KR102425062B1 - Robot of unmanned unicycle electric wheel type for rice management - Google Patents

Abstract

The present invention provides a rice management robot comprising: a main body (110); a spray container (120) placed adjacent to the main body (110) and containing seeds or chemicals; a unicycle wheel (130) located under the spray container (120); a sliding pressing unit (140) where the unicycle wheel (130) is located and a plate for pressing is formed on an outside of the unicycle wheel; a first sprayer (161) communicated with the spray container (120), extended toward both sides, and having one or more spray holes; and a spray control member (320) provided on the spray container (120) to control the first sprayer (161). The rice management robot solves a problem of limited driving in a narrow place.

Description

{Robot of unmanned unicycle electric wheel type for rice management}

The present invention relates to the agricultural field, and specifically, suppresses and removes the occurrence of paddy weeds using an external power wheel-type robot that is easy to move in a non-paddy field, and includes an artificial intelligence module for sowing, fertilizer and pesticide spraying. It is about a rice management robot that can be digitalized.

When paddy weeds grow over a certain amount, it is essential to remove weeds because there are problems with growth and yield due to competition, such as taking away nutrients from rice, a crop planted in the paddy fields.

However, there are many types of paddy weeds, reaching 70 types, and there are various types of weeds that hinder rice cultivation. In particular, there are many light (sunlight) germination weeds in paddy field weeds. Therefore, it is desirable to suppress weed occurrence before or early in weed occurrence.

In farms, sickles or weeders are widely used to remove weeds. However, the work difficulty was high, the work was complicated, and it had to be handled by personnel with skills and experience. In addition, when the area required to remove weeds increased, it required a lot of work time even for experienced personnel. The work is more difficult due to the freshwater in the paddy fields, and the aging of farm households in particular exacerbates this problem.

Various techniques have been developed to overcome the problems of such a conventional weed removal method.

Korea Patent Registration No. 10-2049938 discloses an agricultural drone system that can control the amount of pesticide spraying in real time using sensor-based big data analysis of crop conditions. Due to the characteristics, there was a problem that it could not be used in places where the restricted altitude or operation area was determined by law.

Korean Patent Registration No. 10-2269262 is the present applicant's invention of providing a low-flying sprayer using a collaboration between a transport drone and a multicopter. One problem persisted.

Japanese Patent Laid-Open No. 2011-205967 discloses a robot for preventing the generation of paddy weeds. In the present prior art, a robot for preventing weeds that can prevent weeds from occurring by controlling a small air boat equipped with a stirrer for preventing weeds with a computer and moving freely in a paddy field to avoid obstacles (rice) is disclosed. Since it is directly controlled by humans, personnel are still required during operation hours. Depending on the handling ability, paddy weed removal efficiency may decrease or damage to rice may occur.

In addition, there was a problem that crops could be damaged due to collisions between the robot and obstacles if the steering ability was inexperienced.

In addition, since it is controlled by a manipulator, it is subject to climatic and time constraints, and if the battery provided in the robot runs out of electricity, it cannot be driven, so it is impossible to continue the removal of paddy weeds for a long period of time.

US 10-2049938 B1 US 10-2269262 B1 JP 2011-205967 A CN 102696294 B CN 110421580 A JP 2019-170347 A US 10-1816557 B1 US 10-2019-0031391 A

The present invention has been devised to solve the above problems.

Specifically, it is intended to solve the problem of limiting driving in a narrow place when operating a two-wheeled, three-wheeled, or four-wheeled management device.

In addition, it is intended to solve the problem that rice management ability varies according to the skill level of the farmer, and in some cases damage to the rice occurs.

In addition, we intend to propose a weed management robot that considers the characteristics of mechanically transplanting and considers the planting density of rice. In particular, we would like to propose a weed management robot suitable for a 30cm breakfast.

In addition, there is a large climatic time constraint, and when the provided battery is discharged, a separate electricity supply is required to solve the problem that the working time is short.

