KR102475765B1 - Harvest powertrain - Google Patents

Abstract

The present invention relates to a harvesting transmission device necessary for harvesting field work crops such as peppers, beans, strawberries, eggplants and tomatoes.
In addition, the present invention provides a power unit for rotating the main wheel supporting the floor, a body portion coupled to the power unit so as to be able to pivot, supporting the floor on both sides and providing rotatable auxiliary wheels, extending from the power unit, , A steering unit provided with a handle that is bent at the end so that the occupant can grip it by hand, a boarding unit provided on the upper part of the body and enabling the occupant to board, and a front side of the power unit provided, and a valley of the floor A goal recognition sensor unit for recognizing the shape of the seat, a seating sensor unit provided in the boarding unit and capable of recognizing an occupant's behavior pattern, and a control unit for controlling the power unit by receiving electrical signals from the goal recognition sensor unit and the seating sensor unit. can include

Description

Harvesting powertrain {HARVEST POWERTRAIN}

The present invention relates to a transmission device for harvesting, and more particularly, to a transmission device for harvesting necessary for harvesting field crops such as peppers, beans, strawberries, eggplants and tomatoes.

In general, work for harvesting crops of low height, such as peppers, beans, strawberries, eggplants, and tomatoes, is carried out by moving between furrows with a container for collecting and storing harvested crops while a worker is sitting.

When a worker works in a squatted state for a long time, the fatigue of the waist and lower body increases, and in particular, a strain is given to the spine or knee joint, causing physical abnormalities such as back pain or knee arthritis.

As a means to solve this problem, a working cushion that can be used by laying on a worker's buttocks has been used.

Korean Patent Laid-open Publication No. 10-2018-0129560 describes a conventional bag-type working cushion.

Even in the case of a conventional working cushion, since it is a means of sitting with a low cushion on the hip in a squatting state, when moving, it is necessary to move to the side with the hip lifted from the cushion, which not only puts a burden on the knee joint during movement, but also moves There was a problem that this inconvenience and difficulty were many.

As a means to solve this problem, the conventional harvesting chair with wheels installed on the chair is difficult to steer when driving in uneven furrows, so it is difficult to turn the chair back to its original place from time to time, and it is necessary to drive while pushing with your legs, so women and the elderly still had the problem of requiring heavy labor.

Therefore, the present invention has been made to solve the above problems, and an object of the present invention is to provide a harvesting powertrain including autonomous steering and driving functions in a field environment.

In addition, an object of the present invention is to provide a power transmission device for harvesting that can increase worker safety.

Harvesting powertrain according to an embodiment of the present invention is a power unit for rotating a main wheel supporting the floor, a body that is pivotally coupled to the power unit, and has auxiliary wheels supporting the floor and rotatable on both sides. a control unit extending from the power unit and having a bent handle at an end portion of which the occupant can grip by hand; a boarding unit provided on an upper part of the body and allowing the occupant to board; a front of the power unit; A goal recognition sensor unit provided on the side and detecting the shape of a valley on the floor, a seating sensor unit provided on the boarding unit and capable of recognizing the occupant's behavior pattern, and electrical signals from the goal recognition sensor unit and the seating sensor unit. It may include a control unit for receiving and controlling the power unit.

The control unit is provided above the control unit, and a control panel unit capable of turning on/off the power unit and a power supply unit supplying electricity to the power unit, the goal recognition sensor unit, and the seating sensor unit. can include

Harvesting transmission device according to an embodiment of the present invention is provided in the coupling part of the power part and the body part, and is controlled by the control unit so that the power part travels along the center of the bone identified from the bone recognition sensor part. and a steering motor unit for automatically turning and moving the power unit around the body unit.

The goal recognition sensor unit may include a laser distance sensor, a LIDAR sensor, an image sensor, an ultrasonic distance sensor, and an infrared distance sensor.

The goal recognition sensor unit may arrange a plurality of sensors on the same horizontal plane.

The goal recognition sensor unit may arrange a plurality of sensors on the same curved surface.

