KR102475463B1 - Agricultral mobile robot and an controlling method for the same - Google Patents

Abstract

The present disclosure relates to an agricultural mobile robot and a control method thereof, and more particularly, provides an agricultural mobile robot and a control method thereof, wherein at least two or more traveling modules and work modules coupled by a coupling module simultaneously perform tasks and the traveling modules are controlled to sequentially rotate in a narrow space and move to a redesignated furrow, so that the agricultural mobile robot can perform tasks while moving along a plurality of furrows.

Description

Agricultural mobile robot and its control method {AGRICULTRAL MOBILE ROBOT AND AN CONTROLLING METHOD FOR THE SAME}

The present embodiments relate to agricultural mobile robots and control methods thereof.

Recently, the competitiveness of domestic agriculture is continuously declining due to the decrease in productivity due to the decrease and aging of the rural population. In particular, domestic agriculture has a labor-intensive industrial structure of small-volume, multi-product production, so its competitiveness is weak compared to other industries due to low mechanization rate and lack of labor, and the agricultural machinery industry also has a technology level of less than 70% compared to advanced countries in the field of original core and parts and materials. Therefore, in order to prepare for future demand, it is urgent to develop original core technologies such as unmanned driving and automatic control technologies. In addition, modular agricultural use for the purpose of automating various agricultural tasks such as weeding, control, transfer, harvesting, monitoring, seeding, grafting, transplantation, and fertilizer/compost spraying to maximize work efficiency and reduce agricultural labor. Robots need to be developed.

In particular, the field can grow various crops, and furrows for drainage and movement of people are formed between the ridges where the crops are grown. Typically, a ridge may mean a ridge and a furrow. Many of these ridges are arranged at regular intervals, and crop seeds are sown or seedlings are planted at appropriate intervals along the ridges of the ridges to grow. In growing crops in the field, many cultivation processes are required, and a lot of labor time is required for each cultivation process, and work efficiency may be reduced depending on the worker's physical condition. Accordingly, in agricultural work, mechanization has recently been realized to reduce direct human work, and the introduction of agricultural robots is gradually increasing.

However, it was not easy to use the agricultural robot easily because the shape of the ridges in the actual field, such as width, length, and height, was diverse, and there was a problem that a wide space was required to move the agricultural robot to another nearby ridge. Therefore, there is a need for a mobile agricultural robot capable of performing work while moving along a plurality of gyrus and rotating the robot in a narrow space and a control method thereof.

Against this background, the present embodiments may provide an agricultural mobile robot and a control method thereof.

From the side, the present embodiments are an agricultural mobile robot, a driving module including a plurality of drive wheels driven by a motor, a work module coupled with the driving module to perform work, a work module equipped with a plurality of agricultural work tools, one side The other side is coupled to the driving module, the coupling module in which the work module is coupled between the driving modules, and at least two or more driving modules coupled by the coupling module perform work while traveling along a ridge designated for each driving module, and the driving module is It is possible to provide a mobile agricultural robot including a control module for controlling at least two or more driving modules to sequentially rotate to move or travel to a redesignated gyrus when a set specific point is reached.

On the other hand, the present embodiments are a control method of a mobile agricultural robot, in which a driving module including a plurality of driving wheels driven by a motor and a plurality of agricultural work tools are mounted to perform work by being combined with the driving module In the method for controlling the operation of a mobile agricultural robot including a work module and a coupling module in which one side and the other side are coupled to the driving module and the work module is coupled between the driving modules, when a task execution instruction is input, by a plurality of coupling modules A task control step of controlling at least two or more combined driving modules to perform a task while driving along a gyrus designated for each driving module, rotation of sequentially rotating at least two or more driving modules when the driving module reaches a predetermined specific point It is possible to provide a control method for a mobile agricultural robot comprising a control step and a driving control step of controlling the at least two or more driving modules to move or travel in the designated gyrus.

According to the present embodiments, it is possible to provide a mobile agricultural robot capable of performing work while moving along a plurality of gyrus and rotating the robot in a narrow space, and a control method thereof.

1 is a diagram showing the configuration of a mobile agricultural robot according to an embodiment of the present disclosure.
2 is a diagram explaining the structure of a mobile agricultural robot according to an embodiment of the present disclosure.
3 is a diagram illustrating a driving module of an agricultural mobile robot according to an embodiment of the present disclosure.
4 is a diagram illustrating work modules of a mobile agricultural robot according to an embodiment of the present disclosure.
5 is a diagram explaining an operation of a mobile agricultural robot according to an embodiment of the present disclosure.
6 is a diagram explaining a work mode of an agricultural mobile robot according to an embodiment of the present disclosure.
7 is a diagram explaining a rotation mode of an agricultural mobile robot according to an embodiment of the present disclosure.
8 is a diagram explaining a driving mode of an agricultural mobile robot according to an embodiment of the present disclosure.
9 is a flowchart of a method of a mobile agricultural robot according to an embodiment of the present disclosure.