In addition, it is intended to solve the problem of damage to rice due to a collision between a robot and a front obstacle including rice.

In addition, it is intended to solve the problem of low paddy weed removal efficiency by applying a uniform paddy weed removal method without discriminating recognition of weeds such as blood weeds or weedy rice, which are difficult even for experienced farmers.

In addition, it is possible to control using a top-view camera even in farmhouses where drones cannot be used due to flight restrictions, so that sowing and spraying of pesticides and fertilizers can be automated unmanned.

One embodiment of the present invention for solving the above problems, the body 110; Adjacent to the main body 110, a seed or a spray container 120 in which the medicinal solution is accommodated; The uniped wheel 130 located in the lower portion of the spray tube 120; The uniped wheel 130 is located, the sliding pressing unit 140 is formed with a plate for pressing on the outside; a first spreader 161 that communicates with the spreader 120 and extends to both sides, and is provided with one or more injection holes; and the spraying control member 320 provided in the spreader tube 120 to control the first spreader 161 , it provides a rice management robot.

In addition, it is preferable to further include a top view camera 190 that is installed spaced apart from the upper portion of the main body (110).

In addition, the main body 110, further comprising a sensor unit 20, the sensor unit 20 and the top-view camera 190 sensed by the planting characteristics and weed generation information as an input layer, An Al module 50 using the control signal of the robot driving member 310 and the spraying control member 320 as an output layer is mounted, and the AI module 50 uses the control signal to control the robot driving member 310 It is preferable to control the driving of the uniped wheel 130 and the sliding pressing unit 140 by controlling, and to control the first spreader 161 by controlling the spraying control member 320 .

In addition, the cover portion 132 for covering the upper portion of the wheel 130; and a second spreader 162 that communicates with the lower portion of the spreader tube 120 and extends to both sides along the circumference of the cover portion 132, wherein the AI module 50 includes the spraying control member It is preferable to further control the second spreader 162 by controlling 320 .

In addition, it is preferable that the second spreader 162 further includes a nozzle having three nozzles formed at the distal end thereof, and the angle of the injection hole 162s is adjustable.

In addition, the spray tube 120 has a shape in which the inner area becomes narrower toward the lower part, and it is preferable to further include a loading part 129 positioned at the front and rear of the lower portion of the spray tube 120 .

In addition, it is preferable that the sliding pressing unit 140 is controlled by the robot driving member 310 to be foldable.

In addition, the photovoltaic module 111 formed on the upper surface of the main body 110; it is preferable to further include.

In addition, the planting characteristics of the paddy field that the AI module 50 uses as an input layer includes planting density of breakfast and rice, and the AI module 50 recognizes the planting density of the breakfast and rice, and the unicycle ( 130) while simultaneously controlling the rotational direction and speed of the sliding pressing unit 140, independently controlling the pressing strength, and controlling the output of the unicycle 130 according to the generation information of the weeds and at the same time the spraying It is preferable to control the control member 320 to control the spraying amount of the pesticide.

The present invention obtains the following effects through solving the above problems.

First, since it is an unmanned driving system, excellent rice management is possible regardless of the skill level or control ability of the farmer.

Second, in one embodiment, since the robot automatically recognizes the front obstacle including the rice by artificial intelligence and corrects the path without additional manipulation of the operator, it is possible to prevent the rice damage problem due to the collision with the obstacle.

Third, it is not subject to climatic and time constraints, and it is powered by a solar module and can be driven for a long time without a separate power supply.

Fourth, precise sowing is possible by autonomous driving of single wheels, and at the same time, it is possible to simultaneously perform various functions such as weed management (weeding, etc.) and pest management with one device.

Fifth, it is possible to effectively remove paddy weeds by providing a solution suitable for the state of weeds because weed generation information is used during weed management and paddy weed removal.