The goal recognition sensor unit may arrange a plurality of sensors on an inclined surface.

The control unit may include a temperature and humidity measurement sensor for measuring ambient temperature and humidity.

The control unit may include a notification unit that sends a signal to the occupant when the temperature and humidity are higher than the predetermined temperature and humidity.

The control unit may include a communication unit capable of communicating with an external communication terminal.

According to the present invention, the powertrain for harvesting according to an embodiment of the present invention has an effect of increasing the convenience of farmers during harvesting by performing an autonomous steering operation based on a sensor for recognizing a furrow.

According to the present invention, the powertrain for harvesting according to an embodiment of the present invention has the effect of facilitating operation.

According to the present invention, the powertrain for harvesting according to an embodiment of the present invention has an effect of increasing the safety of the occupants by continuously monitoring the driving time, environmental conditions, and the occupant's condition.

1 is a perspective view schematically showing a powertrain for harvesting according to an embodiment of the present invention.
2 is a use state diagram schematically showing that the valley recognition sensor unit recognizes the furrow of the floor in the harvest transmission device according to the first embodiment of the present invention.
3 is a use state diagram schematically showing that the valley recognition sensor unit recognizes the furrow of the floor in the harvest transmission device according to the second embodiment of the present invention.
4 is a use state diagram schematically showing that the valley recognition sensor unit recognizes the furrow of the floor in the harvest transmission device according to the third embodiment of the present invention.
5 is a flowchart illustrating a method of operating a steering motor unit in a powertrain for harvesting according to an embodiment of the present invention.

Hereinafter, a transmission gear for harvesting according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The terms or words used in this specification and claims should not be construed as being limited to ordinary or dictionary meanings, and the inventors may appropriately define the concept of terms in order to explain their invention in the best way. It should be interpreted as a meaning and concept consistent with the technical idea of the present invention based on the principle that there is. Therefore, since the embodiments described in this specification and the configurations shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention, various alternatives can be made at the time of this application. It should be understood that there may be equivalents.

In the drawings, the size of each component or a specific part constituting the component is exaggerated, omitted, or schematically illustrated for convenience and clarity of explanation. Therefore, the size of each component does not fully reflect the actual size. If it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, such description will be omitted.

1 is a perspective view schematically showing a powertrain for harvesting according to an embodiment of the present invention.

As shown in FIG. 1, the powertrain for harvesting according to an embodiment of the present invention includes a power unit 100, a body unit 200, a steering unit 300, a boarding unit 400, a goal recognition sensor unit ( 500), a seating sensor unit 600 and a control unit 700.

The power unit 100 may perform in-wheel driving with an electric motor or the like installed therein, and rotate the main wheel 110 supporting the floor with the power of the electric motor or the like.

The body part 200 is coupled to the power unit 100 so as to be able to pivot, and the power unit 100 and the boarding unit 400 can be connected by coupling the boarding unit 400 to the top.

The body part 200 may be provided with a plurality of auxiliary wheels 210 that support the floor and are rotatable on both sides.

The body portion 200 may include a body 230 and an auxiliary wheel 210 .

The body 230 may be rotatably coupled to the power unit 100 at one end and rotatably coupled to a plurality of auxiliary wheels 210 at the other end.

A plurality of auxiliary wheels 210 may be formed symmetrically with each other on both sides of the body 230 to maintain balance.

The plurality of auxiliary wheels 210 support the floor and are rotatably installed to travel by the power of the power unit 100 .

The boarding unit 400 is provided on the upper part of the body unit 200 and may be formed of a seat or the like that allows passengers to board.

The boarding unit 400 may include a holder (not shown) capable of holding a parasol, an umbrella, etc., and a basket 410 capable of accommodating belongings.

The seating sensor unit 600 is provided on the boarding unit 400 and can recognize a behavior pattern of the occupant.

The seating sensor unit 600 may be any one or more of a human body sensor for detecting minute current and a pressure sensor for detecting pressure.

