and nut. The fixed supporter 315 fastened by is fixed to the both end corners of the rear end of the frame 110 through the pipe base 317, and the fixed supporter 315 is extended to both sides of the frame 110. do.

As shown in FIG. 10 , a fixing bracket 326 configured to implement a rotational operation by a hinge action and a rotation supporter 316 to be described later on the other side of the fixed supporter 315 is located, and the fixing bracket 326 is located. A hinged intaglio portion is configured on the upper side of the square body, and an embossed portion is configured to be inserted into the inner diameter of the fixed supporter 315 on one side of the square body. The rotation supporter 316, which is configured to be inserted and assembled, and extended in the form of a circular pipe of the same shape as the fixed supporter 315, has a rotation bracket 325 at one end in contact with the fixed supporter 315. And the rotary bracket 325 is configured with an embossed hinge part on the upper side of the square body, and constitutes an embossed part inserted into the inner diameter of the rotation supporter 316 like the fixed bracket 326, and the embossed part of the rotation supporter 316 is a rotation supporter ( 316) is inserted into the inner diameter from one end of the assembly and is configured.

In addition, the intaglio hinge part and the embossed hinge part respectively configured on the upper side of the fixing bracket 326 and the rotation bracket 325 are coupled to each other, and the hinge pin 341 is inserted and fastened to the rotation bracket in the axial rotation direction of the hinge pin 341 . The rotation supporter 316 is configured to rotate as the 325 rotates, and the hinge pin 341 is fixed with the rotation bracket 325 and the headless bolt to rotate without separation. Accordingly, the rotation supporter 316 has a structure in which the rotation supporter 316 is folded to one side through the hinge rotation of the rotation bracket 325 based on the fixed supporter 315 fixed to the rear of the frame 110 of the main body (B).

Meanwhile, a guide plate 320 in the form of a sector which is assembled and fastened with a fixing hole formed on the side of the body of the fixing bracket 326 is configured on both sides of the fixing bracket 326 . The guide plate 320 is configured to play a role of a guide for the rotational operation of the rotational supporter 316 and a role of a fixing function of the rotational supporter 316 , and the hinge rotation of the rotational bracket 325 toward the center of the guide plate 320 . A trajectory groove 323 in the shape of an arc that matches the rotation trajectory is configured, and a hole for assembling with a fixing hole on the side of the fixing bracket 326 is configured as one end point, so that the fixing bracket 326 is fixed to both sides of the body.

In addition, a ∩-shaped arch groove 328 is formed in the lower portion of the body of the rotation bracket 325 , and the horizontal extension portion 321a of the stopper 321 to be described later is seated and guided according to the shape of the arch groove 328 . A T-shaped stopper 321 is configured to fix the rotational supporter 316 that is rotated so as to be movable up and down, and the stopper 321 is a pin-shaped horizontal extension part 321a and the horizontal Consists of a protrusion 321b protruding downward from the center of the extension 321a, and at both ends of the horizontal extension 321a of the stopper 321 seated in the arch groove 328, the trajectory groove 323 and A stopper groove 327 into which the thickness of the guide plate 320 is freely inserted into the matching position is configured.

A plurality of set grooves 329 configured at specific positions along the trajectory grooves 323 of the guide plate 320 are formed of semicircular holes in the vertical direction in which the stopper 321 moves, and are formed in the arch grooves 328. After the seated horizontal extension part 321a of the stopper 321 is rotated along the trajectory groove 323, it is located in the set groove 329 of the guide plate 320 and the stopper 321 moves vertically. The stopper groove 327 is inserted and coupled to the set groove 329 to fix the rotation bracket 325 so that the positioning of the hinge rotation is made.

In addition, a screw is formed at the tip of the protrusion 321b of the stopper 321, and a circular presser 324 positioned at the lower end of the protrusion 321b is provided, and a tab is formed in the center of the presser 324. and a screw of the stopper 321 and fastened to each other, and a compression spring 322 is attached to the protrusion 321b together with a washer 322a configured to be flatly seated on the lower surface of the arch groove 328 horizontally. It is sequentially inserted and configured by binding the screw of the stopper 321 and the tab of the pressing sphere 324 to each other, and the pressing sphere 324 constitutes an outer diameter larger than the outer diameter of the spring 322 so that the spring 322 is It is preferable that it is configured not to be separated.

