KR102338745B1 - Electric transfer device for facility house - Google Patents

Abstract

The present invention relates to an electric transfer device for a facility house, which is capable of automatically following a worker and automatically returning to a work position. The electric transfer device is capable of moving along an S-shaped guide rail installed in the upper portion of a facility house. The electric transfer device includes: a transfer unit including a drive motor and a roller connected to the rotating shaft of the drive motor and providing a drive force for movement along the guide rail; a conveying unit detachably connected to the transfer means; a battery on one side of the conveying unit; and a control module provided on one side of the conveying unit and controlling the drive motor of the transfer unit. The control module measures the distance to a worker and controls the drive motor of the transfer unit such that the worker is followed at a predetermined distance. At the same time, the control module controls the drive motor of the transfer unit such that its own position is predicted based on a captured identifier image and the rotation speed of the drive motor, the predicted position is stored in real time, its own position at the point in time of initial position movement command input is stored, and movement to the stored position is possible in the event of a final work position return command.

Description

Electric transfer device for facility house

The present invention relates to an electric transport device for a facility house, and more particularly, to an electric transport device for a facility house capable of automatically following a worker and automatically returning to a working position.

Recently, facilities such as vinyl or glass are used to grow various crops such as vegetables and fruits. Moreover, in recent years, even in growing grapes, facilities such as light shade facilities and plastic greenhouses are being installed to improve the quality of crops.

In general, the length of the greenhouse is long and the ridge on which crops are planted is narrow, so there is a very inconvenient problem when workers transport crops, transport agricultural materials, or perform disaster prevention work.

In order to solve such a problem, various transport devices for efficiently moving crops, fertilizers, agricultural materials, etc. harvested in the plastic house have been proposed. In general, the conventional transport device for a plastic house installs a monorail-type rail on the steel frame of the plastic house, and allows the transport device to move through the rail.

Republic of Korea Patent Registration No. 10-1038934 discloses a device for transporting and controlling horticultural crops.

Conventional facility horticultural harvesting transport and control device is a rectangular holder installed on the lower side of the rail installed in the longitudinal direction on the ceiling of the plastic house, and is installed on one side of the upper surface of each corner of the rectangular holder, having a winding drum A lifting motor, a support plate installed a certain length vertically upward on the other side of the upper surface of each corner of the rectangular holder, and a wheel installed on the upper part of the support plate. A motor, a guide part installed on the lower part of the support plate so that the bottom surface of the rail is in contact, an elevating wire connected to the winding drum of the elevating motor and ascending and descending according to the rotation of the winding drum, and the elevating wire A carriage connected to elevate and descend, a hinge installed and fixed along the side of the carriage, a metal fence rotatably installed on the hinge, and located on one side of the hinge, vertically upward and on the edge of the carriage It consists of a magnet installed vertically downward, a clamp installed and fixed at regular intervals on the bottom of the carrier, and a spreader fastened to the clamp to spray pesticides to crops.

In addition, Korean Patent Registration No. 10-2101955 discloses a transport device for a plastic house.

The conventional transport device for a plastic house includes a moving unit including each driving unit provided before and after to be movable by a control signal on a guide rail, and a lifting unit at the lower portion of the moving unit so as to be able to be lifted and detached. and a lifting unit for elevating the moving wheel unit according to the load of the conveying unit placed on the conveying unit on the lower surface of the conveying unit, wherein the moving means is guided by each bracket before and after the moving frame and the moving frame. Each in-wheel motor, which is each driving unit provided to be movable by rolling on the rail, a battery that supplies electric energy to the in-wheel motor between each in-wheel motor, and control of the in-wheel motor and a signal to control whether it is driven or not and a control unit including a control box, and a support roller provided at a lower portion of the in-wheel motor to prevent the in-wheel motor from being separated from or tilted from the guide rail.

Such a conventional transport device for a plastic house, although it can move through an electric motor along the rail installed on the top of the plastic house, there was a problem in that the work efficiency cannot be increased because the operator directly controls the transport device through a remote controller.

Republic of Korea Patent Registration No. 10-1038934 (Registration Date: May 30, 2011) Republic of Korea Patent Registration No. 10-2101955 (Registration Date: April 10, 2020)

The present invention was invented to solve the problems of the prior art as described above, and an electrically movable transfer device along the rail installed on the upper part of the facility house can automatically move by following the operator, and furthermore, the transfer device can be moved to the initial position during operation. The purpose of the present invention is to provide an electric transfer device for a facility house that can automatically move to the last working position after returning to the work station.

The objects of the present invention are not limited to the objects mentioned above, and other objects and advantages of the present invention not mentioned can be understood by the following description, and will be more clearly understood by the examples of the present invention. It will also be readily apparent that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the appended claims.