The seating sensor unit 600 may transmit an electric signal to the control unit 700 by detecting a sitting and standing pattern of a passenger boarding the boarding unit 400 or a behavioral pattern such as movement.

The steering unit 300 may form a handle 310 extending from the power unit 100 and bent at an end thereof.

The occupant may hold the handle 310 by hand, and the occupant may manually control the driving direction of the power unit 100 through the handle 310 formed at an end of the adjusting unit 300 .

That is, when manually controlling the driving direction of the powertrain for harvesting, the occupant grips the handle 310 with his or her hand and pivots and moves the control unit 300 in one and the other direction to turn and move the power unit 100 connected to the control unit 300. ) can be manually turned.

The control unit 300 may combine an accommodating unit 311 capable of accommodating crops such as harvested peppers, beans, strawberries, eggplants, and tomatoes.

The control unit 700 is provided above the control unit 300 and can control the power unit 100 by receiving electrical signals from the goal recognition sensor unit 500 and the seating sensor unit 600 .

The controller 700 includes an operation panel capable of turning on/off the power of the power unit 100, the power unit 100, the goal recognition sensor unit 500, the seating sensor unit 600, and A power supply unit such as an electric battery that supplies electricity to the steering motor unit 800 may be included.

The operation panel of the control unit 700 includes a one-touch button, and while the button is pressed by hand, the power unit 100 is operated to drive the powertrain for harvesting, and when the button is released, the power unit 100 is stopped. to stop the harvesting gear.

Since the harvesting transmission device can be used for elderly and female farmers, it must be easy to use, must be stopped during harvesting in the furrow, and can be driven again when proceeding to the next harvest. Therefore, in order to easily operate the repetitive task, a one-touch button was applied, and while pressing the button by hand, the vehicle could be driven forward and stopped when the button was released.

The controller 700 may include a temperature and humidity measurement sensor (not shown) capable of measuring ambient temperature and humidity.

The control unit 700 may receive an electrical signal obtained by measuring the ambient temperature and humidity from the temperature and humidity measuring sensor and compare the measured temperature and humidity with the preset temperature and humidity. In addition, the temperature and humidity sensor measures the temperature and humidity of the environment in which the occupant is working according to the usage time (the time counted by the timer of the control unit), and sends a signal to the occupant when continuously working in high temperature and high humidity conditions for a long time. A notification unit (not shown) may be included. Here, the high-temperature, high-humidity state for a long time may be a state that lasts for one hour or more at a temperature of 35 degrees and a humidity of 80% or more in one embodiment.

In addition, the control unit 700 may receive an electric signal obtained by measuring the ambient temperature and humidity from the temperature and humidity measurement sensor and correct the input signal of the goal recognition sensor unit 500 according to the difference between the preset temperature and humidity. .

The notification unit may be any one or more of a speaker, a monitor, a light, and a buzzer.

In addition, the control unit 700 may notify occupants of a break time and a warning signal through a notification unit using the current temperature, humidity, continuous driving time of the power unit 100 and the user's behavior pattern as monitoring factors.

That is, in one embodiment, when the control unit 700 determines that the power unit 100 is continuously driven for a predetermined period of time or more under conditions of a predetermined temperature and humidity or higher, a rest signal and a warning signal may be sent to the occupant through the notification unit.

In another embodiment, when work is performed in a high-temperature/high-humidity environment, a warning signal may be generated through a notification unit when the control unit 700 determines that the occupant's behavior pattern is abnormal through an electrical signal transmitted through the seating sensor unit 600. have. To describe an abnormal behavior pattern of the occupant as an example, it may be a situation in which the control unit 700 cannot detect the occurrence of the occupant's behavior pattern through an electric signal transmitted through the seating sensor unit 600 .

In addition, if the warning signal continues for a predetermined time after the warning signal is generated by the notification unit and the occupant's pattern cannot be recognized from the electric signal of the occupancy sensor unit 600, the control unit 700 sends 119 and You can make an emergency call by dialing 112, etc.

The goal recognition sensor unit 500 is provided on the front side of the power unit 100 and can determine the shape of the valley at the bottom of the furrow.

