KR102410452B1 - Robot Cleaner for Smart Farm and Method for the same - Google Patents

Abstract

The present invention relates to a robot cleaner for a smart farm and a control method thereof, and a robot cleaning module mounted on an autonomous mobile robot is provided with a main brush for collecting garbage in the front and a side brush for collecting garbage on the side, and not only leaves but also fallen leaves Its purpose is to detect and collect

Description

Robot Cleaner for Smart Farm and Method for the same}

The present invention relates to a robot cleaner, and more particularly, to a robot cleaner for an unmanned smart farm that allows the vacuum cleaner to suck fallen leaves, fallen fruits, etc. while moving through a path of the smart farm, and a control method thereof.

In general, a robot vacuum cleaner is an unmanned, wireless automatic vacuum cleaner that performs cleaning while autonomously driving using various sensors and cameras, and is used in various fields such as factories and livestock industries as well as at home.

However, such automatic robot cleaners have not been widely spread despite being needed in many industrial fields, and in particular, there is a limit to developing and distributing an optimized automatic robot cleaner due to various cleaning environments in the agricultural and livestock industries.

1 is an overall configuration diagram of a cleaning robot according to the prior art, wherein the cleaning robot 100 has a main body 120, a three-wheeled wheel part 110 formed in the lower part of the main body to move the passage inside the livestock house, It is connected to the main body 120 and includes a variable brush 130 for cleaning the moving passage according to the wheel unit 110 , and a power supply unit 128 for supplying power to the main body 120 . The cleaning robot 100 may be set so that automatic charging is possible without the assistance of an administrator through the power charging unit 140 formed at a predetermined position in the livestock house.

Here, the main body 120 includes a motor driving unit 121 for driving the wheel unit 110, a wired/wireless communication module 122 for communicating with an external terminal, and a temperature sensor 123 for detecting a temperature, A humidity sensor 124 for detecting humidity, a camera 126 for acquiring image information, a controller 125 for controlling these components, and chicken hair, dust, garbage, etc. ( Hereinafter, it includes a collection container 127 for collecting garbage, etc.). In this case, the main body 120 is composed of a rectangular lower body 120a and a cylindrical upper body 120b formed on the lower body 120a, and the collecting tube 127 is formed in the lower body 120a. and the motor driving unit 121 , the communication module 122 , the sensor unit, the camera 126 , and the control unit 125 excluding the collection tube 127 may be formed in the upper body 120b.

The conventional cleaning robot formed in this way can adjust the width of the brush automatically or manually even when the inner passage width of individual farms or livestock houses is different, thereby activating the spread of cleaning robots, and temperature, which is a major factor in animal breeding environment. And humidity can be monitored at all times, so precise ventilation can be controlled, and the breeding environment can be improved to provide high-quality eggs or meat.

However, in the cleaning robot according to the prior art, the brush can move forward, backward, left and right, but the height cannot be adjusted, so when a rail is installed in the movement path, there is a problem in that the cleaning robot is obstructed in cleaning due to the rail, and the width in the cleaning direction In this wide case, there was a problem that the side brush alone could not clean the garbage in the front of the center.

Domestic Patent Registration No. 10-1685162 (Announced December 12, 2016)

Accordingly, in order to improve the problems of the prior art, the present invention is provided with a main brush for collecting front garbage and a side brush for collecting side garbage in a cleaning module mounted on an autonomous mobile robot or a moving cart, and not only leaves but also fallen leaves An object of the present invention is to provide a robot cleaner for a smart farm that detects and collects and a method for controlling the same.

Smart farm robot cleaner for achieving the object of the present invention is an autonomous mobile robot (AMR) or a robot cleaner mounted on a moving cart autonomously driving along the work space of the smart farm while sucking garbage or falling fruits on the floor. A vacuum cleaner comprising: a collection module and a power supply module mounted on the autonomous mobile robot (AMR) or a mobile cart; and a robot cleaning module that sucks the garbage on the floor while moving from the front of the autonomous mobile robot or mobile cart, wherein the robot cleaning module rotates a rotation shaft that is horizontal to the floor while moving to the front to collect the garbage on the floor main brush module; a suction nozzle for moving the garbage collected by the rotation of the main brush to the cleaning module; and left and right side brush modules to collect garbage on the left and right bottom surfaces in the moving direction of the robot cleaner toward the suction nozzle.

