KR102305960B1 - Robotic platform for cage farm - Google Patents

Abstract

A robotic farm platform according to an embodiment of the present invention includes: a plurality of scaffolds connected to each other; a floating support provided under the footrest; a floating body provided between the scaffold and the floating support; A plurality of outer support pipes spaced apart from each other to the outside of each of the floating supports, the ends are connected to the outer coupling part to surround the scaffold and the structure of the floating support; a winding roll provided in the longitudinal direction on the upper surface of the outer support pipe; an arm body portion provided in a portion where the footrests are in contact with each other, each end of the floating support is connected, a pulley portion is provided on the upper portion, and a telescopic arm portion is provided on the lower portion; and an end effect in which an edge of one lower side is connected to the first cable connected over the pulley part, and an edge of one upper side is connected to a second cable connected over the telescopic arm part.

Description

Robotic platform for cage farm}

The present invention relates to a robotic farm platform, and more particularly, to a robotic farm platform that performs farm management and controls the depth of a net using an end effect capable of 6 degree of freedom movement.

Domestic aquaculture started full-fledged investment in shallow sea aquaculture in the late 1960s and is today. The aquaculture industry is facing a major crisis. Therefore, as one of the measures to strengthen the competitiveness of the aquaculture industry in order to revitalize the domestic aquaculture industry, research on the development of the feed supply system is being actively carried out during the development of the aquaculture automation system to reduce the aquaculture cost.

Conventionally, there is known a case in which a person directly sprays feed in a manner of injecting feed to the fish in the aquaculture tank or the case where a portable fan is placed near the aquaculture tank and the feed is blown away and sprayed.

However, in the method of spraying feed by human hands, the feed is contaminated by the contact between the feed and humans, and this causes a disease in the fish. There is a problem in that the economic feasibility is lowered in work management and labor costs.

In addition, the conventional aquaculture system cannot determine the status of the farmed fish, the mortality rate, the pike fish, etc., and cannot actively cope with the marine environment in which the farm is installed. difficult situation.

In particular, in the conventional aquaculture system, the depth of the aquaculture net is fixed, and a part of the supplied feed escapes the net, resulting in a large consumption of feed. There is a difficulty in working, and there is a limit in that it cannot be supplied by adjusting the amount of feed input depending on the conditions such as the amount of dissolved oxygen and water temperature in the farm.

Patent Literature: Registered Patent Publication No. 10-0923243

The present invention has been devised to solve the above problems, and an object of the present invention is to actively cope with the marine environment in which a farm is installed by using an end effect capable of 6 degree of freedom movement, and to manage the farm by adjusting the depth of the farm net. It is to provide a robotic aquaculture platform that performs

A robotic farm platform according to an embodiment of the present invention includes: a plurality of scaffolds connected to each other; a floating support provided under the footrest; a floating body provided between the scaffold and the floating support; A plurality of outer support pipes spaced apart from each other to the outside of each of the floating supports, the ends are connected to the outer coupling part to surround the scaffold and the structure of the floating support; a winding roll provided in the longitudinal direction on the upper surface of the outer support pipe; an arm body portion provided in a portion where the footrests are in contact with each other, each end of the floating support is connected, a pulley portion is provided on the upper portion, and a telescopic arm portion is provided on the lower portion; and an end effect in which an edge of one lower side is connected to the first cable connected over the pulley part, and an edge of one upper side is connected to a second cable connected over the telescopic arm part.

In the robot farm platform according to an embodiment of the present invention, the pulley part is provided on the upper part of the arm body part and is drawn upward between the scaffolds, and the pulley support part extends inwardly from the upper end in a L-shape; a second pulley provided at the upper end of the pulley support part; and a first pulley provided at the inner end of the upper end of the pulley support part.

In the robot farm platform according to an embodiment of the present invention, the telescopic arm part is connected to the lower part of the arm body part, and the first arm extends and contracts in the longitudinal direction by sliding; a second arm connected to a lower portion of the first arm and extending and contracting in the longitudinal direction by sliding; a third arm connected to the lower part of the second arm and extending and contracting in the longitudinal direction by sliding; a base connected to the lower end of the third arm and provided inward; a first lower pulley provided on the upper part of the base; a second lower pulley provided on the lower inner side of the base to correspond to the first lower pulley; and a third lower pulley provided at a lower portion of the base to correspond to the third arm.

In the robot farm platform according to an embodiment of the present invention, the outer support pipe is provided with a first winch and a second winch at one end of the inner side, and a third winch and a mesh motor are provided at the other end of the inner side.

In the robot farm platform according to an embodiment of the present invention, the end effector is in the form of a rectangular parallelepiped frame, and 8 horizontal frame parts and 4 vertical frame parts are combined with each other to constitute 12 corners of the rectangular parallelepiped, and the 8 vertices are outside the It is characterized in that the first cable and the second cable are provided with eight connecting rings, respectively.