The present disclosure relates to a mobile agricultural robot and a control method thereof.

DETAILED DESCRIPTION Some embodiments of the present disclosure are described in detail below with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing the present embodiments, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present technical idea, the detailed description may be omitted. When "comprises", "has", "consists of", etc. mentioned in this specification is used, other parts may be added unless "only" is used. In the case where a component is expressed in the singular, it may include the case of including the plural unless otherwise explicitly stated.

Also, terms such as first, second, A, B, (a), and (b) may be used in describing the components of the present disclosure. These terms are only used to distinguish the component from other components, and the nature, sequence, order, or number of the corresponding component is not limited by the term.

In the description of the positional relationship of components, when it is described that two or more components are "connected", "coupled" or "connected", the two or more components are directly "connected", "coupled" or "connected". ", but it will be understood that two or more components and other components may be further "interposed" and "connected", "coupled" or "connected". Here, other components may be included in one or more of two or more components that are “connected”, “coupled” or “connected” to each other.

In the description of the temporal flow relationship related to components, operation methods, production methods, etc., for example, "after", "continued to", "after", "before", etc. Alternatively, when a flow sequence relationship is described, it may also include non-continuous cases unless “immediately” or “directly” is used.

On the other hand, when a numerical value or corresponding information (eg, level, etc.) for a component is mentioned, even if there is no separate explicit description, the numerical value or its corresponding information is not indicated by various factors (eg, process factors, internal or external shocks, noise, etc.) may be interpreted as including an error range that may occur.

Also, terms used in the mobile agricultural robot and its control method according to an embodiment of the present disclosure will be described.

A first direction in the present disclosure may mean a horizontal direction in which at least two or more driving modules are coupled in an agricultural mobile robot. In addition, the second direction may mean a work progress direction in the case of traveling along the gyrus in a direction forming 90 degrees with the first direction.

1 is a diagram showing the configuration of a mobile agricultural robot according to an embodiment of the present disclosure.

Referring to FIG. 1 , a mobile agricultural robot 100 according to an embodiment of the present disclosure includes a driving module 110 including a plurality of driving wheels driven by a motor and a plurality of driving modules coupled with the driving module to perform a task. A work module 120 equipped with agricultural work tools, one side and the other side are coupled to the driving module, a coupling module 130 in which the work module is coupled between the driving modules, and at least two or more driving modules coupled by the coupling module A control module 140 that performs work while driving along a gyrus designated for each driving module and controls to move or travel to a redesignated gyrus by sequentially rotating at least two or more driving modules when the driving module reaches a predetermined specific point can include

The driving module 110 according to an embodiment may include a plurality of driving wheels driven by a motor. For example, the driving module 110 may include one or more driving wheels on the left and right sides of the main body to move the main body. And, the driving module 110 may further include a steering wheel at the lower front of the main body. For example, each drive wheel and steering wheel may be arranged in a triangular composition maintaining a distance and installed to support the main body at three points. In addition, each drive wheel can control the moving direction of the body by rotating forward or reverse by the operation of the motor. Specifically, the rotational force of the motor may be transmitted to the drive wheel by a power transmission device. Although not shown, the power transmission device may be composed of accessories such as a driving/driven bevel gear connected to the motor shaft, a pulley connected thereto, and a belt in order to transmit rotational force of the motor. However, the driving module 110 may also use an in-wheel motor integrally configured with a driving wheel among motors. Here, the in-wheel motor may be a device for rotating an electric motor provided inside the wheel.

As another example, the driving module 110 may further include a body in which a battery module and a drive module are built. In addition, the battery module and the drive module may be detachably mounted on the top and bottom of the main body, respectively. For example, the main body of the driving module 110 may have a structure for attaching and detaching the battery module and the drive module and then fixing them. Specifically, the main body may have a structure in which the battery module and the drive module are inserted in a vertical or horizontal direction and then fixed with a locker. However, the structure is not limited thereto as long as the battery module and the drive module can be detached or fixed.

