KR102563960B1 - Robot for pest control - Google Patents

Abstract

The present invention relates to a control robot that travels autonomously and sprays a chemical solution to cultivated plants such as crops, and in particular, a spray module for selectively spraying a chemical solution as needed and a loading module for loading a load are attached to the body of the control robot. It relates to a control robot capable of combining and separating.

Description

Control robot {ROBOT FOR PEST CONTROL}

The present invention relates to a control robot that travels autonomously and sprays a chemical solution on cultivated plants such as crops.

As the robot industry develops, tasks that have gone through human hands in the agricultural field are changing to be performed by robots.

In particular, in the case of control work, which is a work of preventing or rescuing cultivated plants such as crops from pests and diseases, since the chemical solution harms human health, it is being replaced by an unmanned control machine such as a control robot that automatically travels.

As a patent for such a control robot, it is known that it is described in Korea Patent Registration No. 10-1981196 (hereinafter referred to as 'Patent Document 1').

The smart control robot of Patent Document 1 is provided with a plurality of spray nozzles and sprays a chemical solution to cultivated plants by having a spray unit for spraying nutrient solution or water by adjusting the height and angle of each spray nozzle to the outside.

However, in the case of the smart pest control robot of Patent Document 1, there is no separate loading unit and cannot load the load. Therefore, when a separate loading unit for loading loads is provided, the size of the smart control robot increases.

In addition, since the spraying part is fixed to the smart control robot, it is not easy to replace, so maintenance is difficult.

Korean Patent Registration No. 10-1981196

The present invention has been made to solve the above problems, to provide a control robot capable of coupling and separating a spray module for selectively spraying a chemical solution as needed and a loading module for loading a load on the body of the control robot aims to

A control robot according to one feature of the present invention includes a plate and a body provided with a moving means provided under the plate; and a control module provided in front of the upper surface of the plate, wherein a spray module equipped with a spray unit for spraying chemical solution or a loading module equipped with a load plate for loading loads is selectively positioned at the rear of the control module. It is coupled by sliding on the upper surface of the plate.

In addition, the injection module may include a storage tank in which a chemical liquid is stored; and a pump connected to the storage tank to supply the liquid chemical to the injection unit. and a plurality of first slide wheels provided under the spray module so that the spray module slides on the upper surface of the plate when the spray module is coupled to the plate.

In addition, the body, first and second guides provided on the upper surface of the plate; and first and second coupling parts provided on an upper surface of the plate, wherein the spray module is configured to guide the position of the spray module when the spray module is slid and coupled to the upper surface of the plate. , third and fourth guides located outside each of the two guides; And when the injection module is slid on the upper surface of the plate and the front surface of the injection module comes into contact with the rear surface of the control module, a third provided below the injection module so as to be engaged with the first and second coupling parts, respectively. , 4 coupling parts;

In addition, first and second grooves are provided in each of the first and second coupling parts, and first and second bars inserted into the first and second grooves are provided in each of the third and fourth coupling parts.

In addition, the plurality of first slide wheels and the third and fourth coupling parts are located outside the third and fourth guides.

In addition, the spray module further includes a spray module door that opens and closes the inside of the spray module.

In addition, the control module may include a battery supplying electricity to a motor driving the moving means; a control unit controlling the motor and the injection unit; and a control module door that opens and closes the inside of the control module.

In addition, the moving means is composed of an endless track including a wheel and a belt surrounding the wheel.

In addition, the spraying unit may include a spraying unit body installed to be able to move up and down on at least one of the left and right sides of the spraying module; a spray head rotatably installed on an upper part of the spray unit body by a shaft formed in a forward and backward direction, and having a nozzle spraying the liquid chemical from the storage tank by the pump; and a plurality of auxiliary nozzles provided vertically on the body of the spraying unit and spraying the liquid chemical in the storage tank by the pump.

