KR102537049B1 - Multipurpose Miniature Robot - Google Patents

Abstract

The present invention relates to a multi-purpose small robot, and the present invention relates to a small robot that can be used for agricultural and multi-purpose purposes, which is a device invented to remotely control an unmanned multi-purpose small robot or to avoid obstacles by itself while driving on a path, which can prevent workers from being poisoned with pesticides. Robotic technology is provided.

Description

Multipurpose Miniature Robot

The present invention relates to a multi-purpose small robot, and the present invention relates to a small robot that can be used for agricultural and multi-purpose purposes, which is a device invented to remotely control an unmanned multi-purpose small robot or to avoid obstacles by itself while driving on a path, which can prevent workers from being poisoned with pesticides. Robotic technology is provided.

In general, the spraying method of pesticides and fertilizers currently being performed in rural areas is carried out by diluting the pesticide in water and spraying it in a sprayer or the like, or by holding the plastic bag at both ends and spraying the pesticide in a long plastic bag.

However, this conventional spraying method is the most primitive work method in which a large number of manpower is addicted to pesticides and can harm health, and there is a problem that it is not easy to obtain spraying manpower at present, where the number of rural manpower is declining. In addition, there is a method of spraying pesticides and fertilizers using agricultural machines such as airplanes and helicopters, but this method is suitable for large-scale farming and cannot be suitable for small farms cultivating a small area such as Korea.

Furthermore, even when looking at the number of sick people, disease prevalence, and severity of diseases at agrochemical companies, it can be confirmed that the use of pesticides in confined spaces such as greenhouses or smart farms is very fatal for agricultural and livestock workers due to the harmfulness of pesticides.

In the case of existing tracked vehicles, engines using gasoline and diesel are used, which causes very loud noise and environmental pollution, so the present inventors provide an eco-friendly and low-noise tracked vehicle that can be driven using a battery.

In addition, the present inventors are miniaturized that can move around small arable land and paths, and control and pesticide spraying are possible without a person driving directly. Tracks were introduced to facilitate driving on unpaved farm roads, waterways and plastic greenhouses. A tracked vehicle was adopted for the driving part to move on uneven terrain to facilitate access to houses and barns.

In addition, a sliding tray is installed in the loading part so that elderly workers and women can easily move heavy materials. The present invention is equipped with a spray module in the loading part, but through a sliding tray, it is easy to clean and move, and a one-touch handle is installed so that the elderly and women can easily attach and detach it.

It was devised in view of the above conventional problems, and in the past, workers sprayed drugs using heavy drug barrels, and as a result, workers were exposed to pesticide poisoning and various diseases.

Therefore, the present invention provides a robot capable of preventing workers from poisoning with pesticides as a device invented to remotely control an unmanned multipurpose small robot or avoid obstacles by itself while driving on a path.

The above problems are further revealed in specific details.

Looking at the configuration by the accompanying drawings are as follows.

The self-driving robot body 15 equipped with an acceleration sensor 211, a gyro sensor 212, a geomagnetic sensor 213, a satellite antenna 215, and a communication means 230 used for autonomous driving control is

A base frame 10, a BLDC driving motor 11 capable of varying rotation speed, a track 13 connected to the driving part 12 of the driving motor 11 and traveling on the ground, and the driving motor 11 A battery (not shown) that supplies power, a slide rail 14 is mounted on the upper side of the base frame 10, and

The slide rail part 20 coupled to the slide rail 14 is guided to the slide rail 20 and coupled and separated while sliding, but the actuators 21 and 201 and the rod 22 are attached to the slide rail part 20 being connected

The actuator 21 is connected to the drug tank frame 23,

The drug tank frame 23 includes a drug tank 30, a motor pump 31 for pumping drugs in the drug tank 30, and a plurality of drug pipes 32 and drugs from the motor pump 31 It is a configuration in which the nozzle 33 is mounted and the drug is sprayed by the nozzle 33 while traveling through the track 13.

As described above, in the prior art, workers sprayed drugs using a heavy drug container, which exposed workers to pesticide poisoning and various diseases.