Sixth, when spraying fertilizers and pesticides, fertilizers can be easily applied to rice by autonomous driving of a single wheel, or pests can be easily monitored and controlled.

Seventh, agricultural materials can be easily transported by autonomous driving of uni-wheeled wheels.

Eighth, it can be applied to large-scale farmhouses by using small robots or multiple robots to multi-operate.

1 is a perspective view of a rice management robot according to the present invention.
2 is a system diagram of a rice management robot according to the present invention.
3 is a diagram schematically illustrating a state in which the rice management robot according to the present invention multi-runs by an AI module.
4 is a flowchart illustrating a rice management method using a rice management robot according to the present invention.

The above objects, features and other advantages of the present invention will become more apparent by describing preferred embodiments of the present invention in detail with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, definitions of these terms should be described based on the content throughout this specification.

In addition, the described embodiments are provided by way of example for the description of the invention, and do not limit the technical scope of the present invention.

Hereinafter, a rice management robot according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Here, "planting characteristics" in the discussion refers to the planting density of rice or rice.

Configuration of the rice management robot 1000

The configuration of the rice management robot 1000 according to the present invention will be described with reference to FIG. 1 .

The sensor unit 20 and the AI module 50 are mounted on the main body 110 , and the solar module 111 is formed on the upper surface. The body 110 may be made of a waterproof material to protect the mounted modules and systems.

The main body 110 can rotate 360 degrees, so that the sensor unit 20 can collect a 360-degree environment around the rice management robot 1000 .

In another embodiment, the body 110 may include a night driving indicator light.

The solar module 111 may be formed on the upper surface of the main body 110 to charge electricity, or may be spaced apart.

Al module 50 uses the planting characteristics and weed generation information sensed by the sensor unit 20 as an input layer, and controls signals of the robot driving member 310 and the spraying control member 320 as an output layer.

In addition, the AI module 50 uses a control signal to control the robot driving member 310 to control the driving of the uniped wheel 130 and the sliding pressing unit 140, and to control the spray control member 320 to control the Controls the first spreader 161 and the second spreader 162, a detailed description will be given later.

The spray tube 120 is adjacent to the main body 110, seeds or liquid is accommodated. Although shown as being located in the lower part of the main body 110 in the drawing, it does not matter if it is positioned in the upper part of the main body 110 .

In one embodiment, the fertilizer may be further accommodated in the spreader 120 . That is, any one or more of seeds, fertilizers, or chemical solutions is accommodated in the spray tube 120 . In another embodiment, a partition is provided in the spreader 120 to accommodate different spraying materials such as seeds, chemical solutions, and fertilizers, respectively, to provide different spraying materials to the first spreader 161 and the second spreader 162 . can do. At this time, the chemical solution may be a chemical solution (pesticide) for weeding, or a chemical solution (pesticide) for preventing diseases and pests.

The spray tube 120 has a shape in which the inner area becomes narrower toward the lower part. This is to prevent seeds or medicines from being thrown away by collecting the seeds or medicines accommodated in the spray tube 120 at the bottom.

The loading part 129 is located at the front and rear of the spray tube 120 . The rice management robot 1000 uses the loading unit 129 to transport seeds, pesticides, fertilizers, and agricultural materials to prevent wastage of manpower by the farmer.

Unipedal wheel 130 is located in the lower part of the spray tube 120, it can move the robot and remove weeds. To this end, a rake 131 may be formed on the outside of the uniped wheel 130 . This makes driving in mud and water easier.

The uniped wheel 130 may be rotated by receiving a driving signal to impart friction to paddy weeds, or the slide pressing unit 140 may impart pressurized friction to paddy weeds. In one embodiment, the topsoil can press and rub 2 to 3 cm, and in the case of the slide pressing unit 140, the topsoil is recognized by the AI module 50 to be described later, and the pressing force is multi-stage (eg, three stages) accordingly. ) is adjusted. If the conditions of the paddle are even, only pressurization can be provided without friction (rotation). The unicycle 130 may be provided with a power member for rotation by receiving a driving signal, and sensors for driving such as a gyroscope will also be provided.