In addition, the body, first and second guides provided on the upper surface of the plate; and first and second coupling parts provided on an upper surface of the plate, wherein the loading module is configured to slide the loading module on the upper surface of the plate when the loading module is coupled to the plate. a plurality of second slide wheels provided at the bottom; fifth and sixth guides located outside the first and second guides, respectively, to guide the position of the loading module when the loading module is slid and coupled to the upper surface of the plate; and a fifth provided at a lower portion of the loading plate so as to be engaged with each of the first and second coupling parts when the loading module slides on the upper surface of the plate and the front surface of the loading module comes into contact with the rear surface of the control module. 6 coupling part; includes.

A control robot according to another feature of the present invention includes a plate and a body provided with a moving means provided under the plate; A control module provided in front of the upper surface of the plate; and a spraying module detachably provided on an upper surface of the plate to be located at a rear of the control module, wherein the spraying module includes: a storage tank for storing a liquid medicine; a spraying unit spraying the liquid medicine; and a pump connected to the storage tank and supplying the liquid chemical to the injection unit.

According to the control robot of the present invention as described above, there are the following effects.

By coupling a spray module for selectively injecting chemicals according to a user's use and a loading module for loading a load onto the body, the robot can maintain a compact appearance, and autonomous driving of the control robot can be effectively performed.

Since the injection module and the loading module slide on the upper surface of the plate of the body through a plurality of first slide wheels and a plurality of second slide wheels, respectively, coupling and separation between the body and the injection module or the body and the loading module are easy.

Since the injection module and the plate of the body are aligned through the first and second guides and the third and fourth guides, and the loading module and the plate of the body are aligned through the first and second guides and the fifth and sixth guides, The user can easily combine the body with the injection module or the loading module without error.

When the control robot autonomously travels, it is possible to prevent the spraying unit from being caught on an obstacle by maintaining an accommodation state in which the spraying unit is accommodated in the storage unit.

In addition, in the spraying state, each of the spraying parts is lifted from the storage unit so that the spraying head equipped with the nozzle is located at a position higher than the upper surface of the control robot, that is, the upper surface of the case of the spraying module, so that the spraying module when spraying the chemical solution It is possible to easily spray the chemical solution to cultivated plants by preventing spraying from being disturbed by components of the lamp control robot.

Since the injection unit can be accommodated in the storage unit, and the control robot is compact, it is easy to store the control robot itself.

In addition, since the ejection head is rotatable around the shaft, the chemical liquid can be ejected at various angles.

1 is a perspective view showing a state in which a spray module is coupled to a body in a control robot of the present invention;
Figure 2 is a perspective view showing a state in which the control module door and the injection module door of the pest control robot of Figure 1 are opened.
Figure 3 is a perspective view showing that the body and spraying module of the control robot of Figure 1 is separated.
Figure 4 is a perspective view showing a state in which the injection module or loading module is not coupled to the body in the control robot of the present invention.
Figure 5 is a perspective view of the injection module of the control robot of the present invention.
Figure 6 is a bottom view of the injection module of the control robot of the present invention.
Figure 7 is a perspective view showing a state in which the injection unit of the control robot of Figure 1 is raised.
Figure 8 is a perspective view showing a state in which the loading module is coupled to the body in the control robot of the present invention.
Figure 9 is a perspective view showing that the body and loading module of the control robot of Figure 8 are separated.
Figure 10 is a bottom view of the loading module of the pest control robot of the present invention.

The following merely illustrates the principle of the invention. Therefore, those skilled in the art can invent various devices that embody the principles of the invention and fall within the concept and scope of the invention, even though not explicitly described or shown herein. In addition, it should be understood that all conditional terms and embodiments listed in this specification are, in principle, expressly intended only for the purpose of making the concept of the invention understood, and are not limited to such specifically listed embodiments and conditions. .

The above objects, features and advantages will become more apparent through the following detailed description in conjunction with the accompanying drawings, and accordingly, those skilled in the art to which the invention belongs will be able to easily implement the technical idea of the invention. .

Embodiments described herein will be described with reference to cross-sectional and/or perspective views, which are ideal exemplary drawings of the present invention. Therefore, embodiments of the present invention are not limited to the specific shapes shown, but also include changes in shapes generated according to manufacturing processes.