The work module 120 according to an embodiment may be equipped with an agricultural work tool so as to perform work by being coupled with the driving module. For example, the work module 120 is coupled to the lower portion of the coupling module, and coupled to the second member and the lower portion of the second member for guiding the driving module coupled to both sides of the coupling module to move back and forth, and the mounting height of the agricultural work tool and an adjustment module for adjusting the mounting angle. For example, the second member may be coupled to a lower portion of the first member, disposed horizontally on the ground, and coupled vertically to the first member. In addition, the adjustment module is coupled to the lower portion of the second member, and may include a motor for adjusting the mounting height of the mounted agricultural work tool and a motor for adjusting the mounting angle, respectively.

As another example, the work module 120 may further include a manual wheel on one surface on which agricultural work tools are mounted. The manual wheel of the work module 120 may rotate together when the driving module travels, and may be arranged side by side on one surface on which agricultural work tools are mounted. The manual wheel may be installed to balance the driving module and the working module and assist the work of a plurality of agricultural work tools mounted in a row.

One side and the other side of the coupling module 130 according to an embodiment are coupled to the driving module, and a work module may be coupled between the driving modules. For example, the coupling module 130 may include a first member coupled to one side and the other side of each driving module in a first direction and a link member disposed at both ends of the first member to couple the respective driving modules. have. For example, the first member of the coupling module 130 is a member whose length can be adjusted in the first direction, and can be expanded or contracted according to the distance between the gyrus.

The control module 140 according to an embodiment may control at least two or more driving modules coupled by the coupling module to perform tasks while driving along a gyrus designated for each driving module. In addition, the control module 140 may control at least two or more driving modules to sequentially rotate to move to a redesignated gyrus and travel when the driving module reaches a predetermined specific point. For example, the control module 140 may classify the operation of the driving module and the operation module into respective modes and control them for each mode. Also, the mode may include a work mode, a rotation mode, and a driving mode.

For example, if the control module 140 is a work mode, at least two or more driving modules are arranged side by side in a first direction by a coupling module, and the driving module is moved forward in a second direction so that the work module rearward. It can be controlled to travel along a designated gyrus in a coupled posture. In addition, the control module 140 may control the speed of each driving wheel for each driving module so that at least two or more combined driving modules may all travel the same distance. Through this, at least two or more combined driving modules may drive while maintaining a straight line in the first direction while driving on uneven farmland.

For another example, if the mode is the rotation mode, the control module 140 may control at least two or more driving modules to rotate by sequentially driving the driving wheels for each driving module in a preset order. Also, the control module 140 may control the coupled driving modules to sequentially rotate at an arbitrary angle so that they all travel in the same direction.

For another example, if the driving mode is the driving mode, the control module 140 may control an agricultural work tool mounted on the working module to be raised and at least two or more driving modules to be moved in a first direction in which the driving modules are coupled. have. In addition, when the mode is the driving mode, the control module 140 may raise an agricultural work tool mounted on the work module and rotate it at an arbitrary angle to align the work module in the vertical direction of the coupling module. In addition, when the work modules are aligned, at least two or more driving modules may be moved to the center of the work module, and the driving module and the work module may be controlled to travel in a coupled posture in which the work modules are arranged in a line.

2 is a diagram explaining the structure of a mobile agricultural robot according to an embodiment of the present disclosure.

Referring to FIG. 2 , the agricultural mobile robot 100 according to an embodiment may include a driving module 110, a working module 120, and a coupling module 130. For example, the agricultural mobile robot 100 may have a configuration in which at least two or more driving modules 110 are coupled by a coupling module 130 and a work module 120 is coupled between the coupled driving modules. For example, basically, the agricultural mobile robot 100 may have a configuration in which three driving modules 110 are coupled by two coupling modules 130 and two work modules 120 are coupled. The agricultural mobile robot 100 may be configured by combining three or more driving modules 110 according to the amount of work.

For example, the driving module 110 of the agricultural mobile robot 100 may include a main body in which a battery module and a drive module are built in, and a plurality of driving wheels driven by a motor. For example, in the driving module 110, a plurality of driving wheels may be installed on both sides of the main body so that the main body is stably supported, and a steering wheel may be installed in the front lower part. However, at least one steering wheel may be installed in proportion to the size of the main body. For another example, the driving module 110 may be mounted on top and bottom of the main body so that the battery module and the drive module are detachably attached to each other. When the battery module is discharged or the drive module is out of order, the module can be replaced, so the interrupted work can be quickly responded. Details of the driving module 110 will be described later with reference to FIG. 3 .

For example, the work module 120 of the mobile agricultural robot 100 may include a second member coupled to the lower portion of the coupling module 130 and an adjustment module for adjusting the mounting height and mounting angle of the agricultural working tools. For example, in the work module 120, a plurality of agricultural work tools may be mounted in a row on a frame disposed below the control module. In addition, the work module 120 may be equipped with a manual wheel on one surface on which agricultural work tools are mounted. Details of the operation module 120 will be described later with reference to FIG. 4 .