The cover part 132 covers the upper part of the uniped wheel 130, and has an opening part on the lower side. It prevents the splashing of dust scattered when the unicycle 130 is rotated. The shape of the cover part 132 may be any, but preferably, it may have a hemispherical shape with a gentle upper portion as shown in FIG. 1 .

The sliding pressing unit 140 is located on the outside of the uniped wheel 130, and a plate for pressing is formed. The slate pressing unit 140 may move easily by applying pressure to the weeds by the formed plate, and may sometimes provide buoyancy to the rice management robot 1000 .

When the sliding pressing unit 140 is not used, it may be located on the outside of the uniped wheel 130 while being controlled by the robot driving member 310 and folded.

The first spreader 161 is communicated with the spreader 120 and extends to both sides.

The first spreader 161 is provided with one or more injection holes, and by different nozzles on the injection holes, it is possible to spray fertilizers, pesticides, seeds, and the like.

The second spreader 162 communicates with the lower part of the spreader tube 120 , and extends to both sides along the circumference of the cover part 132 to spray pesticides, seeds, and the like. In one embodiment, it is possible to spray a different spraying material and the spraying material is sprayed in the first spreader (161). For example, when the pesticide A for weeding is sprayed from the first spreader 161, the pesticide B for pest prevention is sprayed from the second spreader 162, or the fertilizer A can be sprayed. For another example, if pesticide B for pest prevention is sprayed by the first spreader 151 , seeds C for sowing can be sprayed in the second spreader 162 . In addition, if the liquid B fertilizer is sprayed from the first spreader 151 , the second spreader 162 will be able to spray C seeds for sowing.

The distal end of the second spreader 162 further includes an injection hole 162s having three nozzles, and the angle of the injection hole 162s is adjustable.

Mainly, since the seeds for sowing are sprayed from the injection hole 162s of the second spreader 162 located adjacent to the paddy field, the sowing position is precisely adjusted by adjusting the angle of the injection hole 162s.

The top view camera 190 may be installed to be spaced apart from the upper portion of the main body 110 to collect a top view of the rice management robot 1000 and the rice field in which the rice management robot 1000 is located.

The camera holder 191 is detachable from the rice management robot 1000 and extends to separate the top view camera 190 from the upper surface of the main body 110 .

In an embodiment, the length of the camera mounting unit 191 may be changed by applying a telescopic method or the like (see FIG. 1 ).

System of rice management robot 1000

A system of the rice management robot 1000 according to the present invention will be described with further reference to FIG. 2 .

The system of the rice management robot 1000 according to the present invention is capable of autonomous driving including the AI module 50, and for this purpose, the control unit 10, the sensor unit 20, the communication unit 30, and the driving unit 300 are provided. include

The control unit 10 is connected to the sensor unit 20 , the communication unit 30 , the driving unit 300 , and the AI module 50 , and the information sensed by the sensor unit 20 becomes an input layer of the AI module 50 . , a control signal that is an output layer is calculated using the result previously learned from the AI module 50 , and the driving unit 300 is controlled using this. Also, the control unit 10 may manually control the driving unit 300 using information input through the terminal 31 wirelessly connected to the communication unit 30 .

In the sensor unit 20, the planting characteristics of the rice paddy are sensed. Specifically, the sensor unit 20 includes an image sensor 21 such as a camera, and detects any one or more of a speed sensor 22 , a GPS sensor 23 , an ultrasonic sensor 24 , and a distance measurement sensor 25 . may include more.

The sensor unit 20 may further include a first sensor module provided in the main body 110 and a second sensor module spaced apart from the first sensor module. This is for the image sensor 21 to sense an image of a more accurate and wide angle of view.