Hereinafter, the pest control robot 10 of the present invention will be described with reference to FIGS. 1 to 10 .

1 is a perspective view showing a state in which a spray module is coupled to a body in the pest control robot of the present invention, and FIG. 2 is a perspective view showing a state in which the control module door and the spray module door of the pest control robot of FIG. 1 are opened. 3 is a perspective view showing that the body and spraying module of the control robot of FIG. 1 are separated, and FIG. 4 is a perspective view showing a state in which the spraying module or loading module is not coupled to the body in the control robot of the present invention, and FIG. is a perspective view of the spray module of the control robot of the present invention, Figure 6 is a bottom view of the spray module of the control robot of the present invention, Figure 7 is a perspective view showing a state in which the spray unit of the control robot of Figure 1 is raised, Figure 8 is a perspective view showing a state in which the load module is coupled to the body in the control robot of the present invention, and FIG. 9 is a perspective view showing that the body and load module of the control robot of FIG. 8 are separated, and FIG. This is a bottom view of the loading module of the robot.

As shown in FIGS. 1 to 10, the control robot 10 of the present invention includes a plate 110 and a body 100 equipped with a moving means 130 provided under the plate 110; and , The control module 200 provided in front of the upper surface of the plate 110; and the injection module 300 provided with the injection unit 400 for injecting the chemical solution; and the loading plate 810 for loading the load The loading module 800 provided; includes, and the injection module 300 or the loading module 800 is located on the upper surface of the plate 110 of the body 100 so as to be selectively located at the rear of the control module 200. It can be slid and joined.

As above, the injection module 300 and the loading module 800 are selectively coupled to the body 100 . That is, when the control robot 10 sprays the chemical solution to the cultivated plants by the user's selection according to the purpose, as shown in FIGS. 1 and 3, the spray module 300 is coupled to the body 100. In the case of loading loads such as fruits and the like of cultivated plants, as shown in FIGS. 8 and 9 , the loading module 800 is coupled to the body 100 .

The body 100 includes a plate 110; and a moving means 130 provided under the plate 110; and first and second guides 111 and 112 provided on the upper surface of the plate 110; And, the first and second coupling parts 113 and 114 provided on the upper surface of the plate; may be configured to include.

As shown in FIG. 4 , the first guide 111 is formed on the rear left side of the control module 200 on the upper surface of the plate 110 in the forward and backward directions.

The second guide 112 is formed and provided on the rear right side of the control module 200 on the upper surface of the plate 110 in the forward and backward directions.

The first coupling part 113 is provided on the left side of the first guide 111 at the rear left side of the control module 200 on the top surface of the plate 110 .

The second coupling part 114 is provided on the right side of the second guide 112 at the rear right side of the control module 200 on the top surface of the plate 110 .

The first coupling part 113 is located outside the first guide 111, and the second coupling part 114 is also located outside the second guide 112. That is, the first and second coupling parts 113 and 114 are located outside the first and second guides 111 and 112, respectively. Therefore, the first coupling part 113, the first guide 111, the second guide 112, and the second coupling part 114 are located in order from left to right.

The first coupling part 113 is provided with a first groove 113a.

When the injection module 300 is coupled to the upper surface of the plate 110 of the body 100, the first bar 391a of the third coupling part 391 is inserted into the first groove 113a, so that the injection module ( 300) and the plate 110 of the body 100 are coupled.

When the loading module 800 is coupled to the upper surface of the plate 110 of the body 100, the second bar 392a of the fifth coupling part 891 is inserted into the first groove 113a, so that the loading module ( 800) and the plate 110 of the body 100 are coupled.

The second coupling part 114 is provided with a second groove 114a.

When the injection module 300 is coupled to the upper surface of the plate 110 of the body 100, the second bar 392a of the fourth coupling part 392 is inserted into the second groove 114a, so that the injection module ( 300) and the plate 110 of the body 100 are coupled.