The electric transfer device for a facility house according to the present invention for achieving the above object is an electric transfer apparatus movable along a guide rail installed in an "S" shape on the upper part of the facility house, a drive motor and a rotation shaft of the drive motor a conveying unit including a roller connected to and providing a driving force to move along the guide rail; a transport unit detachably connected to the transport means; a battery provided on one side of the carrying unit; and a control module provided on one side of the conveying unit to control the driving motor of the conveying unit, wherein the control module controls the driving motor of the conveying unit to follow while maintaining a predetermined distance from the operator by measuring a distance from the operator Simultaneously, it predicts its position based on the image of the captured identifier and the number of revolutions of the driving motor and stores it in real time, stores its own position at the point in time when the initial position movement command is input, and when the final work position return command is received It is characterized in that it controls the driving motor of the transfer unit so that it can be moved to the stored position.

The present invention as described above is effective.

1 is a view for explaining the structure of the electric transfer device for a facility house according to the present invention.
2a and 2b are views for explaining the detailed structure of the transfer unit of the electric transfer device according to the present invention.
Figure 3 is a detailed block diagram of the control unit of the electric transfer device according to the present invention.
Figure 4 is a view for explaining the movement process of the electric transfer device according to the present invention.

The above-described objects, features, and advantages will become more clear through the detailed description that will be described later in detail with reference to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains can understand the technical spirit of the present invention. It will be easy to implement. In addition, in the description of the present invention, if it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist 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 view for explaining the structure of the electric transfer device for a facility house according to the present invention.

Referring to FIG. 1, a guide rail (not shown) provided on a steel frame of the facility house is installed in a typical facility house for growing crops. And the electric transfer device is operated to transfer various agricultural materials or harvested crops for cultivating crops to the outside while moving along the guide rail.

The electric transfer device according to the present invention includes a transfer unit 10 including a driving motor provided in the front and/or rear so as to be movable by a control signal on a guide rail, and detachably provided at a lower portion of the transfer unit 10 It includes a transport unit 20 and a control module 30 attached to one side of the transport unit 20 to control a driving motor of the transport unit while sensing a forward situation. In addition, the electric transport device may be detachably equipped with a control device 40 that can selectively control crops.

The transfer unit 10 has a structure that can be raised in the longitudinal direction of the guide rail, and includes a DC driving motor, a bracket, and a roller. As shown in FIG. 1 , the conveying unit 10 may be provided with a conveying unit including a driving motor at the front or rear, and the rest may be composed of only a bracket and a roller. Alternatively, the transfer unit 10 may be provided with a transfer unit including a driving motor at both the front and rear sides as needed.

A detailed structure of such a transfer unit 10 will be described with reference to FIGS. 2A and 2B .

2A and 2B, in the conveying unit 10 according to the present invention, a bracket 102 for mounting the roller 103 is fixedly coupled to the motor housing 101 in which the DC driving motor is incorporated. The roller 103 includes a roller connected to the rotation shaft of the drive motor to provide rotational force, and a roller that rotates without being coupled to the rotation shaft of the drive motor in order to provide mounting stability.

That is, the roller 103 is composed of two, one of which is coupled to the rotation shaft of the driving motor and the other is provided rotatably without being coupled to the rotation shaft of the driving motor. On the other hand, in order to increase the contact area with the guide rail, the roller 103 has a flat central portion and an inclined shape on both sides. In this way, by increasing the contact area between the roller 103 and the guide rail, it is possible to prevent the roller 103 from spinning in vain. Of course, the width of the roller 103 may be changed according to the diameter of the guide rail.

On the other hand, in the center of the motor housing 101 side of the bracket 102, a connecting member 104 for detachably connecting the carrying unit 20 is provided in a "L" shape. A connection hole for connection with the carrying part 20 of the connection member 104 is provided at a point coincident with the central portion of the guide rail so that the center of gravity can be adjusted. In addition, when the conveying unit 20 is connected to the connecting member 104 , the conveying unit 10 is prevented from being separated from the guide rail by the connecting member 104 . That is, the connecting member 104 is provided at the lower portion of the guide rail in the shape of an "L", so that the connecting member acts as a clasp, so that the transfer unit 10 is prevented from being separated from the guide rail.

Referring to FIG. 1 , the transport unit 20 is manufactured using a lightweight material (eg, aluminum), and a bottom part 202 for loading things, etc. and a frame 201 extended and connected to the bottom part 202 . and a coupling member 203 provided on the upper end of the frame and connected to the connecting member 104 of the transfer unit 10 . The coupling member 203 is configured to be adjustable in length.

A control module 30 is provided on one side of the transport unit 20 , and a battery and a control device for supplying power are provided in the control module 30 .

In addition, various working devices (eg, a pest control device 40, a scattering device, etc.) may be detachably mounted to the transport unit 20 .

3 is a block diagram of a control device according to the present invention.