The image sensor 21 senses an image of a wide angle of view to recognize and classify paddy crops, thereby sensing planting characteristics of paddy fields. By the first sensor module and the second sensor module, in addition to the planting characteristics of the rice paddy, growth information of rice, generation information of weeds, and a distance to a front obstacle may be further collected. In another embodiment, the top view camera 190 may be used as the second sensor module of the image sensor 21 .

In other embodiments, there may be additional sensors positioned adjacent to the cover portion 132 . Since it is located close to the rice, the accuracy is increased by adding the detection result to the calculation result of the AI module 50 .

The AI module 50 uses the planting characteristics of the rice paddy sensed by the sensor unit 20 as an input layer, and uses the control signals of the robot driving member 310 and the spraying control member 320 as an output layer.

The planting characteristics of the paddy field made by the AI module 50 as the input layer include the planting density of the rice field and rice.

AI module 50, by recognizing the planting density of breakfast and rice, controls the rotation direction and speed of the single wheel 130 and independently controls the pressing strength of the sliding pressing unit 140 at the same time, and information on the occurrence of weeds In accordance with the control the output of the wheel 130 and at the same time control the spray control member 320 to control the spraying amount of the pesticide.

Specifically, the AI module 50 controls the robot driving member 310 to control the driving of the uniped wheel 130 and the slide pressing unit 140 . Controlling the driving of the unicycle 130 in straight forward, backward, directional rotation, or by controlling the folding and pressing height of the slide pressing unit 140 to apply pressure and friction, or areas requiring paddy weed removal, sowing required It can be moved by driving and rotating to an area, an area requiring transport.

In addition, the AI module 50 controls the spread control member 320 to control the driving of the first spreader 161 and the second spreader 162 . Specifically, it is possible to control the driving of the first spreader 161 and the second spreader 162, such as the content of the spread, the amount of spray, the spraying position.

In one embodiment, the first spreader 161 and the second spreader 162 to spray the first material through the first spreader 161 by different spraying contents to be sprayed from the second spreader 162, the second spreader 162 2 substances can be sprayed.

For example, the pesticide is sprayed from the first spreader 161, and the fertilizer is sprayed from the second spreader 162, so that the pesticide spraying and the fertilizer spraying can be performed at the same time.

For another example, the pesticide is sprayed from the first spreader 161, and the second spreader 162 is sown so that sowing and spraying of the pesticide can be made at the same time. Depending on the situation, it will be possible to change the shape of the sprayer to increase the maximum injection amount of granules or increase the maximum injection amount of liquids.

In another embodiment, the AI module 50 may further use an external database in determining the amount of spraying content to be sprayed from the first spreader 161 and the second spreader 162 . For example, it may be using the Internet-based database developed by the Rural Development Administration, "Soil Toram", or it may be the "National Crop Pest Management System (NCPMS)". have.

The driving unit 300 includes a robot driving member 310 and a spraying control member 320 .

The robot driving member 310 is a single wheel 130, or the sliding pressing unit 140, or as parts for providing power to both, an internal combustion engine such as an engine, a battery or an electric motor, etc. All parts that electrically connect them It can be a concept that goes through all the components and all the parts to control them. In the case of an electric motor, electricity charged by the solar module 111 may be used.

The spraying control member 320 may be provided in the sprayer 120, and a first spreader 161 connected to the sprayer 120 to spray seeds, pesticides, fertilizers, etc. for sowing by receiving a control signal. A driving force may be provided to the second spreader 162 . It may be an electric motor, and the solar energy charged in the solar module 111 may be used.

Control method of the rice management robot (1000)

A specific control method will be further described with reference to FIGS. 3 to 4 .

The AI module 50 serves two functions.

The first is to determine the entire boundary of the rice management area, and the second is to calculate and control the path in real time while the rice management robot 1000 is running.

In order to perform the method according to the present invention, first, the AI module 50 determines the boundary by checking the entire image (ie, the entire region image) of the area to be managed by the sensor unit 20 (S100). ).