When the loading module 800 is coupled to the upper surface of the plate 110 of the body 100, the fourth bar 892a of the sixth coupling part 892 is inserted into the second groove 114a, so that the loading module ( 800) and the plate 110 of the body 100 are coupled.

The moving means 130 is provided under the body 100, that is, under the plate 110.

The moving means 130 may be composed of an endless track including a wheel 131 and a belt 133 surrounding the wheel 131 .

The moving unit 130 is driven by a motor (not shown), and the motor receives electricity from the battery 210 .

The control module 200 is provided on the upper front of the body 100. That is, the control module 200 is provided in front of the upper surface of the plate 110 . Accordingly, the control module 200 is positioned in front of the injection module 300 or the loading module 800 on the top of the body 100, that is, on the top surface of the plate 110.

The control module 200 includes a battery 210 that supplies electricity to a motor driving the moving means 130; and a controller that controls the motor, the pump 330 of the injection module 300, and the injection unit 400. 230; and, a control module door 270 opening and closing the inside of the control module 200; may be configured to include.

As shown in FIG. 2 , the control module door 270 functions as a control module case surrounding the control module 200 . Thus, the battery 210 and the controller 230 are located inside the control module door 270 .

In addition, the control module door 270 opens and closes the inside of the control module 200 . A user may open the control module door 270 to maintain the battery 210 and the controller 230 inside the control module 200 .

The moving means 130 is driven by a motor. The control unit 230 may control the driving of the control robot 10 by controlling the operation and suspension of the motor or by controlling the driving direction of the moving means 130 .

The injection module 300 is provided at the upper rear of the body 100. That is, the injection module 300 is provided behind the upper surface of the plate 110 . Accordingly, the injection module 300 is located at the rear of the control module 200 on the upper surface of the body 100, that is, on the upper surface of the plate 110.

As shown in FIG. 3 , the injection module 300 may be configured to be separable from the body 100 .

That is, the injection module 300 can be coupled to and separated from the upper surface of the plate 110 of the body 100 .

In addition, as shown in FIG. 2, the spray module 300 is provided with a spray module door 370, and the spray module door 370 has a function of opening and closing the inside of the case 305 of the spray module 300. do. Therefore, the user can open the injection module door 370 to put chemical liquid into the storage tank 310 provided inside the case 305 of the injection module 300 or to perform maintenance on the pump 330.

The injection module 300 includes a case 305; a storage tank 310 provided inside the case 305 and storing a chemical solution; and a spray head having a nozzle 431 for spraying the chemical solution ( 430); and a pump 330 provided inside the case 305 and connected to the storage tank 310 to supply chemical solution to the spraying unit 400; and, the spraying unit A storage unit 351 in which the 400 is stored; and a spray module door 307 that opens and closes the interior of the spray module 300; and, when the spray module 300 is coupled to the plate 110, the spray module A plurality of first slide wheels 360 provided at the bottom of the injection module 300 so that the 300 slides on the upper surface of the plate 110; and, the injection module 300 slides on the upper surface of the plate 110 When combined, the third and fourth guides 381 and 382 located outside the first and second guides 111 and 112 of the plate 110 so that the position of the spray module 300 is guided; and, the spray module When the front surface of the injection module 300 is in contact with the rear surface of the control module 200 as the 300 slides on the upper surface of the plate 110, the first and second coupling parts of the plate 110 of the body 100 (113, 114), respectively; the third and fourth coupling parts 391 and 392 provided at the lower part of the injection module 300 to be combined; may be configured to include.

A storage tank 10 and a pump 330 are provided inside the case 305 .

The pump 330 of the injection module 300 is powered by the battery 210, and its operation may be controlled by the controller 230.

When the pump 330 operates, the chemical solution stored in the storage tank 310 is supplied to the injection unit 400 .

The accommodating part 351 provides a space in which the spraying part 400 is accommodated.

As shown in FIG. 6, the plurality of first slide wheels 360 are provided on the bottom of the injection module 300, that is, the lower surface of the case 305 of the injection module 300, and the injection module 300 When coupled to the plate 110, the injection module 300 functions to slide on the upper surface of the plate 110.