For example, the coupling module 130 of the agricultural mobile robot 100 may include a first member to which the driving module 110 is coupled to both sides and link members disposed at both ends of the first member. For example, one side and the other side of the coupling module 130 may be coupled to the driving module 110, respectively, and the work modules 120 may be coupled one by one between the driving modules. Specifically, the coupling module 130 may have a structure capable of adjusting its length in the first direction, fixed about a link member, or capable of rotating at a predetermined angle in a horizontal direction. Accordingly, in the case of the work mode, the agricultural mobile robot 100 can drive according to the gyrus by adjusting the coupling module 130 in the first direction even if the distance between the gyrus is not constant. In addition, in the driving mode, the agricultural mobile robot 100 can drive stably by rotating the link member of the coupling module 130 even if a speed difference between the respective driving modules 110 occurs.

3 is a diagram illustrating a driving module of an agricultural mobile robot according to an embodiment of the present disclosure.

Referring to FIG. 3 , the driving module 110 of the agricultural mobile robot 100 according to an embodiment may include a main body 310, a driving wheel 320, a battery module 330, a drive module 340, and the like. can

For example, the main body 310 may be configured in a box-shaped frame shape. In addition, cameras are installed at the front, rear, and both sides of the main body 310 to transmit captured images to the control module or store them therein. A sensor capable of detecting and estimating a location of a forward obstacle may be installed in front of the main body 310 while the driving module 110 is driving. Here, the sensor may further include a lidar sensor, a radar sensor, an inertial sensor (IMU), an ultrasonic sensor, an infrared sensor, a position sensor (eg, a GPS module), a geomagnetic sensor, an acceleration sensor, a gyroscope sensor, and the like.

For example, the driving wheel 320 is installed on both sides of the main body 310, and a steering wheel may be installed together to assist this. For example, the plurality of driving wheels 320 may be driven by receiving rotational force from the in-wheel motor 350 . On the other hand, the steering wheel may freely rotate without being provided with a separate driving force and may rotate by assisting the rotational motion of the plurality of driving wheels 320 . That is, the steering wheel may be a thin passive wheel, which rotates 90 degrees only when it rotates while moving along the groove. For another example, the driving wheel 320 may be installed as a crawler wheel. The caterpillar wheel may be driven by one motor 350 connected to each caterpillar wheel through a rotation shaft.

For example, the battery module 330 and the drive module 340 may be detachably mounted inside the main body 310 . For example, the drive module 340 may receive power through a wire connected to the battery module 330, and may be connected to the motor 350 and a wire for supplying power and/or transmitting a signal. Specifically, the drive module 340 may receive an absolute angular position signal through a signal line connected to the encoder of the motor 350 or control the motor 350 through a wire connected to the motor 350 .

In addition, the drive module 340 may include a communication module and a memory module. The communication module may directly transmit/receive data between a plurality of driving modules and work modules or indirectly transmit/receive data through a repeater. Specifically, the drive module 340 of a specific driving module may include a higher controller that manages the entire operation of the agricultural mobile robot. Further, the separate driving module and work module may include a lower controller operating as a slave of the upper controller. At this time, the communication method between the plurality of driving modules and work modules may be an industrial communication (Master-Slave) standard such as EtherCAT or CANopen, but is not limited thereto. Also, the memory module may store a program for operating the driving module based on data received from the communication module.

For example, the main body 310 may include a suspension module 370 . For example, the main body 310 may include a suspension module 370 that travels in close contact with the farmland and buffers the impact force as the plurality of driving modules travel on uneven farmland in a posture coupled by a coupling module. . Specifically, the suspension module 370 may include a shock-up shock absorber and a compression coil spring, but is not limited thereto.

For example, the body 310 may include a fixing hook module 360 coupled to the work module 120 . For example, the fixing hook module 360 may be installed on the main body 310 and coupled to a link member of the work module 120 to couple the driving module 110 and the work module 120 .

4 is a diagram illustrating work modules of a mobile agricultural robot according to an embodiment of the present disclosure.

Referring to FIG. 4 , the work module 120 of the agricultural mobile robot according to an embodiment may include a second member 410, a control module 420, an agricultural work tool 430, a frame 440, and the like. have.