The bone recognition sensor unit 500 may be formed to extend from the power unit 100 to the front side so as to be located in the driving direction of the transmission gear for harvesting.

The goal recognition sensor unit 500 may arrange two or more sensors, such as a laser distance sensor, a LIDAR sensor, an image sensor, an ultrasonic distance sensor, and an infrared distance sensor. The goal recognition sensor unit 500 may reduce cost by arranging a plurality of sensors but minimally arranging them.

Since the furrows are generally formed to be curved in a U-shape, in order for the electric drive for harvesting to drive in these furrows, various sensors are used to recognize the boundary of the furrows and the driving guideline in the center of the furrows can be searched.

The goal recognition sensor unit 500 may use distance information between the sensor and the ground measured by each sensor. Meanwhile, the distance difference between the ground floor and the slope of the furrow may be in the range of 5 cm to 10 cm.

The method of determining the steering angle using the bone recognition sensor unit 500 is that when the harvesting transmission gear is shifted to one side of the furrow, the distance sensor value of the sensor in the biased direction gradually decreases and is lower than the sensor value on the other side. can In this way, the position within the furrow of the harvesting transmission device is determined from the change in the sensor value, and the angle of steering can be determined according to the change in the sensor value.

A steering motor unit 800 may be installed at a coupling portion between the power unit 100 and the body unit 200 .

The steering motor unit 800 is formed of an electric motor and a gear assembly, and can turn the power unit 100 around the body unit 200 by using the electric motor as power.

The steering motor unit 800 is controlled by the control unit 700 according to the furrow shape information provided from the valley recognition sensor unit 500, and moves the power unit 100 to one side and the other side with the body unit 200 as the center. According to the turning movement in the direction, the driving direction of the powertrain for harvesting can be automatically controlled.

That is, the steering motor unit 800 may automatically induce the steering of the power unit 100 so that the powertrain for harvesting according to an embodiment of the present invention can travel without leaving the furrow.

2 is a use state diagram schematically showing that the valley recognition sensor unit recognizes the furrow of the floor in the harvest transmission device according to the first embodiment of the present invention.

As shown in FIG. 2 , in the powertrain for harvesting according to the first embodiment of the present invention, a plurality of sensors 510 of the bone recognition sensor unit 500 may be arranged in a straight line on the same horizontal surface.

When the plurality of sensors 510 of the goal recognition sensor unit 500 are arranged in a straight line on the same horizontal plane, cross-sectional information of the furrow f can be displayed as it is, so it is easy to determine the current location and implement the steering decision algorithm. .

Figure 3 is a state diagram schematically showing that the bone recognition sensor unit recognizes the furrow of the floor in the harvesting transmission device according to the second embodiment of the present invention, Figure 4 is for harvesting according to the third embodiment of the present invention It is a usage state diagram schematically showing that the goal recognition sensor unit recognizes the furrow of the floor in the transmission device.

As shown in FIGS. 3 and 4, in the transmission gear for harvesting according to the second embodiment of the present invention, a plurality of sensors 510 of the bone recognition sensor unit 500 are formed in a 'U' shape on the same curved surface. Arrange and in the harvesting transmission according to the third embodiment of the present invention, the plurality of sensors 510 of the goal recognition sensor unit 500 may be arranged in a 'V' shape on the inclined surface.

If the goal recognition sensor unit 500 arranges the sensors in a 'U' shape and a 'V' shape, it is possible to arrange the sensors in a narrow space, and the distance between the sensor 510 and the furrow (f) in the cross-section recognition of the furrow (f) It is possible to accurately obtain cross-sectional information of the furrow (f) by functionally calculating .

5 is a flowchart illustrating a method of operating a steering motor unit in a powertrain for harvesting according to an embodiment of the present invention.

As shown in FIG. 5, the operation method of the steering motor unit 800 includes a data processing step (S1), a furrow recognition step (S2), a path generation step (S3), and a path following and steering motor unit control step (S4). can include

The data processing step ( S1 ) may be a step in which the controller 700 analyzes the electrical signal when the goal recognition sensor unit 500 sends an electrical signal to the controller 700 .