That is, as shown in FIG. 3, while the plurality of first slide wheels 360 roll along the upper surface of the plate 110, the injection module 300 can be easily slid on the upper surface of the plate 110. .

The plurality of first slide wheels 360 may be located outside the third and fourth guides 381 and 382 .

The third guide 381 is formed and provided on the lower side of the spray module 300, that is, on the left side of the case 305 of the spray module 300 in the forward and backward directions.

The fourth guide 382 is formed and provided on the lower side of the spray module 300, that is, on the right side of the lower surface of the case 305 of the spray module 300 in the forward and backward directions.

The third coupling part 391 is provided on the left side of the third guide 381 under the lower part of the spraying module 300, that is, on the left side of the case 305 of the spraying module 300.

The third coupling portion 391 is located at a position corresponding to the first coupling portion 113 of the plate 110 .

The third coupling portion 391 is provided with a first bar 391a, and the first bar 391a is inserted into the first groove 113a of the first coupling portion 113, thereby dispensing the module 300, The plate 110 of the body 100 is fastened and the coupling is made.

The fourth coupling part 392 is provided on the right side of the fourth guide 382 at the bottom of the spray module 300, that is, on the right side of the case 305 of the spray module 300.

The fourth coupling part 392 is located at a position corresponding to the second coupling part 114 of the plate 110 .

The fourth coupling portion 392 is provided with a second bar 392a, and the second bar 392a is inserted into the second groove 114a of the second coupling portion 114, thereby providing the injection module 300, The plate 110 of the body 100 is fastened and the coupling is made.

The third coupling part 391 is located outside the third guide 381, and the fourth coupling part 392 is also located outside the fourth guide 382. That is, the third and fourth coupling parts 391 and 392 are located outside the third and fourth guides 381 and 382, respectively. Therefore, the third coupling part 391, the third guide 381, the fourth guide 382, and the fourth coupling part 392 are located in order from left to right on the lower surface of the injection module 300.

The third coupling part 391 may be located between the plurality of first slide wheels 360 located on the lower side of the injection module 300, that is, on the left side of the lower surface of the injection module 300.

The fourth coupling part 392 may be located between the plurality of first slide wheels 360 located on the lower side of the injection module 300, that is, on the right side of the lower surface of the injection module 300.

When the spray module 300 and the plate 110 of the body 100 are coupled, the third and fourth guides 381 and 382 are positioned outside the first and second guides 111 and 112 . Therefore, when the spray module 300 is slid to the wrong position, the first and second guides 111 and 112 and the third and fourth guides 381 and 382 are displaced so that the spray module 300 and the body 100 are displaced. bonding cannot take place. That is, through the first guide 111, the second guide 112, the third guide 381 and the fourth guide 382, the spray module 300 and the plate 110 of the body 100 are in place. that can be combined.

The injection unit 400 functions to spray the chemical solution to the cultivated plants.

As shown in FIG. 1, when the spraying unit 400 is stored in the storage unit, the spraying head 430 is located at a position lower than the upper surface of the case 305 of the spraying module 300. The injection unit 400 is accommodated in the storage unit 351 .

As shown in FIG. 7 , when the spraying unit 400 is in a spraying state, the spraying head 430 is located at a higher position than the upper surface of the case 305 of the spraying module 300. 400 is taken out of the storage part 351.

The spraying unit 400 is installed to be able to go up and down on at least one of the left and right sides of the spraying module 300, and when it changes from the storage state to the spraying state, the spraying unit body rises vertically and is taken out of the storage unit 351. 410; And, a nozzle 431 rotatably installed by a shaft 415 formed in the forward and backward direction on the upper part of the spray body 410, and spraying the chemical solution of the storage tank 310 by the pump 330 ) equipped with a spray head 430; and a plurality of auxiliary nozzles 411 provided vertically on the spray body 410 and spraying the chemical solution of the storage tank 310 by the pump 330; can be configured to include

The jetting head 430 is formed in the front and rear direction and may be rotatably installed on the jetting body 410 by a shaft 415 installed above the jetting body 410 .