For example, the second member 410 of the work module 120 is coupled to the lower portion of the coupling module 130 and may guide the driving module 110 coupled to both sides of the coupling module 130 to move back and forth. . For example, the second member 410 may have a guide groove in the longitudinal direction. In addition, the second member 410 is supported by a guide member included in the first member of the coupling module and may be disposed horizontally on the ground so that the coupling module 130 moves forward and backward. Specifically, when the agricultural mobile robot 100 is in the working mode, the control module 140 may move the driving module 110 forward to change the form in which the coupling module 130 moves to the front end of the second member. . On the other hand, when the agricultural mobile robot 100 is in the driving mode, the control module 140 may move the driving module 110 backward to change the form in which the coupling module 130 moves to the center of the second member.

For example, the control module 420 of the work module 120 may include at least one motor to enable height adjustment and rotation of the agricultural work tool 430 attached to the frame 440 . For example, the control module 140 may rotate the frame 440 in a yaw direction by driving a motor while the control module 420 is coupled to the lower end of the second member. Specifically, the control module 140 may drive the motor of the control module 420 to control the frame 440 connected to the front shaft in the vertical direction to rotate in the yaw direction. To this end, the control module 420 may include a battery and a drive for driving the corresponding motor.

For example, the agricultural work tools 430 of the work module 120 may be mounted in a row on the frame 440 installed under the control module 420 . In addition, the agricultural work tool 430 can be replaced according to the type of work in a detachable form to the frame 440. For example, the agricultural work tool 430 may include a mountable plow, a seed planter, a seedling transplanter (transplanter), a plastic coating machine, various harvesters such as potatoes or sweet potatoes or garlic onions, a fertilizing machine, and a control machine. have. However, if the agricultural work tool 430 can be mounted on the frame 440, it is not limited thereto.

As another example, the work module 120 may further include a manual wheel or a sensor. For example, the work module 120 may balance the driving module and the work module by mounting a manual wheel on one side of the agricultural work tool, and assist the work of a plurality of agricultural work tools mounted in a row. For another example, the work module 120 may be equipped with a sensor to monitor the rear based on the moving direction of the agricultural work tool.

5 is a diagram explaining an operation of a mobile agricultural robot according to an embodiment of the present disclosure.

Referring to FIG. 5 , an operation controlled by the control module 140 of the agricultural mobile robot according to an embodiment will be described. For example, the control module 140 of the agricultural mobile robot 100 can control at least two or more driving modules 110 to travel along a gyrus designated for each driving module while closely communicating with each other by wire or/and wirelessly. . For example, the control module 140 may control at least two or more driving modules 110 coupled in the first direction to travel in parallel in the second direction 510 along a gyrus designated for each driving module. In addition, the control module 140 may control at least two or more driving modules 110 to travel while maintaining a straight line in the first direction. At this time, the agricultural mobile robot 100 may be in a combined posture in which the work module 120 is disposed behind the driving module 110 as the driving module 110 travels in the second direction 510 .

For example, the control module 140 of the agricultural mobile robot 100 sequentially rotates at least two driving modules 110 at 90 degrees 520 in the second direction 510 when reaching a predetermined specific point. can be controlled. Here, the specific point may be preset as the end of the designated gyrus. For example, when the agricultural mobile robot 100 completes a task in a designated gyrus, the control module 140 controls at least two or more driving modules 110 to rotate in order to move to another gyrus and perform a task. can Specifically, the control module 140 fixes at least two or more driving modules among the driving modules 110 and rotates the remaining driving modules sequentially at 90 degrees (520) in the second direction (510). can make it

For example, the control module 140 of the mobile agricultural robot 100 may control to move in series in the first direction 530 to the redesignated gyrus when at least two driving modules 110 are completely rotated. . For example, when the driving direction of the driving module 110 is changed to the first direction 530, the control module 140 raises the agricultural work tool mounted on the work module 120 to move it to the designated ridge in the first direction. It can be controlled to move in series with 530.

For example, when the movement of the agricultural mobile robot 100 to the redesignated gyrus is completed, the control module 140 of the agricultural mobile robot 100 moves parallel to the changed work direction 550 along the redesignated gyrus for each driving module. You can control it to run smoothly. At this time, the changed work progress direction 550 may be the opposite direction of the existing second direction 510 . For example, when the movement of the agricultural mobile robot 100 to the redesignated gyrus is completed, the control module 140 may control the frame on which the agricultural work tool is mounted to rotate by the control module of the work module 120. . Also, the control module 140 may align the work module 120 in the vertical direction of the coupling module 130 . Accordingly, the work module 120 may be changed into a posture capable of passing between the driving modules 110 . Then, the control module 140 may control the driving module 110 to move forward again in the changed work progress direction 550 so that the work module 120 travels in a rearwardly disposed coupled posture.