Therefore, the spring 322 inserted into the protrusion 321b of the stopper 321 between the pressing hole 324 of the stopper 321 and the lower end surface of the arch groove 328 is the stopper groove 327 is the guide. The plate 320 is inserted into the set groove 329 and is configured to continuously pull the fixed stopper 321 to prevent separation and maintain the binding even from external impact, as shown in FIG. By pressing 324), the stopper 321 is easily detached from the set groove 329 and is configured to rotate along the trajectory groove 323 of the guide plate 320, and the set groove 329 composed of a plurality of pieces. The positions of are respectively configured at positions matching the directions of the chemical liquid sprayed from the rotary nozzle 300, which will be described later, in the upward, lateral, and downward directions, and the specific direction setting of the hinge-rotated rotation supporter 316 can be easily and accurately set. It is configured to set, and it is possible to configure it at a specific location according to the purpose.

For reference, the above-described rotational supporter 316 and related components have been described based on the form in which the fixed supporter 315 and the rotational supporter 316 are unfolded in a straight line.

On the other hand, as shown in FIG. 12 , the spray unit S is configured with a plurality of nozzles to which the chemical is sprayed, and each nozzle is configured with the same nozzle, but is divided into a rotary nozzle 300 and a fixed nozzle 301 depending on the configured position. separated.

The rotary nozzle 300 and the fixed nozzle 301 include a nozzle tip configured to spray the chemical liquid to the lower part of the body in a spray form, and a fixed cap for fixing the nozzle tip, and a fitting that is fastened to the chemical liquid hose on one side of the body is configured and a circular clamp fixing part fixed to a circular pipe is formed at the top.

Each of the fixed nozzle 301 and the rotary nozzle 300 is located in the fixed supporter 315 and the rotary supporter 316, and the fixed nozzle 301 which is responsible for spraying the chemical liquid downward from the spraying part S is circular. The nozzle tip is fastened to one side of the circular pipe extension part of the fixed supporter 315 through the clamp coupling part and is configured to face downward, and the rotating nozzle 300 responsible for spraying the chemical liquid upward, sideways or downwardly is the rotation supporter ( It is configured to be fastened with the rotation supporter 316 in the same direction as the fixed nozzle 301 through a circular clamp fastening part to the opposite end where the rotation bracket 325 is located in the circular pipe extension part of 316 .

In addition, the pump 330 is configured to suck the chemical stored in the chemical container 130 and apply pressure to supply the chemical to the nozzle. The chemical liquid sprayed from the fixed nozzle 301 and the rotating nozzle 300 is in the form of a spray. It is composed of a pump 330 that outputs an output of a certain pressure or more to be injected, and is connected to an ESC 333 that drives the pump 330 as shown in FIG. 8 , and the ESC 333 is a controller 290 and It is connected and configured to operate according to a PWM signal that is operated or automatically commanded by the manipulator 400 .

For reference, as shown in FIG. 4, the pump 330 is configured to be positioned in the upper left and right directions under the frame 110 together with the pump base, but is connected to the nozzle and the chemical liquid container 130. For ease of understanding, it is depicted in an exploded view as shown in FIG. 12 .

In addition, the pump 330 is configured to be connected through the fitting of the fixed nozzle 301 and the fitting of the rotary nozzle 300 and the discharge port at the bottom of the chemical liquid container 130 and the chemical liquid hose, the rotary nozzle 300 is the pump The chemical liquid discharged from 330 is directly connected to the discharge port on one side of the two-way fitting 331 configured to be supplied in two branches, and the fixed nozzle 301 is supplied with the chemical liquid to the other discharge port of the two-way fitting 331 It is connected through a hand valve 332 configured to control over-blocking, and through the opening and closing operation of the hand valve 332, single injection of the rotary nozzle 300 or both the rotary nozzle 300 and the fixed nozzle 301 can be sprayed. It is configured so that it is divided according to the will of the operator, and selective injection of the chemical is made.

In addition, a pipe clamp 314 fastened to the rotary supporter 316 is formed on both sides of the circular clamp fastening portion of the rotary nozzle 300 coupled to the rotary supporter 316, and the pipe clamp 314 is moved upwards. It constitutes the base 313 and is directly connected to the motor shaft of the blower motor 310 and the blower motor 310 seated on the motor base 313 on the same vertical line as the rotary nozzle 300 to provide power. The propeller 311 that receives and rotates is configured, and the wind generated by the rotation of the propeller 311 is supplied in the same direction in which the rotary nozzle 300 is sprayed, and the range of the chemical sprayed from the rotary nozzle 300 It is configured to improve the , and the chemical liquid to be sprayed is to have the effect of improving the penetrating power by applying wind pressure.