The control device according to the present invention includes a camera 301 for taking an image, an ultrasonic sensor 302 that is a distance sensor for detecting obstacles in front and following a worker, and Bluetooth for communicating with an external remote control device such as a remote control or a smart phone. Module 303, a weight sensor 304 mounted on the transport unit 20 to measure the weight of the transport unit, tracks a worker based on information input from various sensors and devices, or stops when an obstacle is detected It includes a main control unit (MCU) 305 that controls so as to return to the point at which the work was stopped, a memory 306 that stores a program and information for control, and a motor driver 307 .

The ultrasonic sensor 302 may be configured in plurality, and is provided to detect a distance to a front object. The main control unit 305 stops the driving motor of the transfer unit by controlling the motor driver 307 when an obstacle in front is detected within a predetermined distance through the ultrasonic sensor 302 . In addition, the main control unit 305 detects the distance to the operator through the ultrasonic sensor 302 and controls the motor driver to keep the distance to the operator constant.

The weight sensor 304 is mounted on the transport unit, measures the load of the object loaded on the transport unit, and provides it to the main control unit 305 . The main control unit 305 generates an alarm sound when the load of the object loaded on the transport unit exceeds a certain range. This prevents too many items from being loaded onto the transport unit and damaging the guide rail facilities.

The Bluetooth module 303 is for communicating with an external remote controller, and the external remote controller may include a remote controller or a smart phone.

Figure 4 is for explaining the operation of the electric transfer device according to the present invention.

Referring to FIG. 4, guide rails are continuously installed in the form of "S" in the facility house. And the electric transfer device moves along the guide rail. The electric transport device, which started from the initial working position, point A, uses the camera 301 to calculate the distance moved from the identifiers (A to I) of the moving point and the photographed identifier in real time while moving, and the current position of the electric transport device save the For example, in Fig. 4, the electric transfer device stores the same as the point moved 20 m from the identifier A.

Although a GPS receiver can be used as a general positioning technology, the GPS receiver has a problem in application to a transport device that moves along the "S"-shaped guide rail as well as a lot of position error. Therefore, in the present invention, the position of the electric transfer device is estimated by photographing the identifiers arranged at regular distances with a camera and calculating the moving distance from the identifiers based on the number of rotations of the driving motor.

In this way, in the state of estimating one's own location, if all the work items are filled in the transport unit, or if all the loaded items are unloaded and returned to the initial position, the operator will operate the initial position return button to start the electric transfer device. sent to the initial position.

After that, if the operation is completed at the initial position and return to the operator's position is selected, the electric transfer device returns to its position at the time of receiving the return command to the initial position based on the image captured by the camera and the moving distance.

In other words, the main control unit 305 stores its own position at the point in time when an initial position return command is input from the remote controller in the memory, and returns to the initial position. Then, when the final position return command is inputted from the remote controller again, the position stored in the memory is checked, and the current position is calculated based on the image input from the camera and returned to the stored position.

Although the embodiment of the present invention has been described as having both the ultrasonic sensor 302 and the camera 301, the ultrasonic sensor 302 may be omitted when distance measurement and front image analysis are possible using the depth camera.

The present invention described above is not limited by the above-described embodiments and the accompanying drawings, and it is common in the technical field to which the present invention pertains that various substitutions, modifications, and changes are possible without departing from the technical spirit of the present invention. It will be clear to those who have the knowledge of

Claims (4)

In the electric transport device that can move along the guide rail installed in the shape of "S" on the upper part of the facility house,
a transfer unit including a driving motor and a roller connected to a rotation shaft of the driving motor to provide a driving force to move along the guide rail;
a transport unit detachably connected to the transport unit;
a battery provided on one side of the carrying unit; and
A control module provided on one side of the transport unit to control the driving motor of the transport unit,
The control module is
By measuring the distance to the operator, the drive motor of the transfer unit is controlled to follow while maintaining a certain distance from the operator, and at the same time, based on the captured image of the identifier and the number of revolutions of the drive motor, the location is predicted and stored in real time. and controlling the driving motor of the transfer unit so that it stores its own position at the time when the initial position movement command is input, and moves to the stored position when the final work position return command is input.
Electric transfer device for facility house. The method of claim 1,
A weight sensor is provided in the transport unit, and the control module generates an alarm sound when the weight input from the weight sensor exceeds a predetermined threshold value. 3. The method of claim 2,
The transfer unit,
the driving motor;
a first roller connected to the rotation shaft of the driving motor;
a second roller not connected to the rotation shaft of the driving motor;
a bracket for rotatably fixing the first and second rollers; and
An electric transport device for a facility house including a connecting member that is provided in the central portion of the side to which the drive motor of the bracket is coupled and is fixedly coupled in a "L" shape to connect the transport unit. 4. The method of claim 3,
The first and second rollers are
An electric transport device for a facility house which is flat in the central part and has an inclined side surface formed at the end of the central part to enlarge the contact area with the guide rail.

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