For example, when the work is completed, the control module 140 of the agricultural mobile robot 100 rotates the driving module 110 and aligns the work modules 120 to change the combined posture arranged in a row in the first direction. can When the agricultural mobile robots 100 are arranged in a line, the control module 140 may move the driving module 110 in a first direction 560 to a target point in series.

6 is a diagram explaining a work mode of an agricultural mobile robot according to an embodiment of the present disclosure.

Referring to FIG. 6 , the control module 140 of the mobile agricultural robot 100 according to an embodiment may control the mobile robot 100 to perform a task while traveling along a designated gyrus in a work mode. For example, the control module 140 may control at least two or more driving modules 110 coupled by the coupling module 130 to perform tasks while driving along a gyrus designated for each driving module. For example, when the control module 140 is in a work mode, at least two or more driving modules 110 are disposed side by side in a first direction, and the driving module 110 is moved forward in a second direction to rearward the work module ( 120) can be controlled to travel in a combined posture in which it is disposed. Specifically, the coupling posture of the work mode is a coupling posture in which the front end of the second member of the work module 120 is fixed to the first member of the coupling module 130 and the work module is rearwardly disposed based on the second direction. can In addition, the control module 140 may control the work module 120 to be rotated at an arbitrary angle so that a plurality of agricultural work tools are disposed in a horizontal direction.

For another example, the control module 140 may drive while maintaining a straight line in a direction perpendicular to the gyrus with at least two or more driving modules 110 coupled by the coupling module 130 . Specifically, the control module 140 uses the side gyrus for which the task has been completed monitored by a sensor mounted on the left or right side of the driving module 110 and the current gyrus monitored by a sensor mounted on the rear of the task module 120. It can be controlled to travel in a direction perpendicular to the gyrus. At this time, the coupling module 130 can be structurally maintained in a straight line by being fixed and coupled to the top of the driving module 110 .

As another example, the control module 140 may control battery usage based on the number of driving modules 110 and working modules 120 combined with the working area information. For example, the control module 140 may determine whether to operate the driving wheel based on the remaining battery capacity of each driving module 110 . Specifically, since each driving module 110 travels in each gyrus, there may be a movement path that consumes a lot of battery power depending on the characteristics of the gyrus. Battery consumption of each driving module 110 may not match due to other reasons. Accordingly, the control module 140 may monitor the capacity of the battery, stop driving wheels of the driving modules having a capacity equal to or less than the reference capacity, and operate only the driving wheels of the remaining driving modules. At this time, the driving module in which the driving wheel is stopped may operate as a manual wheel and be controlled to travel together. Accordingly, the control module 140 may control a specific driving module to travel only with the remaining driving modules even when the battery module is detached due to discharge or failure. That is, the control module 140 can continuously perform tasks by driving in a manner in which the battery of the driving module 110 is alternately used.

7 is a diagram explaining a rotation mode of an agricultural mobile robot according to an embodiment of the present disclosure.

Referring to FIG. 7 , the control module 140 of the agricultural mobile robot 100 according to an embodiment may control the driving module to change the driving direction by rotating the driving module in the rotation mode. For example, the control module 140 may control the driving module 110 to sequentially rotate when the driving module 110 reaches a preset specific point. For example, the control module 140 may control the driving module 110 to rotate right by driving the left driving wheel of the driving module 110 in a forward direction and driving the right driving wheel in a reverse direction. Alternatively, the control module 140 may control the driving module 110 to rotate left by driving the right driving wheel of the driving module 110 in a forward direction and driving the left driving wheel in a reverse direction.

For another example, in the rotation mode, the control module 140 may fix at least two or more driving modules among the driving modules in a preset order and rotate the remaining driving modules to sequentially rotate all of them. Specifically, when the agricultural mobile robot 100 is configured to include three driving modules, the control module 140 stops the driving wheels of the driving modules 710 and 730 located at both ends while the driving module 720 located in the middle rotates. can be controlled to Then, when the rotation is completed, the control module 140 controls the driving module 730 located at the other end to rotate while the driving module 720 located in the middle and the driving wheel of the driving module 710 located at one end are stopped. can do. In addition, the control module 140 may control the driving module 710 located at one end to rotate while the rotating driving modules 720 and 730 are stopped.

Accordingly, the control module 140 may control at least two or more driving modules at the same steering angle by sequentially rotating the angle of the driving wheel for each driving module.

8 is a diagram explaining a driving mode of an agricultural mobile robot according to an embodiment of the present disclosure.

Referring to FIG. 8 , the control module 140 of the mobile agricultural robot 100 according to an embodiment may control movement to a redesignated gyrus or travel a long distance in case of driving mode. For example, the control module 140 may control the driving module 110 to move a short distance to the redesignated gyrus or to drive a long distance to a target point.