Here, the collection module and the power supply module are mounted detachably on the upper part of the autonomous mobile robot, and the collection module includes: a sip motor for generating a suction force to the suction nozzle; and a dust collector for loading the garbage collected by the suction force as the suction motor is driven.

In addition, the robot cleaning module further includes an elevating member for elevating and lowering movement at the front of the autonomous mobile robot (ARM) or the moving cart, the main brush module comprising: a brush member having a plurality of brushes formed around a rotational axis; and a main brush motor module for rotating the brush member.

In addition to the robot cleaner, a vision inspection unit for detecting a fall is further included, but when a fall is detected through the vision inspection unit, the suction port is raised and lowered, moved to the left and right to the position of the fall, and a predetermined angle forward to suck the fall It is characterized by rotating.

The left and right side brush modules may include L-arms fixed to both sides of the cleaner module; a side brush rotating in a vertical axis from the lower end to the end of the L-shaped arm; and a side brush motor for rotating the side brush.

The robot cleaner control method for a smart farm for achieving the object according to the present invention is such that an autonomous mobile robot (AMR) or a robot cleaner mounted on a moving cart autonomously drives along the work space of the smart farm and sucks garbage or fallen fruits on the floor. In the smart farm robot cleaner control method for driving and controlling the position of the suction motor, the main brush, the side brush or the suction nozzle of the robot cleaning module by the cleaning control module, the cleaning control module is a first step of lowering the robot cleaning module ; a second process of lowering the side brush to the bottom surface; a third process of driving and controlling the suction motor, the main brush, and the side brush according to the amount and state of the fallen leaves and whether the fall is detected; and a fourth process of adjusting the position of the suction nozzle according to the amount and condition of fallen leaves and whether the position of the suction duct is detected.

Here, if there is a rail for moving the autonomous mobile robot (AMR) or the moving cart, driving the side brush position control unit to move the side brush to the outside of the rail to a set unfolding angle, and then lowering the side brush; It is characterized in that it further comprises.

In addition, the third process includes: 11 steps of acquiring an image of the front cleaning area through a camera fixed to the upper part of the autonomous mobile robot or robot cleaning module; 12 step of analyzing the obtained image through a vision module to determine the amount, state, and fall of fallen leaves; and a 13th step of controlling the rotational speed of the main brush and the side brush, the position of the suction nozzle, and the suction force according to the determination result in the 12th step.

In addition, if it is determined that the fall in step 12, step 21 of detecting the location of the fall; 22 step of moving the position of the suction nozzle to the position detected in step 21; and step 23 of controlling the suction motor to adjust the suction force after moving to the falling position of the suction nozzle.

The robot cleaner control apparatus and method for a smart farm according to the present invention are mounted on an autonomous mobile robot (AMR) or a moving cart, drive autonomously, and clean garbage such as fallen leaves and fallen fruits along the work path of the smart farm. Alternatively, automatic cleaning is possible 24 hours a day, and the amount of fallen leaves and wet conditions are detected using the vision system, and suction power is automatically adjusted accordingly, so energy efficiency can be increased as well as suction power and nozzle position control when falling leaves are detected. It has the effect of being easily inhaled through

1 is an overall external view of a cleaning robot for livestock according to the prior art;
2 is an overall external configuration diagram of a robot cleaner for a smart farm according to an embodiment of the present invention;
3 is a block diagram of a robot cleaner for a smart farm according to an embodiment of the present invention;
4 is a diagram illustrating the combination of the autonomous mobile robot and the robot cleaning module in FIG. 2;
Figure 5 is a plan perspective view of the robot cleaning module in Figure 2,
6 is a side view and a plan view of the side brush in FIG. 2;
Figure 7 is a side perspective view of the suction nozzle in Figure 2,
8 is a block diagram for explaining the vision module in FIG. 3;
9 is a flowchart of a manufacturing process of a robot cleaner for smart farms according to an embodiment of the present invention.