Therefore, the present invention is a device invented to remotely control an unmanned multipurpose small robot or avoid obstacles by itself while driving on a path, and can prevent workers from being poisoned with pesticides.

The above effects are further revealed in specific details.

1) is a partially exploded perspective view of the multi-purpose small robot of the present invention;
B) is a partial perspective view of the multi-purpose small robot of the present invention.
Figure 2 a), b) is an explanatory diagram of the present invention.
3 is a side view of the present invention,
A) is a side view of the state in which the rod of the actuator is reduced,
B) is a side view of the extended state with the actuator rod reduced.
4 is a flow chart of the present invention;

First look at the configuration by the accompanying drawings and look at the embodiment accordingly.

The multipurpose robot of the present invention includes a base frame 10, a BLDC driving motor 11 capable of varying rotation speed, a track 13 connected to the driving unit 12 of the driving motor 11 and traveling on the ground, a battery (not shown) for supplying power to the drive motor 11, a robot body 15 having a slide rail 14 formed on the upper side of the base frame 10;

A slide rail part 20 that is coupled and separated while being guided by the slide rail 20 of the robot body 15, and an actuator 21 and a rod 22 are connected to the slide rail part 20,

The actuator 21 is connected to the drug tank frame 23,

The drug tank frame 23 includes a drug tank 30, a motor pump 31 for pumping drugs in the drug tank 30, and a plurality of drug pipes 32 and drugs from the motor pump 31 It includes a configuration in which the nozzle 33 is mounted and the drug is sprayed by the nozzle 33 while traveling through the track 13.

The power of the battery is applied to or cut off from the drive motor 11 and the motor pump 31 through the control unit 210c.

Furthermore, the slide rail 20 of the robot body 15 is coupled and separated by sliding each other in the slide rail part 20 located at the bottom of the drug tank frame 23, thereby providing a low battery warning message or When a warning sound is generated, the robot body 15 is moved to a robot charging room (not shown) for battery charging after separating the robot body 15 from the heavy medicine tank frame 23.

At this time, while extending a plurality of cylinder rods (not shown) around the edge of the drug tank frame 23 to support the ground. After that, if the robot body 15 is separated, separation is possible.

After charging the battery in the robot charging room, the robot body 15 continuously transmits and receives signals so that it can return to the drug tank frame 23.

The time point at which the robot body 15 returns to the medicine tank frame 23 is set to return when the battery charge is fully charged. This makes it clear where you can go back.

That is, for example, when the residual power is 10%, the robot body 15 is separated from the drug tank frame 23 and when charging is completed, the robot body 15 can be programmed to return to the drug tank frame 23. there is.

By separating them from each other in this way, there is no need to move the heavy drug tank frame (including the liquid tank) to the robot charging room at a long distance, and thus power of the battery can be saved.

Looking at the configuration of the present invention with reference to the accompanying drawing 1 is as follows.

A control unit 210 that controls the rotational speed of the drive motor 200 or reads and processes signals from a gyro sensor, an acceleration sensor, a geomagnetic sensor, and an altitude sensor;

an acceleration sensor 211 for sensing acceleration in the robot 200a; a gyro sensor 212 for detecting an inclination of the robot 200a;

a geomagnetic sensor 213 recognizing the moving direction of the robot 200a;

a satellite antenna (215) for transmitting and receiving the aircraft location information data;

a communication means 230 for communicating information of the robot 200a;

a balance control unit 210a for acquiring acceleration and inclination provided from the acceleration sensor 211 and the gyro sensor 212 and controlling the balance through PID control;

Here, the balance control unit 210a has an actuator 21 between the drug tank frame 23 and the robot body 15, so that the drug tank frame ( 23) maintain this balance. By maintaining the balance in this way, even if the medicine of the medicine tank 30 having a sense of weight is shaken, the robot does not fall.

a plurality of actuators 201 for driving under the control of the balance controller 210a;

The balance control unit 210a is composed of a balance control module 210b for obtaining acceleration and inclination provided from the acceleration sensor 211 and the gyro sensor 212 and performing PID control.