In the robot farm platform according to an embodiment of the present invention, the first cable passes through the inside of the pulley part, and is connected to the second winch through the inside of the arm body part and the inside of the outer support pipe, and the second cable Penetrates the inside of the telescopic arm part, and is connected to the first winch through the inside of the arm body part and the inside of the outer support pipe.

The features and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

Prior to this, the terms or words used in the present specification and claims are not to be construed in a conventional, dictionary meaning, and the concept of the term is appropriately defined in order for the inventor to describe his invention in the best way It should be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that it can be done.

The robot farm platform according to the embodiment of the present invention has the effect of managing the farm while moving the end effector to any position and any rotation angle in 6 degrees of freedom in the aquaculture space.

The robot farm platform according to an embodiment of the present invention can be moved by using a ship or harvesting fish by locating the end effector over the sea and winding the net, so that it can actively cope with changes in the sea environment such as typhoons. It works.

1 is a perspective view of a robotic farm platform according to an embodiment of the present invention.
Figure 2 is an exploded perspective view of the robot type farm platform according to the embodiment of the present invention.
Figure 3 is an enlarged view of part A of Figure 2;
Figure 4 is a perspective view showing the end effect of the robot type farm platform according to an embodiment of the present invention.
5 is an exemplary view showing a cable connection structure in a robot farm platform according to an embodiment of the present invention.
Figure 6 is a schematic cross-sectional view for explaining the management operation state of the robot type farm platform according to the embodiment of the present invention.
Figure 7 is a schematic cross-sectional view for explaining the net depth adjustment of the robot type farm platform according to an embodiment of the present invention.
Figure 8 is an exemplary view for explaining the structure of the telescopic arm in the robot farm platform according to the embodiment of the present invention.
Figure 9 is an exemplary view for explaining the length adjustment of the telescopic arm in the robot farm platform according to the embodiment of the present invention.

The objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments taken in conjunction with the accompanying drawings. In the present specification, in adding reference numbers to the components of each drawing, it should be noted that only the same components are given the same number as possible even though they are indicated on different drawings. Also, terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. In addition, in describing the present invention, if it is determined that a detailed description of a related known technology may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. 1 is a perspective view of a robotic farm platform according to an embodiment of the present invention, FIG. 2 is an exploded perspective view of a robotic farm platform according to an embodiment of the present invention, and FIG. 3 is an enlarged view of part A of FIG. Figure 4 is a perspective view showing the end effect of the robot farm platform according to the embodiment of the present invention, Figure 5 is an exemplary view showing the cable connection structure in the robot farm platform according to the embodiment of the present invention, Figure 6 is this A schematic cross-sectional view for explaining the management operation state of the robotic farm platform according to the embodiment of the present invention, Figure 7 is a schematic cross-sectional view for explaining the net depth adjustment of the robotic farm platform according to the embodiment of the present invention, Figure 8 is an exemplary diagram for explaining the structure of the telescopic arm in the robotic farm platform according to an embodiment of the present invention, and FIG. 9 is an example for explaining the length adjustment of the telescopic arm in the robotic farm platform according to the embodiment of the present invention It is also

The robot type farm platform according to an embodiment of the present invention is a structure applied to a farm for sea culture, for example, as shown in FIGS. 1 and 2, for example, four scaffolds 101 provided to surround in a square, each scaffold ( The floating support 115 provided under 101, the floating body 110 provided between the scaffold 101 and the floating support 115, and the floating support 115 are spaced apart from each other and the outer coupling part 125. The end is connected to the outer support tube 120 surrounding the four floating supports 115, the winding roll 118 provided in the longitudinal direction of the outer support tube 120 on the upper surface of the outer support tube 120, Each end of the floating support 115 is connected at the corner portion where the footrest 101 is in contact with each other, and the arm body 210 having a pulley part on the upper part and a telescopic arm part on the lower part, and the first connected over the pulley part. The cable 301 includes an end effect 400 in which the edge of the lower one side is connected and the edge of the upper one side is connected to the second cable 302 connected over the telescopic arm.

Specifically, the footrest 101 is in the form of a rectangular plate, the outer coupling portion 125 is coupled under the end, and has a bent shape surrounding the pulley portion at the end.

The floating body 110 is, for example, a floating structure that floats on water, such as a tank containing air or a rod-shaped structure made of Styrofoam, and may be provided by being bound to the ring of the floating support 115 .