For example, in the driving mode, the control module 140 raises an agricultural work tool mounted on the work module 120 and moves at least two or more driving modules 110 in a first direction in which the driving modules 110 are coupled. You can control it to move. At this time, if the agricultural mobile robot 100 moves a short distance to the redesignated gyrus, the control module 140 may control the agricultural mobile robot 100 to move in the first direction while maintaining the combined posture of the working mode.

On the other hand, if the agricultural mobile robot 100 moves to a target point at a long distance, the control module 140 changes the driving module 110 and the task module 120 to a combined posture in which they are arranged in a line to move in the first direction. You can control it to move. Specifically, the control module 140 may control to align the work module 120 in the vertical direction of the coupling module 130 by raising the agricultural work tool mounted on the work module 120 and rotating it at 90 degrees. When the work modules 120 are aligned, the control module 140 moves at least two or more driving modules 110 to the center of the work module 120 so that the driving modules 110 and the work modules 120 are arranged in a line. It can be controlled to drive in the combined posture that becomes. The coupling posture arranged in a row is a posture in which the first member of the coupling module 130 is fixed to the center of the second member of the work module 120 and the work module 120 is disposed between the respective driving modules 110. can At this time, the coupling module 130 is fixed and coupled to the top of the driving module 110 so as to rotate at a certain angle in the horizontal direction, thereby structurally maintaining driving stability.

Hereinafter, a control method capable of controlling the mobile agricultural robot described with reference to FIGS. 1 to 8 will be described.

9 is a flowchart of a control method of a mobile agricultural robot according to an embodiment of the present disclosure.

Referring to FIG. 9 , a method for controlling a mobile agricultural robot according to an embodiment of the present disclosure includes a driving module including a plurality of driving wheels driven by a motor and at least one steering wheel, and combined with the driving module to perform a task. It may be a method for controlling the operation of a mobile agricultural robot including a work module in which a plurality of agricultural work tools are mounted and a coupling module having one side and the other side coupled to the driving module and the work module coupled between the driving modules. have.

A control method of an agricultural mobile robot according to an embodiment may include a task control step (S910). For example, when a task execution instruction is input, the agricultural mobile robot may control at least two or more driving modules coupled by a plurality of coupling modules to perform a task while traveling along a gyrus designated for each driving module. For example, in an agricultural mobile robot, at least two or more driving modules coupled together are arranged side by side in a first direction, and the driving module is moved forward in a second direction to drive along a designated gyrus in a combined posture in which a working module is disposed rearward. can be controlled to In addition, the agricultural mobile robot may control a coupling module whose length can be adjusted in the first direction according to the distance between the gyrus and control the driving module to be disposed for each gyrus. As another example, the agricultural mobile robot may control the speed of each driving wheel for each driving module so that at least two or more driving modules coupled together can all travel the same distance.

A control method of an agricultural mobile robot according to an embodiment may include a rotation control step (S920). For example, when the agricultural mobile robot reaches a predetermined specific point, it may control to sequentially rotate at least two driving modules coupled thereto. For example, the agricultural mobile robot can be controlled to drive in the same direction by sequentially rotating at least two driving modules coupled thereto at an arbitrary angle.

The control method of the agricultural mobile robot according to an embodiment may include a driving control step (S930). For example, the mobile robot for agriculture may control at least two or more driving modules to move or drive in a redesignated gyrus. For example, the agricultural mobile robot may be controlled to elevate an agricultural work tool mounted on a work module in order to move to a redesignated gyrus. Also, the agricultural mobile robot may control the two or more coupled driving modules to move in a first direction in which the driving modules are coupled. For another example, the agricultural mobile robot may align the work module in the vertical direction of the coupling module by elevating an agricultural work tool mounted on the work module and rotating it at an arbitrary angle in order to travel to a set destination. In addition, when the work modules are aligned, at least two or more combined driving modules may be moved to the center of the work module, and the driving modules and the work modules may be controlled to travel in a coupled posture in which the work modules are arranged in a line.

As described above, according to the present disclosure, it is possible to provide an agricultural mobile robot and a control method thereof. In particular, at least two or more driving modules and work modules coupled by a coupling module perform tasks simultaneously, and sequentially rotate the driving modules in a narrow space to move to a redesignated gyrus, thereby moving along a plurality of gyrus It is possible to provide an agricultural mobile robot capable of performing tasks while doing so and a control method thereof.