The communication means 230 is an IOT communication means and is a component that provides a pattern of driving data, such as location and speed, to a base station in real time.

The geomagnetic sensor is a sensor capable of detecting a direction like a compass by grasping the flow of a magnetic field generated from the earth, and can recognize the moving direction of the robot.

As a result, the robot can recognize its own direction of travel, enabling stable driving.

The communication means 230 includes a wireless module 250 that transmits the result of calculation processing of the control unit 210c to a manager or user's mobile communication terminal and PC using WAP;

Through the wireless module 250 and the existing mobile communication network, the remote manager or user's mobile communication terminal (monitor pc) transmits the unique number of the robot 200a, a predetermined character, and the measurement data stored in the storage device to the remote user. This makes it possible to know the information of a certain robot from a remote location.

Briefly describing the active operation of the remote monitoring system, a manager or user who wants remote monitoring drives an application program installed in a mobile communication terminal, accesses the control unit 210c, and requests a status check from the control unit 210c. When is transmitted, the control unit 210c transmits the current or past results extracted in response to the status check request from the manager or user to the manager or user's mobile communication terminal.

In this embodiment, by using WAP (Wireless Application Protocol) installed in the control unit 210c and the manager's or user's mobile communication terminal to enable wireless data communication between the two devices, remote monitoring can be performed without separate equipment. can

WAP serves as a communication emulator, and converts the signal received and demodulated from the other party into meaningful information according to a predetermined protocol, monitoring the status of the robot 200a in a remote place with a mobile communication terminal allows you to do

As shown in FIG. 4, an autonomous driving robot 200a equipped with a sensing unit 210 used for autonomous driving control has a plurality of actuators 201. It consists of a composition that includes

The self-driving robot 200a is equipped to perform center-of-center control and horizontal control on the self-driving robot side using the inertial measurement equipment 300 and the inertial navigation equipment 310 used for autonomous driving control.

The inertial measurement unit (IMU) is a device capable of measuring the speed, direction, gravity, and acceleration of the self-driving robot 200a. It is provided to measure free movement in space.

Here, the accelerometer may measure movement inertia, the gyroscope or gyroscope may measure rotational inertia, and the earth magnetic sensor may measure azimuth.

The attitude measurement can be mainly performed through the inertial measuring device.

The inertial navigation system (INS; Intertial Navigation System) is an independent dead-navigation device that determines direction, distance, and speed using an inertial sensor such as a gyroscope or accelerometer, a reference direction, and an initial position. Elements are dynamically detected and the navigation quantity (velocity, angular position or location information of the autonomous robot) is determined according to calculation.

The inertial navigation system can mainly perform attitude measurement and distance measurement.

Through this, the self-driving robot 200a inputs the load such as the medicine tank 30 and the specifications of the self-driving robot 200a, calculates a correction value by using them, and then performs centering control and horizontal control on the self-driving robot side. equipped to perform

The actuator 201 is controlled through the control unit 210c by the detected value of the sensing unit 210c to easily control the center of gravity and horizontality of the self-driving robot 200a while limiting the movement. As a configuration, using an algorithm It is provided to control the operation in real time.

The plurality of actuators 201 are provided in a pair configuration of two sets disposed at intervals located on the left and right sides.

When the drug spraying is completed by the robot 200a of the present invention, it moves to the garage by the program.

If the battery is low in automatic mode while driving, it moves to the robot charging room with a warning message or warning sound. When the battery charge is completed after moving, it moves according to the set program.

A camera installed in front of the robot 200a may collect forward associations and continuously transmit them to the manager.

For reference, further explanation includes lidar on top of the robot body 15, includes a gyro sensor for measuring inclination that interlocks with the microcomputer of the control unit, and includes an acceleration sensor for detecting speed and interlocks with FC.

In addition, it detects and avoids the surrounding terrain and objects, interlocks and transmits the mapped map to the microcomputer, and the microcomputer of the control unit uses the controller (tablet, RC controller, laptop, etc.) LTE (3G, 4G) system for two-way communication and Autonomous driving may be possible.