Various images and pre-determined boundaries were used as training data, and the AI module can automatically determine the boundaries when receiving an image of the entire area using artificial intelligence.

Next, the AI module 50 determines the work area using the boundary determined in step S100 and determines the path (S200).

Next, when the AI module 50 receives an image of the entire area using artificial intelligence, it identifies rice in the image, automatically checks the planting characteristics of paddy fields such as planting density of rice, and uses the confirmed paddy planting characteristics to determine the area The entire path is determined (S300).

To this end, the AI module 50 learns using various images including a predetermined position of rice as learning data. The AI module 50 determines the path of the entire area using the planting characteristics of the paddy field identified using the received image, which is preferably in the L-shape as shown in FIG. 3 .

In one embodiment of the present invention, as shown in FIG. 3 , multi-operation is also possible in a large area by using a plurality of rice management robots 1000 at the same time. In this case, a separate control terminal for multi-operation may be used.

Now, the rice management robot 1000 starts to operate (S400).

As the rice management robot 1000 drives, the sensor unit 20 checks the image in real time, and the AI module 50 checks the planting characteristics of the rice paddy in the confirmed image (S500).

The confirmed rice planting characteristics are used as an input layer in the AI module 50, and an output layer for controlling the robot driving member 310 and the spraying control member 320 is calculated through this (S600).

To this end, the AI module 50 learns in advance the planting characteristics of various rice fields and the rotary driving method and the robot driving method optimized therefor. For example, when the AI module 50 confirms that there are 8 breakfasts as a planting characteristic of paddy and that the spacing by the planting density of rice is 30 cm, the robot driving member 310 pulls out the slide pressing unit 140 and then the uniwheel ( The robot driving member 310 is controlled to drive both 130) and the slide pressing unit 140, but a control signal for controlling the movement of rice between each row in which rice is grown is calculated as an output layer. If the AI module 50 checks the line spacing of 25 cm or less, a control signal for controlling the robot driving member 310 to move between each row in which rice is grown after folding the slide pressing unit 140 is transmitted to the output layer. operation, and move to the next line.

On the other hand, the AI module 50 may further use the generation information of weeds. For example, if the AI module 50 confirms that the coverage of weeds is 10% as the generation information of weeds through the real-time image confirmed by the sensor unit 20, the robot driving member 310 is the uniped wheel 130 and the slide pressing unit. At the same time as driving 140, a control signal for controlling to drive the uniped wheel 130 to the maximum output and a control signal for controlling the spraying control member 320 to spray the pesticide for removing weeds are calculated as an output layer.

In another embodiment, the AI module 50 may further use pest prediction information. For example, when the AI module 50 determines that it is the control time based on the preset criteria for the progress of pest observation through the real-time image confirmed by the sensor unit 20, the spray control member 320 first sprays the pesticide for pest control. A control signal for controlling the spreader 161 is calculated as an output layer.

In another embodiment, the AI module 50 may further use the distance to the front obstacle. For example, when the AI module 50 confirms that there is an obstacle at 100 cm as the distance to the front obstacle through the real-time image confirmed by the sensor unit 20 and confirms that the distance decreases in real time, the robot driving member 310 rotates A control signal that performs an operation is calculated as an output layer. At this time, the rotation direction refers to the path set in step S300.

Next, when it is determined that the AI module 50 is a route that provides driving through the image confirmed in real time, it is determined that the driving is complete, and the control unit 10 calculates an end signal as an output layer.

When the method according to the present invention is applied to an actual paddy field, it can be operated as follows.

About 3 to 5 days after rice transplantation, when the water in the paddy field is about 1 to 2 cm, the first operation starts before or at the beginning of weeds. The operation of the rice management robot 1000 is periodically repeated at intervals of 5 to 7 days depending on the state of the discussion. A multi-run may be performed.