The features and effects of the present invention described above refer to the following detailed description in relation to the accompanying drawings.

It will become clearer through, and accordingly, those skilled in the art to which the present invention pertains will be able to easily implement the technical idea of the present invention.

Since the present invention may have various changes and may have various forms, specific embodiments will be illustrated and described in detail in the text.

However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention.

A robot cleaner for a smart farm and a control method thereof according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

2 and 3 are overall configuration diagrams of a robot cleaner for a smart farm according to an embodiment of the present invention, and an autonomous mobile robot (AMR) 200 that autonomously drives a designated section of the smart farm on a rail or a floor surface, and the autonomous A power supply unit 210 including a battery for supplying power to a structure mounted on the mobile robot 200, a suction motor driving unit 223 for generating suction force to suction and load garbage in the garbage collection bin 220, and the The robot cleaning module 300 is connected to the front of the autonomous mobile robot 200 by a robot cleaning module connection member 230 and sucks the garbage on the floor while moving, and the bottom floor surface for the movement of the robot cleaning module 300 It is composed of a moving wheel 304 attached to the robot cleaning module 300, and an auxiliary wheel 305 having an elastic force to prevent lifting of the flooring material (non-woven fabric, etc., not shown in the drawing) on the bottom of the front lower part of the robot cleaning module 300 .

Here, as a moving means for moving the robot cleaning module 300 by being mounted or connected to the front and rear, the autonomous mobile robot (AMR) 200 may be replaced with various types of moving carts. Hereinafter, the autonomous mobile robot (ARM) will be described as an example as a preferred embodiment of the present invention.

The robot cleaning module 300 rotates a rotation shaft horizontal to the floor while moving to the front to collect the garbage on the floor, and sucks the garbage collected by the rotation of the main brush module 310 . The suction nozzle module 330 for moving to the collecting bin 220 and the left and right side brushes for collecting garbage on the left and right bottom surfaces in the moving direction of the robot cleaning module 300 toward the suction nozzle module 330 Consists of modules 320 .

4, the robot cleaning module connection member 230 is a sliding connection part 231 configured to fix the robot cleaning module 300 to the front surface of the autonomous mobile robot 200 and to be connected to elevate and slide, and the It is fixed to the front side of the autonomous mobile robot or the moving cart 200 and consists of a shock absorber 232 that elevates and lowers the sliding connection part 231, but the sliding connection part 231 and the shock absorber 232 are various types such as a lifting and descending driving motor. An elevating structure of the form is possible.

The main brush module 310 includes a main brush 311 having a brush radially fixed to a rotating shaft, a main brush driving motor 312 for rotating the main brush 311, and the main brush driving motor 312 . It is composed of a belt 313 for transmitting the power of the main brush (311).

Referring to FIG. 5 , the suction nozzle module 330 is located in front of the main brush 311 , and at least one suction nozzle 331 for sucking the garbage on the floor, and suction through the suction nozzle 331 . It consists of a suction pipe 333 for moving the garbage to the collection bins 221 and 222, and the left and right side brush modules 320 are connected to both sides of the robot cleaning module 300, and the left and right side brush modules 320 are connected to each other. The side brush module 320 includes an L-shaped arm 321 for fixing the side brush 322 .

6 (A) to (C), each of the left and right side brush modules 320 is a side brush driving motor for driving the side brush 322 provided at the lower end of the L-shaped arm 321 . 323 and a side brush elevating member 324 for elevating and lowering the side brush 322, and the L-shaped arm 321 rotates at a predetermined angle left and right under the control of the cleaning control module 301 to be described later. It is composed of a side brush rotating member (325).

Here, the L-shaped arm 321 is configured to be rotatable by an unfolding angle of 0° to 180° around the side brush rotating member 325 .

Referring to FIG. 7 , the suction nozzle module 330 includes a suction nozzle 331 for sucking garbage on the floor by an air suction force, and a suction nozzle for raising and lowering the suction nozzle 331 and rotating the suction nozzle 331 forward and backward at a predetermined angle. It is composed of a position control unit 332, and the suction nozzle position control unit 332 can be manually or automatically controlled.