The indoor navigation system, which is interlocked with the controller and installed in the indoor cultivation facility and uses an ultrasonic sensor, can search for a fixed ultrasonic beacon and search and replenish it with a medicine or water supplier.

In addition, it is possible to prevent front collision and fall through ultrasonic and infrared sensors.

In addition, it includes a camera capable of photographing the surroundings, and the camera is interlocked with a signal of a gyro sensor (FC) to drive a gimbal motor and maintain a level with the ground, and the gimbal motor can be remotely controlled through a controller.

In addition, the LTE module system can be remotely interlocked with the controller to drive the control unit by voice control.

The controller may include a tablet, RC control laptop, and the like.

In addition, the controller and the GPS module are interlocked, and the current location can be determined through the controller, and route setting and route driving can be performed.

In addition, an environmental measurement module for measuring humidity, temperature, fine dust and gas in the external environment is included on the upper part and can be transmitted remotely.

driving unit; The multi-purpose small robot includes a driving unit including a DC motor and a BLDC motor for driving a plurality of wheels and tracks

injection part; The injection control table linked with FC's gyro sensor can be automatically maintained with a servo motor to maintain level with the ground and can be remotely controlled with a controller.

In addition, a storage tank for storing water and a BLDC pump and a DC pump operated in connection with the storage tank may be used.

In addition, it may further include a centrifugal nozzle that does not use a pump.

Sliding rail that can be movable in engagement with the guide rail The sliding rail can be loaded with medicine spraying, smoke, disinfection, seeding, etc., and used and operated by the power unit and control unit.

In addition, the user can pull the loading tray or push the loading tray when storing.

In addition, when the vehicle battery is below a certain voltage, a notification is made in conjunction with the control unit, and automatically returns to the starting point in conjunction with the GPS and stationary ultrasonic beacon, and the vehicle body lithium polymer charger is installed to automatically charge.

In addition, a flow sensor is applied to the outside of the nutrient solution and water tank, and when the chemical amount is below a certain level, the GPS and ultrasonic beacon are searched to return to the starting point or the charging stage and automatically refuel.

In addition, it may be possible to use the generator in a field where no power is supplied.

You can also use fuel.

10: base frame
11: drive motor
12: driving unit
15: robot body
20: slide rail
21: actuator
22: load
23: chemical tank frame
30: chemical tank
31: motor pump
32: chemical piping
33: nozzle
200: drive motor
200a: robot
211: acceleration sensor
212: gyro sensor
213: geomagnetic sensor
215: satellite antenna
230: means of communication

Claims (3)

The self-driving robot body 15 equipped with an acceleration sensor 211, a gyro sensor 212, a geomagnetic sensor 213, a satellite antenna 215, and a communication means 230 used for autonomous driving control,
A BLDC drive motor 11 capable of varying the rotational speed of the base frame 10, a track 13 connected to the drive unit 12 of the drive motor 11 and traveling on the ground, and power to the drive motor 11 A battery that supplies a, is mounted including a slide rail 14 on the upper side of the base frame 10,

The slide rail part 20 coupled to the slide rail 14 is guided to the slide rail 20 and coupled and separated while sliding, but the actuator 21 and the rod 22 are attached to the slide rail part 20 being connected
The actuator 21 is connected to the drug tank frame 23,
The drug tank frame 23 includes a drug tank 30, a motor pump 31 for pumping drugs in the drug tank 30, and a plurality of drug pipes 32 and drugs from the motor pump 31 In the configuration in which the nozzle 33 is mounted and the drug is sprayed by the nozzle 33 while traveling through the track 13,
When the slide rail 14 is coupled and separated by sliding from the slide rail part 20 located at the bottom of the drug tank frame 23 to generate a battery low warning message or a warning sound during drug spraying, the drug with a sense of weight Before separating the robot body 15 from the tank frame 23, a plurality of cylinder rods installed on all sides of the rim of the drug tank frame 23 are extended to
After supporting the drug tank frame 23 on the ground, the robot body 15 is separated, and then the robot body 15 is configured to move to the robot charging room for battery charging.
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