In addition, as shown in FIG. 8 , the blower motor 310 is connected to the ESC 312 that drives the blower motor 310 , and the ESC 312 is connected to the controller 290 and the manipulator 400 . It is configured to operate according to a PWM signal that is manipulated or automatically commanded, and the injection unit (S) having an independent operation as described above is symmetrical to the left and right with respect to the front of the main body (B) as shown in FIG. With the same configuration of the form, two injection parts (S) are configured on both sides of the rear side of the main body part (B), and each component is allocated to an independent channel and configured to perform either single or all operations, so that the chemical liquid is injected in the direction desired by the operator is configured to be done.

Therefore, looking at FIG. 13 implemented by combining the above-described configuration, the chemical liquid sprayed through the two spraying parts S composed of the rear part of the moving unmanned control vehicle is sprayed downward or rotated according to the operation of the operator. It is sprayed in the upward direction together with the propeller 311 that is used, and the left or right selective direction and both are sprayed to block the source of chemical liquid injection in an unnecessary direction, as well as conforming to the control purpose and control method according to the characteristics of the crop It is configured to enable the spraying of the chemical solution.

In addition, in the present invention, the interval between the rotary nozzle 300 and the fixed nozzle 301 is configured at a position calculated so that there is no blank space in the downward injection, and in some cases, an additional nozzle configuration is also possible, and each rotary nozzle 300 ) and the fixed nozzle 301 are sprayed in various shapes and at various angles depending on the included nozzle tip, and it is possible to replace the fixed cap with an appropriate nozzle tip by removing the fixed cap.

Meanwhile, as shown in FIG. 14 , the servo 340 performing the same function may be configured by replacing the guide plate 320 and the stopper 321 .

The servo 340 is a modular device including a motor, a reduction gear, an encoder and a driving circuit, and controls the motor with the position readout of the encoder connected to the output shaft configured on one side of the body, and operates the motor according to the PWM signal It is configured to drive the rotational motion on the output shaft.

In addition, one end of the hinge pin 341 of the rotation bracket 325 constitutes a embossed protrusion through which rotational power is effectively transmitted, and the end of the rotation output shaft of the servo 340 matches the protrusion of the hinge pin 341 . The servo 340 is configured to transmit the power of the servo 340 to the hinge pin 341 by constructing an intaglio groove and fastening to each other, and the servo fixing in the form of a pipe clamp is coupled to the fixed supporters 315 at both ends of the body of the servo 340 The fastening groove of the bracket A (342) and the fixing bracket (326) and the body fixing groove of the servo (340) are matched to form a servo fixing bracket B (343) configured to be fixed through a fastener to form a hinge pin (341) and The servo 340 is fixed so that the output shaft is positioned on the same line, and the hinge pin 341 rotated together according to the rotation output of the servo 340 is fixed with the rotation bracket 325 and the headless bolt to rotate together. It is configured so that the hinge rotation of the rotation supporter 316 is made the same.

In addition, the servo 340 is configured in connection with the controller 290 so that remote control is possible from the manipulator 400 and the PC 410, and a stopping torque exceeding the thrust generated by the rotation of the propeller 311 It is composed of a servo 340 with excitation, and is preferably configured as a waterproof and dustproof type.

In addition, as shown in FIG. 15 , the chemical solution container 130 configured to be detachable and configured on the upper body portion B is replaced with a plurality of individual chemical solution containers 131 of a size that an adult can easily lift. so it can be configured.

The individual chemical liquid container 131 has an upper inlet configured to contain a chemical solution, a lower discharge port configured to discharge the chemical solution, and a valve configured to be opened and closed by being connected to the discharge port, and each independently configured individual chemical solution container 131 ) are clustered on the upper part of the main body (B) and are configured to be fixedly seated without shaking, and each individual chemical liquid container 131 outlet valve is connected in parallel with the pump 330 through a chemical liquid hose.

Therefore, the worker who prepared the individual chemical container 131 containing a plurality of chemical liquids in advance before the control operation immediately replaces the individual chemical liquid container 131 in which the chemical liquid is exhausted with the individual chemical liquid container 131 filled with the chemical liquid during the control operation to utilize it. It can exert the effect of increasing the efficiency of the control work.