A blowing fan 433 may be provided at the rear of the nozzle 431 so that the spray head 430 sprays the chemical liquid sprayed from the nozzle 431 .

A plurality of spraying units 400 may be provided, and as an example, they may be provided on the left and right sides of the case 305 of the spraying module 300 of the spraying module 300 of the control robot 10, respectively. . In this case, the accommodating part 351 may also be provided on the left and right sides of the case 305 of the spraying module 300 in the same way as the spraying unit 400 .

The elevation of the sprayer body 410 may be performed by a sprayer driving device (not shown). This injection driving device is controlled by the control unit 230 . Accordingly, the control unit 230 may control the elevation of the spraying unit through the spraying unit driving device.

As shown in FIG. 1, when the control robot 10 autonomously travels without spraying the chemical solution, the control robot 10 maintains the housed state, and in this case, the control unit 230 controls the control. The master part 400 is accommodated in the accommodating part 351 .

As shown in FIG. 7, when the control robot 10 sprays the chemical solution to the cultivated plants, the control robot 10 maintains the spraying state, and in this case, the control unit 230 controls the spraying unit ( 400 is elevated and taken out of the storage unit 351, and then the chemical solution is sprayed through the nozzle 431 and the auxiliary nozzle 411.

The loading module 800 has a top, that is, a loading plate 810 on which loads are loaded, and when the loading module 800 is coupled to the plate 110, the loading module 800 is attached to the plate 110. A plurality of second slide wheels 860 provided at the bottom of the loading plate 810 so as to slide on the upper surface of the plate 810; and, when the loading module 800 is slid and coupled to the upper surface of the plate 110, the loading module ( 800) are positioned outside the first and second guides 111 and 112, respectively; and the loading module 800 slides on the upper surface of the plate 110. When the front surface of the loading module 800 is in contact with the rear surface of the control module 200, the fifth and sixth parts provided at the lower part of the loading plate 810 are engaged with the first and second coupling parts 113 and 114, respectively. Coupling parts (891, 892); may be configured to include.

As shown in FIG. 10, a plurality of second slide wheels 860 are provided under the loading plate 810 of the loading module 800, that is, on the lower surface of the loading plate 810, and the injection module 300 When coupled to the plate 110, the injection module 300 functions to slide on the upper surface of the plate 110.

That is, as shown in FIG. 9 , while the plurality of second slide wheels 860 roll along the upper surface of the plate 110, the loading module 800 can be easily slid on the upper surface of the plate 110. .

A plurality of second slide wheels 860 may be located outside the fifth and sixth guides 881 and 882 .

The fifth guide 881 is formed on the lower side of the loading plate 810 of the loading module 800, that is, on the left side of the lower surface of the loading plate 810 of the loading module 800, and is provided in the front-back direction.

The fourth guide 382 is formed on the lower side of the loading plate 810 of the loading module 800, that is, on the right side of the lower surface of the loading plate 810 of the loading module 800, and is provided in the front-back direction.

The fifth coupling part 891 is provided under the loading plate 810 of the loading module 800, that is, on the left side of the loading plate 810 of the loading module 800 and on the left side of the fifth guide 881. .

The fifth coupling portion 891 is located at a position corresponding to the first coupling portion 113 of the plate 110 .

The fifth coupling portion 891 is provided with a third bar 891a, and the third bar 891a is inserted into the first groove 113a of the first coupling portion 113, thereby enabling the loading module 800 and The plate 110 of the body 100 is fastened and the coupling is made.

The sixth coupling part 892 is provided on the lower side of the loading plate 810 of the loading module 800, that is, on the right side of the lower surface of the loading plate 810 of the loading module 800 and on the right side of the sixth guide 882. .

The sixth coupling portion 892 is located at a position corresponding to the second coupling portion 114 of the plate 110 .