The pulley part is provided on the upper part of the arm body part 210 as shown in FIGS. 1 and 2 and is drawn upward between the footrests 101 and extends inwardly from the upper end in a L-shape. A second pulley 202 provided at the upper end of the support 201 and a first pulley 203 provided at the inner end of the upper end of the pulley support 201 are provided. The pulley part guides the first cable 301 passing through the first pulley 203 and the second pulley 202 and passing through the inside of the pulley support part 201 .

The telescopic arm part is connected to the lower part of the arm body part 210, the first arm 211 extending and contracting in the longitudinal direction by sliding, and connected to the lower part of the first arm 211 by sliding the length in the longitudinal direction. The second arm 212, which extends and contracts, and the third arm 213, which is connected to the lower portion of the second arm 212 and extends and contracts in the longitudinal direction by sliding. The base 214 connected to the lower end and provided inwardly, the first lower pulley 215 provided on the upper part of the base 214, and the first lower pulley 215 are provided on the lower inner side of the base 214 in correspondence to the first lower pulley 215 The second lower pulley 216 and the third lower pulley 217 provided in the lower portion of the base 214 corresponding to the third arm 213 are provided.

As shown in FIG. 5, the telescopic arm unit passes the second cable 302 through the second lower pulley 216 and the third lower pulley 217 over the first lower pulley 215 to the first arm 211. to the third arm 213 is guided to penetrate inside, and the first arm 211 to the third arm 213 lengthwise extends or contracts in the longitudinal direction.

In addition, the robot farm platform according to an embodiment of the present invention may be provided with a solar panel 10 by additionally installing a panel support 11 on one side of the scaffold 101, and such a solar panel 10 A storage battery (not shown) connected to the storage battery and a control unit (not shown) connected to the storage battery and controlling the overall operation of the robotic farm platform may be provided.

This robotic farm platform is provided with a first winch 131 and a second winch 132 at one end of the inner side of the outer support pipe 120 as shown in FIG. 2, and a third winch 133 at the other end of the inner side. and a mesh motor 134 .

At this time, the first winch 131 and the second winch 132 respectively wind the first cable 301 and the second cable 302 connected through the inside of the outer support pipe 120 under the control of the controller, or unwind The end effect 400 may be moved with 6 degrees of freedom by winding or unwinding the first cable 301 and the second cable 302 .

For example, as shown in FIG. 5, the first cable 301 passes through the inside of the first pulley 203, the second pulley 202 and the pulley support part 201 of the pulley part, and the arm body part 210 ) may be connected to the second winch 132 through the inside of the inner and outer support pipe 120 . In addition, the second cable 302 passes through the first lower pulley 215 , the second lower pulley 216 and the third lower pulley 217 of the telescopic arm, inside the base portion 214 , the third arm 213 . ) through the inside of the first arm 211 , and may be connected to the first winch 131 through the inside of the arm body 210 and the inside of the outer support pipe 120 . Of course, the first cable 301 may be connected to the first winch 131 , and the second cable 302 may be connected to the second winch 132 .

The third winch 133 is, for example, to any one of the first arm 211 to the third arm 213 of the telescopic arm through the outer support pipe 120 and the arm body 210, as shown in FIG. Connecting the connected additional cables 231,232, and winding or unwinding the additional cables 231,232 under the control of the controller as shown in FIG. 9, the first arm 211 to the third arm 213 in the longitudinal direction It slides to lengthen or contract.

The mesh motor 134 is wound on the drive shaft of the mesh motor 134 as shown in FIG. 3 , and is drawn out through the through hole of the outer support pipe 120 through the belt 134-2 wound on the rotation shaft of the winding roll 118 . By rotating the winding roll 118, the winding roll 118 winds up or unwinds the net 30 shown in FIGS.

The end effector 400 is in the form of a rectangular parallelepiped frame as shown in FIG. 4 , and eight horizontal frame portions 410 and four vertical frame portions 420 are coupled to each other to form 12 corners of the rectangular parallelepiped. The end effector 400 may be provided with eight connecting rings 430 to which the cables 301 and 302 are respectively connected to the outside of the eight vertices, and the connecting rings 430 are screwed on the outside of the horizontal frame part 410 . It can be composed of an eyebolt that becomes

In this end effector 400, four first cables 301 connected from the first pulley 203 of the pulley part are connected to four connecting rings 430 on the upper side, respectively, and the first lower pulley 215 of the telescopic arm part. Four second cables 302 connected from the are connected to the lower four connecting rings 430, respectively.

At this time, the control unit controls the first winch 131 and the second winch 132 for winding the eight cables 301 and 302, so that the end effector 400 can be moved with 6 degrees of freedom within the aquaculture area. controlled with Here, 6 degrees of freedom are movement in the X-axis direction, movement in the Y-axis direction, movement in the Z-axis direction, rotation around the X-axis, and rotation around the Y-axis in a three-dimensional space with X, Y, and Z axes. , and means six movements or rotations that rotate around the Z axis.