The furrow recognition step ( S2 ) may be a step of recognizing the shape of the furrow through the value obtained by analyzing the electric signal in the control unit 700 .

The route creation step (S3) may be a step of setting a route in the control unit 700 so that the harvesting transmission can be driven along the center of the furrow according to the shape of the furrow.

In the path following and steering motor unit control step (S4), the control unit 700 controls the steering motor unit 800 to turn the direction of the steering motor unit 800 so that the powertrain for harvesting can be driven along the set path. may be a step.

As described above, according to the present invention, the powertrain for harvesting according to an embodiment of the present invention performs an autonomous steering operation based on a sensor for recognizing a furrow, thereby increasing the convenience of farmers during harvesting.

According to the present invention, the powertrain for harvesting according to an embodiment of the present invention has the effect of facilitating operation.

According to the present invention, the powertrain for harvesting according to an embodiment of the present invention has an effect of increasing the safety of the occupants by continuously monitoring the driving time, environmental conditions, and the occupant's condition.

As described above, the transmission gear for harvesting according to the present invention has been described with reference to the illustrated drawings, but the present invention is not limited by the embodiments and drawings described above, and within the scope of the claims, in the technical field to which the present invention belongs Various implementations are possible by those skilled in the art.

100: power unit
110: main wheel
200: body part
210: auxiliary wheel
230: body
300: control unit
310: handle
311: receiving part
400: boarding unit
410: basket
500: goal recognition sensor unit
600: seating sensor unit
700: control unit
800: steering motor unit

Claims (10)

In the transmission device for harvesting crops while traveling in a furrow,
A power unit for rotating the main wheel supporting the floor;
A body portion coupled to the power unit to be pivotally movable, supporting a floor on both sides and providing rotatable auxiliary wheels;
a steering unit extending from the power unit and having a bent handle at an end portion of which the occupant can hold by hand;
a boarding unit provided on an upper portion of the body and enabling a passenger to board;
a goal recognition sensor unit provided on a front side of the power unit and detecting a shape of a valley on the floor;
a seating sensor unit provided on the boarding unit and capable of recognizing an occupant's behavior pattern;
a controller controlling the power unit by receiving electrical signals from the goal recognition sensor unit and the seating sensor unit; and
It is provided in a coupling part of the power unit and the body unit, and is controlled by the control unit so that the power unit travels along the center of the valley identified by the goal recognition sensor unit, so that the power unit pivots automatically around the body unit. Harvesting transmission device characterized in that it comprises a steering motor unit. The method of claim 1,
The control unit is provided on the top of the control unit,
An operation panel unit capable of ON/OFF operation of the power unit and
A power transmission device for harvesting, characterized in that it comprises a power supply unit for supplying electricity to the power unit, the bone recognition sensor unit, and the seating sensor unit. delete The method of claim 1,
The bone recognition sensor unit is a harvesting transmission device, characterized in that a plurality of sensors of any one or more of a laser distance sensor, lidar, an image sensor, an ultrasonic distance sensor, and an infrared distance sensor are arranged. The method of claim 4,
The harvest transmission device, characterized in that the bone recognition sensor unit arranges a plurality of sensors on the same horizontal surface. The method of claim 4,
The harvest transmission device, characterized in that the bone recognition sensor unit arranges a plurality of sensors on the same curved surface. The method of claim 4,
The harvest transmission device, characterized in that the bone recognition sensor unit arranged a plurality of sensors on the inclined surface. The method of claim 1,
The control unit is a harvesting transmission device, characterized in that it comprises a temperature and humidity measuring sensor for measuring the temperature and humidity of the surroundings. The method of claim 8,
The control unit includes a notification unit that sends a signal to the occupant when the temperature and humidity are higher than the preset temperature and humidity. The method of claim 1,
The control unit is a powertrain for harvesting, characterized in that it comprises a communication unit capable of communicating with an external communication terminal.

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