C: control unit D: drive unit
B: body part S: spray part
M: monitoring unit
110: frame 111: bottom plate
120: wheel
130: medicine container 131: individual medicine container
140: frame lower cover 150: bearing
160: mating sprocket 161: double sprocket
162: drive sprocket 163: chain
164: case groove
170: spindle 180: idle sprocket
181: idle sprocket supporter 190: reduction motor
191: ESC
210: outer case 211: side case
212: front case 213: rotating case
214: toggle clamp 215: vertical ear
220: camera 221: video transmitter
222: video receiver 230: range finder
240: GPS 250: emergency stop
260: receiver 270: data link module
280: battery 281: power distributor
282: transformer 290: controller
300: rotary nozzle 301: fixed nozzle
310: blower motor 311: propeller
312: ESC 313: motor base
314: pipe clamp 315: fixed supporter
316: rotation supporter 317: pipe base
320: guide plate 321: stopper
321a: horizontal extension 321b: protrusion
322: spring 322a: washer
323: trajectory groove 324: pusher
325: rotation bracket 326: fixed bracket
327: stopper groove 328: arch groove
329: set groove 330: pump
331: two-way fitting 332: hand valve
333: ESC 340: servo
341: hinge pin 342: servo fixing bracket A
343: servo fixing bracket B 400: remote controller
410: PC

Claims (8)