The sixth coupling portion 892 is provided with a fourth bar 892a, and the fourth bar 892a is inserted into the second groove 114a of the second coupling portion 114, so that the loading module 800 and The plate 110 of the body 100 is fastened and the coupling is made.

The fifth coupling part 891 is located outside the fifth guide 881, and the sixth coupling part 892 is also located outside the sixth guide 882. That is, the fifth and sixth coupling parts 891 and 892 are located outside the fifth and sixth guides 881 and 882, respectively. Accordingly, the fifth coupling part 891, the fifth guide 881, and the sixth guide are located under the loading plate 810 of the loading module 800, that is, the lower surface of the loading plate 810 of the loading module 800. 882 and the sixth coupling part 892 are located in order from left to right.

The fifth coupling part 891 is a plurality of second slide wheels 860 located under the loading plate 810 of the loading module 800, that is, on the left side of the lower surface of the loading plate 810 of the loading module 800. ) can be located between

The sixth coupling part 892 is a plurality of second slide wheels 860 located under the loading plate 810 of the loading module 800, that is, on the right side of the lower surface of the loading plate 810 of the loading module 800. ) can be located between

When the loading module 800 and the plate 110 of the body 100 are coupled, the fifth and sixth guides 881 and 882 are positioned outside the first and second guides 111 and 112 . Therefore, when the loading module 800 is slid to the wrong position, the first and second guides 111 and 112 and the fifth and sixth guides 881 and 882 are displaced so that the loading module 800 and the body 100 are displaced. bonding cannot take place. That is, the loading plate 810 of the loading module 800 and the plate of the body 100 ( 110) can be combined in place.

The control robot 10 of the present invention having the above configuration has the following effects.

Conventional pest control robots do not have a separate loading unit, or have a very large volume even if the loading unit is provided, so there is a problem in that efficiency is reduced during autonomous driving.

However, in the case of the control robot 10 of the present invention, by selectively coupling the injection module 300 for spraying the chemical solution and the loading module 800 for loading the load to the body 100, the control robot 10 Since it can maintain a compact appearance, autonomous driving can be performed effectively.

Since the injection module 300 and the loading module 800 slide on the upper surface of the plate 110 of the body 100 through a plurality of first slide wheels 360 and a plurality of second slide wheels 860, respectively, It is easy to combine and separate the body 100 and the injection module 300 or the loading module 800.

The spray module 300 and the plate 110 of the body 100 are aligned through the first and second guides 111 and 112 and the third and fourth guides 381 and 382, and the first and second guides ( 111, 112) and the fifth and sixth guides 881 and 882, the loading module 800 and the plate 110 of the body 100 are aligned, so there is no error between the body 100 and the spray module 300. ) or the loading module 800 may be combined.

When the control robot 10 autonomously travels, it is possible to prevent the spraying unit 400 from being caught on an obstacle by maintaining an accommodation state in which the spraying unit 400 is accommodated in the storage unit 351 .

In addition, in the spraying state, the spraying head 430 equipped with the nozzle 431 is located at a higher position than the upper surface of the control robot 10, that is, the upper surface of the case 305 of the spraying module 300 ( 400) Each rises from the storage unit 351 and is taken out, so that spraying is prevented from being disturbed by components of the control robot 10 such as the spraying module 300 when spraying the chemical, so that the chemical is easily sprayed to the cultivated plants can do.

Since the injection unit 400 can be accommodated in the storage unit 351 and the control robot 10 becomes compact, storage of the control robot 10 itself is easy.

In addition, since the spray head 430 is rotatable around the shaft 415, the liquid medicine can be sprayed at various angles.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the attached claims.