Referring to FIG. 8 , a camera 302 fixed to the upper end of the autonomous mobile robot 200 or the upper end of the robot cleaning module 300 to photograph the floor cleaning area, and the image collected through the camera 302 . It is composed of a vision module 303 that analyzes the amount of garbage, its distribution state, and determines whether it is wet or not.

The operation process of the robot cleaner for smart farm configured as described above will be described in detail with reference to the attached FIGS. 2 to 9 as follows.

First, the present invention mounts a robot cleaning module 200 on an autonomous mobile robot 200 in a designated cleaning area of a smart farm, receives battery power, automatically detects garbage that has fallen on the floor while autonomously moving, and sucks it for cleaning will do

9 is a flowchart of a control process of a robot cleaner for a smart farm according to an embodiment of the present invention, wherein the autonomous mobile robot 200 moves on a rail or moves a floor surface without a rail depending on the environment of the cleaning area of the smart farm. While cleaning is possible, an embodiment of cleaning while autonomously driving in a smart farm for cleaning fallen leaves or fallen fruits in a designated cleaning area while moving to a rail will be described in detail.

When the power is turned on to the robot cleaning module 300 mounted on the autonomous mobile robot 200 and the cleaning mode starts, the cleaning control module 301 operates the shock absorber 232 through the robot cleaning module elevating/lowering driving unit 233. ), the robot cleaning module 300 connected to the sliding connection part 231 descends to the cleaning floor surface.

Next, the position control of the side brush 322 will be described in detail with reference to FIG. 6 .

After the robot cleaning module 300 descends, the side brush position control unit 326 is driven to rotate the left and right side brushes 322 to the left and right at a predetermined angle around the rail 201. ( see Fig. 6C)

Here, since the rail 201 is raised to a certain height (about 200 mm) from the floor, the left and right side brushes 322 avoid the rail 201 and rotate to the outside at an unfolding angle (about 80°).

That is, the side brush position control unit 326 drives the side brush rotating member 325 to rotate the L-shaped arm 321 left and right at a predetermined angle, and the unfolding angle is the position of the rail 201 . And adjust the unfolding angle according to the cleaning area outside the rail 201.

After the L-shaped arm 321 is rotated and unfolded to the outside of the rail 201, the side brush raising/lowering member 324 is driven down to move the side brush 322 to about 4 cm of the floor surface.

When cleaning preparation is completed through this process, the autonomous mobile robot 200 and the robot cleaning module 300 move and start cleaning.

That is, the cleaning control module 301 generates a suction force by rotating the suction motor driving unit 223 at a set speed, and is linked to the belt 313 as the main brush driving motor 312 is driven. The main brush 311 rotates, and the side brush driving motor 323 is driven to rotate the side brush 322 .

Here, the rotation direction of the main brush 311 rotates in the counterclockwise direction, and as the fallen leaves are sent to the suction nozzle 331 located in the front, the fallen leaves are sucked into the suction nozzle 331, and the side brush The rotation direction of the 322 is rotated so that the left and right side brushes 322 are symmetrical to each other so that the fallen leaves are collected inward.

On the other hand, when the fallen leaves are sucked through the suction nozzle 331, the floor material (non-woven fabric) applied to the floor surface is lifted and the floor material is damaged or the suction power is affected, thereby reducing the cleaning efficiency. In order to prevent this, a moving wheel fixed with a plate spring having elastic force is provided on the front surface of the suction nozzle 331, so that the moving wheel is pressed with an elastic force on the floor surface, so that the flooring material is not lifted due to the suction force.

As the robot cleaning module starts cleaning, the vision module 303 analyzes the floor image of the cleaning area acquired through the camera 302 in real time to determine the amount of fallen leaves, the distribution state, and the wet state, and the suction motor By controlling the driving unit 223, the main brush driving motor 312, and the side brush driving motor 323, the suction force of the suction nozzle 331, the rotation speed of the main brush 311, and the rotation speed of the side brush 322 In addition to controlling the suction nozzle 331, the position of the suction nozzle 331 is also raised and lowered to increase the optimum cleaning efficiency.