The above description is merely illustrative of the technical idea of the present disclosure, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the technical idea. In addition, since the present embodiments are not intended to limit the technical idea of the present disclosure, but to explain, the scope of the present technical idea is not limited by these embodiments. The scope of protection of the present disclosure should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of rights of the present disclosure.

Claims (16)

A driving module including a plurality of driving wheels driven by a motor;
A working module equipped with an agricultural work tool to perform work by being coupled with the driving module;
A coupling module having one side and the other side coupled to the driving module and the working module coupled between the driving modules; and
At least two or more driving modules coupled by the coupling module perform work while driving along a gyrus designated for each driving module, and when the driving module reaches a predetermined specific point, the at least two or more driving modules are sequentially rotated Including; a control module for controlling to move to the redesignated gyrus and drive;
The work module,
a second member coupled to a lower portion of the coupling module and guiding the driving module coupled to both sides of the coupling module to move forward and backward; and
The agricultural mobile robot further comprising a control module coupled to the lower portion of the second member and configured to adjust the mounting height and mounting angle of the agricultural work tool. According to claim 1,
The driving module,
Further comprising a body in which the battery module and the drive module are built,
The battery module and the drive module are detachably mounted on the top and bottom of the main body, respectively. delete According to claim 1,
The coupling module,
A first member coupled to one side and the other side of each driving module in a first direction; and
A mobile agricultural robot comprising: a link member disposed at both ends of the first member and coupled to each driving module. According to claim 1,
The control module,
Classifying the combined operation of the driving module and the operation module into respective modes and controlling them for each mode;
The mode is
Agricultural mobile robot with working mode, rotation mode and driving mode. According to claim 5,
The control module,
When the mode is the work mode, the at least two or more driving modules are disposed side by side in a first direction, and the driving module is moved forward in a second direction to form the designated gyrus in a coupled posture in which the work module is disposed rearward. An agricultural mobile robot controlled to drive along. According to claim 5,
The control module,
If the mode is the rotation mode, the agricultural mobile robot controls to rotate all of the at least two or more driving modules by sequentially driving the driving wheels for each driving module in a preset order. According to claim 5,
The control module,
When the mode is the driving mode, the agricultural mobile robot controls to raise an agricultural work tool mounted on the work module and move the at least two or more driving modules in a first direction. According to claim 5,
The control module,
When the mode is the driving mode, the agricultural mobile robot aligns the work module in the vertical direction of the coupling module by raising an agricultural work tool mounted on the work module and rotating it at an arbitrary angle. According to claim 9,
The control module,
When the work modules are aligned, the agricultural mobile robot moves the at least two or more driving modules to the center of the work module and controls the driving module and the work module to travel in a combined posture in which the work modules are arranged in a line. A driving module including a plurality of drive wheels driven by a motor, a work module in which an agricultural working tool is mounted to perform work by being coupled with the driving module, one side and the other side are coupled to the driving module, and the driving module is interposed between the driving modules. A method for controlling a mobile agricultural robot including a coupling module to which a work module is coupled,
A task control step of controlling at least two or more driving modules coupled by a plurality of coupling modules to perform a task while traveling along a gyrus designated for each driving module when a task execution instruction is input;
a rotation control step of sequentially rotating the at least two or more driving modules when the driving module reaches a predetermined specific point; and
Including a driving control step of controlling the at least two or more driving modules to move or drive to the redesignated gyrus,
The work module,
a second member coupled to a lower portion of the coupling module and guiding the driving module coupled to both sides of the coupling module to move forward and backward; and
The control method of the agricultural mobile robot further comprising a control module coupled to the lower portion of the second member and configured to adjust the mounting height and mounting angle of the agricultural work tool. According to claim 11,
The operation control step,
The at least two or more driving modules are arranged side by side in a first direction, and the driving module is moved forward in a second direction to control the driving along the designated gyrus in a combined posture in which the work module is disposed rearward. An agricultural mobile robot. control method. According to claim 11,
The rotation control step,
A control method of a mobile agricultural robot for controlling all of the at least two or more driving modules to rotate by sequentially driving driving wheels for each driving module in a preset order. According to claim 11,
In the driving control step,
A control method of a mobile agricultural robot comprising: raising an agricultural work tool mounted on the work module and controlling the at least two driving modules to move in a first direction. According to claim 11,
In the driving control step,
A control method of a mobile agricultural robot for aligning the work module in the vertical direction of the coupling module by raising an agricultural work tool mounted on the work module and rotating it at an arbitrary angle. According to claim 15,
In the driving control step,
When the work modules are aligned, the at least two or more driving modules are moved to the center of the work module to control the driving module and the work module to travel in a combined posture in which the work module is arranged in a line.

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