Repeat until the highest tillage stage where rice is sufficiently colonized. That is, after the machine is transplanted, the rice management robot 1000 is operated 5 to 7 times. In this case, it is effective to operate at the same time as water management of paddy fields. For example, if the rice management robot 1000 according to the present invention is operated when the fresh water depth is 1 cm to 2 cm, it can be more effective.

Of course, the operator can freely adjust the number of operations of the rice management robot 1000 according to the growth situation of rice, the occurrence of weeds, or the occurrence of pests.

In the above, the present invention has been described with reference to the embodiments shown in the drawings so that those skilled in the art can easily understand and reproduce the present invention, but these are merely exemplary, and those skilled in the art can make various modifications and equivalent other changes from the embodiments of the present invention. It will be appreciated that embodiments are possible. Therefore, the protection scope of the present invention should be defined by the claims.

10: control
20: sensor unit
21: image sensor
22: speed sensor
23: GPS sensor
24: ultrasonic sensor
25: distance measuring sensor
30: communication department
31: terminal
50: AI module
110: body
111: solar module
120: duster
129: loading part
130: uni wheel
131: rake
132: cover part
140: slide pressing unit
161: first spreader
162: second spreader
162s: Nozzle
190: top view camera
191: camera mount
300: drive unit
310: robot driving member
320: spray control member

Claims (9)

body 110;
Adjacent to the main body 110, a seed or a spray container 120 in which the medicinal solution is accommodated;
The uniped wheel 130 located in the lower portion of the spray tube 120;
The uniped wheel 130 is located, the sliding pressing unit 140 is formed with a plate for pressing on the outside;
a first spreader 161 that communicates with the spreader 120 and extends to both sides, and is provided with one or more injection holes; and
Containing a spray control member 320 provided in the spray barrel 120 to control the first spreader 161,
Rice management robot.
The method of claim 1,
Further comprising a top view camera 190 that is installed spaced apart from the upper portion of the body 110,
Rice management robot.
3. The method of claim 2,
The main body 110,
It further includes a sensor unit 20, and uses the planting characteristics and weed generation information sensed by the sensor unit 20 and the top-view camera 190 as an input layer, and the robot driving member 310 and spraying control Al module 50 using the control signal of the member 320 as an output layer is mounted,
The AI module 50,
By using the control signal to control the robot driving member 310 to control the driving of the uniped wheel 130 and the sliding pressing unit 140, and to control the spray control member 320 to control the first spreader ( 161) to control,
Rice management robot.
4. The method of claim 3,
a cover portion 132 that covers the upper portion of the uniped wheel 130; and
It communicates with the lower portion of the spreader 120, and further includes a second spreader 162 extending to both sides along the circumference of the cover portion 132,
The AI module 50,
By controlling the spreading control member 320 to further control the second spreader 162,
Rice management robot.
5. The method of claim 4,
It further comprises a nozzle (162s) formed with three nozzles at the distal end of the second spreader (162),
The angle of the injection hole (162s) is adjustable,
Rice management robot.
The method of claim 1,
The spray tube 120 has a shape in which the inner area becomes narrower toward the lower part,
Further comprising a loading portion 129 located in the front and rear of the lower portion of the spray tube 120,
Rice management robot.
4. The method of claim 3,
The sliding pressing unit 140 is controlled by the robot driving member 310 to be foldable,
Rice management robot.
The method of claim 1,
A photovoltaic module 111 formed on the upper surface of the main body 110; further comprising,
Rice management robot.
4. The method of claim 3,
The planting characteristics of the rice paddy to the AI module 50 as an input layer include planting density of breakfast and rice,
The AI module 50,
By recognizing the planting density of the breakfast and rice, the rotation direction and speed of the uniped wheel 130 are controlled, and the pressure strength of the sliding pressing unit 140 is independently controlled,
Controlling the output of the uniped wheel 130 according to the generation information of the weeds and at the same time controlling the spraying control member 320 to control the spraying amount of the pesticide,
Rice management robot.

Images