The state recognition method of the fallen leaves is recognized using an RGB-D camera and deep learning technology.

For example, when the amount of fallen leaves is large as a result of analyzing the vision image, or when the leaves are wet, the rotational force of the suction motor 222 is increased through the suction motor driving unit 223 to increase the suction power, and the main brush (311) and increase the rotation speed of the side brush (322).

In addition, when there are many fallen leaves, the height of the suction nozzle 331 is raised, the suction power is increased, the rotational force of the main brush 311 is increased, and when the distribution of the side of the fallen leaves is wide, the side brush 322 ) to widen the angle of spread.

Accordingly, it is possible to reduce the power consumption of the battery by efficiently managing the power consumption, and accordingly, it is possible to increase the operation time.

If, as a result of analyzing the vision image, a fall is detected, the position, direction and distance of the fall are calculated, and the robot cleaning module 200 moves to the calculated distance so that the suction nozzle 331 arrives at the fall position. Then, the suction nozzle position control unit 332 is driven under the control of the cleaning control module 301 to move the position of the suction nozzle 331 to the left and right so as to come to the center of the suction port having the strongest suction force, and the suction After rotating the suction port of the nozzle 331 by a predetermined angle to face forward, the suction motor 222 is controlled to increase the suction power to suck the fallen fruit. At this time, if necessary, the suction nozzle 331 is raised or lowered to a predetermined height to match the height of the falling fruit to increase the suction efficiency (see FIG. 7).

After the fallen fruits are removed through the fallen fruits processing process, the suction nozzle 331 and the suction power are returned to the floor cleaning mode to start cleaning the fallen leaves.

In this way, when the cleaning is completed through the leaf cleaning and the fallen fruit processing process, the cleaning is finished.

As described above, although the robot cleaner for smart farm and the control method thereof according to the embodiment of the present invention have been described with reference to the limited embodiments and drawings, it is not limited by this embodiment, and common knowledge in the technical field to which the present invention belongs It goes without saying that various modifications and variations are possible within the scope of the technical spirit of the present invention and the scope of the claims to be described below by those who have it.

200: autonomous mobile robot 201: rail
210: power supply 221: collection bin
222: suction motor 223: suction motor driving unit
230: robot cleaning module connection member 231: sliding member
232: shock absorber 233: robot cleaning module elevating drive unit
300: robot cleaning module 301: cleaning control module
302: camera 303: vision module
304: moving wheel 305: auxiliary wheel
310: main brush module 311: main brush
312: main brush motor 313: belt
320: left, right side brush module 321: L-shaped arm
322: side brush 323: side brush drive motor
324: side brush elevating member 325: side brush rotating member
326: side brush position control unit 331: suction nozzle
332: suction nozzle position control unit 333: suction pipe

Claims (17)