A body part (B) including a driving part (D) that is a means of transporting a chemical control solution, an injection part (S) configured to spray the chemical control solution, wireless control and autonomous movement, and injection control of the chemical solution, etc. In the injection device of an autonomous driving type unmanned control vehicle comprising a control unit (C) configured to perform, and a monitoring unit (M) capable of confirming that radio control and autonomous movement are performed from a distance,
The main body portion (B) includes a frame 110 in the form of a square box for accommodating the chemical container 130 in which the chemical control solution is stored, and the bottom plate 111 is extended to the front and rear at the lower portion of the frame 110 . As a result, the control unit C is seated on the front side of the bottom plate 111, and a plurality of injection parts S are provided on both rear sides of the bottom plate 111,
The injection unit (S) includes a fixed nozzle 301 and a rotating nozzle 300 to which the chemical is injected, respectively,
A pump 330 connected with the chemical liquid container 130 to apply pressure to the fixed nozzle 301 and the rotating nozzle 300 and connected with a hose to supply the chemical liquid is included,
A fixed supporter that is configured to extend in the form of a circular pipe and is assembled and fastened to one end through the rear of the frame 110, the pipe base 317 and the pipe clamp 314, and at the same time, the fixed nozzle 301 is attached and supported (315) is included;
The circular pipe shape is extended to support the rotation nozzle 300 by binding to one end, and a rotation supporter 316 constituting a hinge rotation with the other end of the fixed supporter 315 at the other end is included,
A fixing bracket 326 and a rotation bracket 325 and an upper side of the fixing bracket 326 and an upper side of the rotation bracket 325 for hinge rotation at a position where the fixed supporter 315 and the rotational supporter 316 abut on each other A hinge pin 341 to which the hinge is fastened is included,
When the pump 330 is driven, the chemical liquid is injected from the fixed nozzle 301 and the rotating nozzle 300, and the direction of the chemical liquid injected by the fixed nozzle 301 bound to the fixed supporter 315 is fixed. In accordance with the hinge rotation of the rotary supporter 316, the direction of the chemical sprayed by the rotary nozzle 300 bound to the rotary supporter 316 is changed and sprayed,
including a servo 340 connected to the hinge pin 341,
An embossed protrusion through which rotational power is effectively transmitted is formed at one end of the hinge pin 341, and an intaglio groove matching the protrusion is formed at the end of the rotation output shaft of the servo 340,
A servo fixing bracket A 342 is included at one end of the body of the servo 340 to be coupled to the stationary supporter 315, and a servo fixing bracket B 343 is coupled to the fixing bracket 326 at the other end of the body of the servo 340. ), and at the same time, the hinge pin 341 and the rotation output shaft of the servo 340 are coupled on the same line,
The hinge pin 341 is fixed to rotate together with the rotation bracket 325 and the headless bolt,
The hinge rotation of the rotation supporter 316 connected to the rotation bracket 325 by the rotation output of the servo 340 driven according to the operation of the manipulator 400 is performed by wireless remote control. The spraying device of the control vehicle. According to claim 1,
Fixed brackets 326 provided on both rear sides of the bottom plate 111, respectively, are formed in a sectoral shape positioned on both sides of the body, and arc-shaped trajectory grooves coincident with the hinge rotational trajectory of the rotating bracket 325 in the center. 323 is formed, and a guide plate 320 in which a set groove 329 of a semicircle positioned along the arc of the trajectory groove 323 is formed is configured,
The rotation bracket 325 is formed with an arch groove 328 composed of a ∩-shaped groove in the lower portion,
A horizontal extension part 321a configured to be seated in the arch groove 328 formed in the rotation bracket 325 and guided according to the shape of the arch groove 328 to enable vertical movement and the center of the horizontal extension part 321a A stopper 321 comprising a protrusion 321b protruding downward from the
At both ends of the horizontal extension portion 321a of the stopper 321, a stopper groove 327 into which the thickness of the guide plate 320 is freely inserted into a position coincident with the trajectory groove 323 is configured,
After the horizontal extension part 321a of the stopper 321 seated in the arch groove 328 is rotated along the trajectory groove 323, it is located in the set groove 329 of the guide plate 320 and the stopper Injection of an autonomous driving type unmanned control vehicle, characterized in that the stopper groove 327 is inserted and fixed into the set groove 329 by vertical movement of the 321, and the rotation bracket 325 is fixed to determine the position of the hinge rotation. Device. 3. The method of claim 2,
The stopper 321 forms a screw with the tip of the protrusion 321b,
A circular pressing sphere 324 positioned at the lower end of the protrusion 321b is provided, and the pressing sphere 324 constitutes a tab in the center and is configured by binding to each other with the screw of the stopper 321,
A spring 322 and a washer 322a that are inserted into the protrusion 321b between the presser 324 and the lower end of the arch groove 328 are configured, so that the set groove ( 322 ) by the tensile force of the spring ( 322 ). 329), the injection device of the autonomous driving type unmanned control vehicle, characterized in that the binding of the stopper groove (327) is maintained. According to claim 1,
The pump 330 is connected to include a two-way fitting 331 configured so that the discharged chemical is divided into two and supplied,
The rotary nozzle 300 is connected to one side outlet of the two-way fitting 331,
The fixed nozzle 301 is connected to the other outlet of the two-way fitting 331, including a hand valve 332 for controlling the supply and blocking of the chemical solution,
An injection device for an autonomous driving unmanned control vehicle, characterized in that a single injection of the rotary nozzle 300 or both the rotary nozzle 300 and the fixed nozzle 301 are sprayed through the opening/closing operation of the hand valve (332). According to claim 1,
A pipe clamp 314 fastened to the rotary supporter 316 is configured on both sides of the binding portion of the rotary nozzle 300 coupled to the rotary supporter 316,
A motor base 313 is configured above the pipe clamp 314,
A blower motor 310 seated on the upper motor base 313 on the same vertical line as the rotary nozzle 300 and a propeller 311 rotated by receiving power from the blower motor 310 are configured,
The wind generated by the rotation of the propeller 311 is supplied in the same direction in which the rotary nozzle 300 is sprayed, and is configured to improve the range of the chemical liquid sprayed from the rotary nozzle 300. The injection device of the unmanned control vehicle. delete 6. The method of claim 5,
The injection part (S) provided on both rear sides of the bottom plate 111, respectively, the left injection part (S) and the right injection part (S) are connected to each of the pumps 330 and the chemical liquid container (130) independently included,
The pump 330, the blower motor 310, and the servo 340 of the left injection unit S and the right injection unit S are independently driven to drive the left injection unit S or the right injection unit (S). An injector of an autonomous driving type unmanned control vehicle, characterized by the single operation of S) and the operation of both injection units (S) on both sides. 8. The method of claim 7,
The control unit (C) seated on the front side of the frame 110 includes an outer case 210 configured to block contamination from the outside and a receiver 260 for receiving a wireless signal into the outer case 210 and a reduction motor ( 190) and the ESC 191 driving the reduction motor 190, the ESC 312 driving the blower motor 310, the ESC 333 driving the pump 330, and controlling autonomous driving a controller 290, a data link module 270 configured for wireless data exchange with a PC 410, and a front case 212 located in the central hole of the outer case 210 inside the front side of the main body. A camera 220 that provides an image by photographing, an image transmitter 221 that wirelessly transmits an image of the camera 220, and a plurality of batteries 280 configured to provide electrical energy to the control unit C Including, including a GPS 240 for receiving a signal sent from a GPS satellite to the upper portion of the outer case 210, the wireless operation of the main body (B) and the injection unit (S), and control the chemical injection and autonomous driving and
The distance measurer 230 located at both ends of the front lower part of the front case 212 of the outer case 210 and configured to recognize the distance between the front part of the unmanned control vehicle and the obstacle is the distance value detected through the distance measurer 230 . Based on the above, the controller 290 is configured to control the stopping or avoiding of the unmanned control vehicle, and the distance measuring device 230 is limited to LIDAR.

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