The end effector 400 is equipped with, for example, a feed spreading module, a camera module for observing the state of fish and nets in the aquaculture area, a sensor module for observing changes in water quality, and a cleaning module for cleaning the nets. can do. Accordingly, as the control unit moves the end effector 400 with 6 degrees of freedom within the aquaculture area, as shown in FIG. 6 , feed is sprayed to the fish through the feed spreading module mounted on the end effector 400 . Alternatively, the state of the fish and the net 30 may be observed through the camera module, and the net 30 may be cleaned through the cleaning module.

Thereafter, when the end effector 400 is not used, the controller controls the first winch 131 and the second winch 132 to wind the first cable 301 and the second cable as shown in FIG. 7 . By unwinding 302, the end effector 400 can be positioned above the sea. At this time, the control unit lengthens or contracts the first arm 211 to the third arm 213 of the telescopic arm part, respectively, and at the same time controls the mesh motor 134 to wind or unwind the net 30, 30) can be adjusted. Here, the net 30 may be wound or unwound while being connected to each other or separated by using, for example, a zipper to prevent tangling in the process of being wound or unwound.

The robot farm platform according to the embodiment of the present invention configured as described above can manage the farm while moving the end effector 400 to any position and any rotation angle with 6 degrees of freedom in the culture space.

In addition, the robotic farm platform according to an embodiment of the present invention can be moved by using a ship or harvesting fish by locating the end effector 400 above the sea and winding the net 30 , such as in a sea environment such as a typhoon. can actively respond to changes in

Although the technical idea of the present invention has been specifically described according to the above preferred embodiments, it should be noted that the above-described embodiments are for the purpose of explanation and not for the limitation thereof.

In addition, a person of ordinary skill in the art of the present invention will understand that various implementations are possible within the scope of the technical idea of the present invention.

10: solar panel 11: panel support
101: scaffold 110: floating body
115: floating support 118: winding roll
120: outer support pipe 131: first winch
132: second winch 133: third winch
134: mesh motor 201: pulley support
202: second pulley 203: first pulley
210: arm body 211: first arm
212: second arm 213: third arm
214: base 215: first lower pulley
216: second lower pulley 217: third lower pulley
301: first cable 302: second cable
400: end effector

Claims (6)

scaffolding connected in multiple pieces;
a floating support provided under the footrest;
a floating body provided between the scaffold and the floating support;
A plurality of outer support pipes spaced apart from each other to the outside of each of the floating supports, the ends are connected to the outer coupling part to surround the scaffold and the structure of the floating support;
a winding roll provided in the longitudinal direction on the upper surface of the outer support pipe;
an arm body portion provided in a portion where the footrests are in contact with each other, each end of the floating support is connected, a pulley portion is provided on the upper portion, and a telescopic arm portion is provided on the lower portion; and
an end effector having a lower edge connected to a first cable connected over the pulley, and an upper edge connected to a second cable connected across the telescopic arm;
A robotic farm platform comprising a.
The method of claim 1,
The pulley part
a pulley support provided on the upper portion of the arm body, led upwards between the footrests, and extending inwardly from the upper end in a L-shape;
a second pulley provided at the upper end of the pulley support part; and
a first pulley provided at the inner end of the upper end of the pulley support;
A robotic farm platform comprising a.
The method of claim 1,
The telescopic arm
a first arm connected to the lower part of the arm body and extending and contracting in the longitudinal direction by sliding;
a second arm connected to a lower portion of the first arm and extending and contracting in the longitudinal direction by sliding;
a third arm connected to a lower portion of the second arm and extending and contracting in the longitudinal direction by sliding;
a base connected to the lower end of the third arm and provided inward;
a first lower pulley provided on the upper part of the base;
a second lower pulley provided in the lower inner side of the base to correspond to the first lower pulley; and
a third lower pulley provided at a lower portion of the base to correspond to the third arm;
A robotic farm platform comprising a.
The method of claim 1,
The outer support pipe has a first winch and a second winch at one end of the inner end, and a third winch and a mesh motor at the other end of the inner end.
The method of claim 1,
The end effector is a rectangular parallelepiped frame shape, and 8 horizontal frame parts and 4 vertical frame parts are combined with each other to constitute 12 corners of a rectangular parallelepiped, and the first cable and the second cable are connected to the outside of the 8 vertices, respectively Robotic farm platform, characterized in that it has eight connecting rings.
5. The method of claim 4,
The first cable passes through the inside of the pulley part and is connected to the second winch through the inside of the arm body part and the inside of the outer support pipe,
The second cable passes through the inside of the telescopic arm part, and is connected to the first winch through the inside of the arm body part and the inside of the outer support pipe.

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