In the robot cleaner for smart farms, in which an autonomous mobile robot (AMR) or a robot cleaner mounted on a mobile cart autonomously drives along the smart farm's work space and sucks garbage or fallen fruits on the floor,
The robot cleaner may include: a collection module and a power supply module mounted on the autonomous mobile robot (AMR) or a mobile cart; and
Including a; robot cleaning module for sucking the garbage on the floor while moving from the front of the autonomous mobile robot or the mobile cart;
The robot cleaning module includes: a main brush module for collecting garbage on the floor by rotating a rotation shaft that is horizontal to the floor while moving to the front;
a suction nozzle and a suction pipe for sucking the garbage collected by the rotation of the main brush and moving it to the collection module; and
Including, but including;
The robot cleaning module is connected to a robot cleaning module connecting member for elevating and lowering movement from the front of the autonomous mobile robot or the mobile cart,
The robot cleaning module connection member includes a sliding connection part for fixing and elevating the robot cleaning module, and a shock bar fixed to the front surface of the autonomous mobile robot or mobile cart to raise and lower the sliding connection part. vacuum cleaner. According to claim 1,
The collection module and the power supply module are mounted detachably on the upper part of the autonomous mobile robot,
The collection module includes: a suction motor for generating a suction force to the suction nozzle; and
Smart farm robot cleaner comprising a; dust collector for loading garbage collected by suction force as the suction motor is driven. According to claim 1,
The main brush is located at the rear of the suction nozzle, and the robot cleaner for smart farm, characterized in that it sends garbage to the suction nozzle side through the counterclockwise rotation of the main brush.
delete According to claim 1,
The main brush module includes: a brush member having a plurality of brushes formed around a rotation axis; and
A robot cleaner for a smart farm, characterized in that it comprises; a main brush driving module for rotating the brush member. According to claim 1,
The suction nozzle is movable up and down or left and right movement of the suction port according to the type of garbage, and is formed to be rotatable at a predetermined angle in the front and rear directions about the vertical axis, but is configured to be manually or automatically adjusted. 7. The method of claim 6,
In addition to the robot cleaner, a vision inspection unit for detecting a fall; further comprising,
When a fall is detected through the vision inspection unit, the suction port is raised and lowered, moved to the left and right to the position of the fall, and rotated forward at a predetermined angle to suck the fall. According to claim 1,
The left and right side brush modules include L-arms fixed to both sides of the robot cleaning module;
a side brush rotating in a vertical axis from the lower end to the end of the L-shaped arm; and
A robot cleaner for a smart farm comprising a; a side brush motor for rotating the side brush. 9. The method of claim 8,
The left and right side brush modules are formed so that the L-shaped arm is opened at a predetermined angle through left and right rotation around a connection part fixed to the robot cleaning module,
The side brush connected to the end of the L-shaped arm is a robot cleaner for a smart farm, characterized in that it is formed in an elevating structure to the floor. 9. The method of claim 8,
The side brush is a robot cleaner for smart farms, characterized in that the speed varies according to the amount or the presence of fallen leaves. According to claim 1,
Smart farm robot cleaner, characterized in that it further comprises a moving wheel for preventing the flooring from lifting by the suction force on the front of the suction nozzle. The suction motor, main brush, and side of the robot cleaning module are controlled by the cleaning control module so that an autonomous mobile robot (AMR) or a robot cleaner mounted on a moving cart can autonomously drive along the work space of the smart farm and suck garbage or fallen fruits on the floor. In the smart farm robot cleaner control method for controlling the position of the brush or suction nozzle,
The cleaning control module is a first process of lowering the robot cleaning module;
a second process of lowering the side brush to the bottom surface;
a third process of driving and controlling the suction motor, the main brush, and the side brush according to the amount and state of the garbage and whether a fall is detected; and
a fourth process of adjusting the position of the suction duct according to the amount and condition of the garbage and whether the position of the suction nozzle is detected;
A robot cleaner control method for a smart farm, characterized in that it comprises a. 13. The method of claim 12,
The second process further comprises; if there is a rail for moving the autonomous mobile robot (AMR), moving the side brush to the outside of the rail to a set unfolding angle and then lowering the side brush; Smart characterized in that it further comprises How to control a robot vacuum cleaner for farms. 13. The method of claim 12,
The third process is an 11 step of acquiring an image of the front cleaning area through the camera fixed to the upper portion of the autonomous mobile robot or robot cleaning module;
12 step of analyzing the obtained image through a vision module to determine the amount, state, and fall of the garbage; and
13. A method for controlling a robot cleaner for a smart farm, comprising: controlling the rotational speed of the main brush and the side brush, the position of the suction nozzle, and the suction force according to the determination result in the 12th step. 15. The method of claim 14,
A method for controlling a robot cleaner for smart farms, characterized in that the rotational speed of the main brush and the side brush is driven step by step in the 13th step according to the amount of garbage and the dry or wet state as a result of the determination in the 12th step. 15. The method of claim 14,
21 step of detecting the location of the falling fruit when it is determined in step 12 as a falling fruit;
22 step of moving the position of the suction nozzle to the position detected in step 21; and
After moving to the falling position of the suction nozzle, step 23 of controlling the suction motor to adjust the suction force. 17. The method of claim 16,
Controlling a predetermined height and angle of the suction nozzle in addition to step 22; Smart farm robot cleaner control method further comprising a.

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