10: control robot
100: body 110: plate
111: first guide 112: second guide
113: first coupling part 113a: first groove
114: second coupling part 114a: second groove
130: means of transportation 131: wheels
133: belt
200: control module 210: battery
230: control unit 270: control module door
300: injection module 305: case
307: injection module door 310: storage tank
330: pump 351: storage unit
360: first slide wheel 381: third guide
382: fourth guide 391: third coupling part
391a: first bar 392: fourth coupling part
392a: second bar
400: injection part 410: injection part body
411: auxiliary nozzle 415: shaft
430: spray head 431: nozzle
433: blowing fan
800: loading module 810: loading plate
860: second slide wheel 881: fifth guide
882: 6th guide 891: 5th coupling part
891a: 3rd bar 892: 6th coupling part
892a: fourth bar

Claims (11)

In a control robot that sprays a chemical solution on cultivated plants and autonomously drives,
a body provided with a plate and a moving means provided under the plate;
A control module provided in front of the upper surface of the plate; and
A spraying module located at the rear of the control module and having a spraying unit for spraying a liquid medicine;
The injection module,
a storage tank in which liquid chemicals are stored;
a pump connected to the storage tank and supplying a liquid chemical to the injection unit;
a case in which the storage tank and the pump are provided; and
Including; injection module door for opening and closing the inside of the case,
The control module,
a battery for supplying electricity to a motor driving the means of transportation and the pump;
a control unit controlling the motor, the injection unit, and the pump; and
A control module door that surrounds the battery and the control unit so that the battery and the control unit are located therein, and opens and closes the inside of the control module;
The injection module is coupled and separated by sliding on the upper surface of the plate so as to be detachable from the body, the control robot. According to claim 1,
the injection part,
a spraying unit body installed on at least one of the left and right sides of the spraying module so as to be able to move up and down;
a storage unit providing a space in which the injection unit is accommodated;
a spray head rotatably installed on an upper part of the spray unit body by a shaft formed in a forward and backward direction, and having a nozzle spraying the liquid chemical from the storage tank by the pump;
a plurality of auxiliary nozzles provided in the upper and lower portions of the body of the injection unit, and spraying the chemical solution of the storage tank by the pump; and
It is controlled by the control unit and includes a; injection part driving device for raising and lowering the injection part body,
When the control robot autonomously travels without spraying the liquid medicine, the control unit lowers the spraying unit body by controlling the spraying unit driving device so that the spraying unit is accommodated in the storage unit,
When the control robot sprays the chemical solution to the cultivated plants, the control unit controls the spraying unit driving device so that the spraying unit is taken out of the storage unit until the spraying head is located at a position higher than the upper surface of the spraying module. After raising the spraying unit body, the control robot for spraying the chemical solution through the nozzle and the auxiliary nozzle. According to claim 1,
the body,
a first guide provided on the upper surface of the plate and formed in the front and rear direction on the rear left side of the control module;
a second guide formed on the rear right side of the control module on the upper surface of the plate and provided in the forward and backward directions;
a first coupling part provided on the left side of the first guide from the rear left side of the control module on the top surface of the plate to be located outside the first guide; and
A second coupling part provided on the right side of the first guide from the rear right side of the control module on the upper surface of the plate to be located outside the second guide; includes,
The injection module,
A third guide formed and provided on the left side of the lower surface of the case in the forward and backward direction to guide the position of the injection module by being located outside the first guide when the injection module is slid and coupled to the upper surface of the plate;
a fourth guide formed on the right side of the lower surface of the case in the front-back direction so that the injection module is positioned outside the second guide when coupled to the upper surface of the plate by being slid to guide the location of the injection module;
a plurality of first slide wheels provided on the lower surface of the case so that the injection module slides on the upper surface of the plate when the injection module is coupled to the plate, and positioned outside the third and fourth guides;
a third coupling portion provided on the left side of the third guide from the left side of the lower surface of the case to be located at a position corresponding to the first coupling portion and positioned outside the third guide; and
A control robot comprising a; located at a position corresponding to the second coupling portion and provided on the right side of the fourth guide from the right side of the lower surface of the case so as to be located outside the fourth guide. According to claim 3,
the body,
a first groove provided in the first coupling part; and
A second groove provided in the second coupling part; further comprising,
The injection module,
a first bar provided in the third coupling part; and
A second bar provided in the fourth coupling part; further comprising,
When the spray module slides on the upper surface of the plate and the front surface of the spray module comes into contact with the rear surface of the control module, the first bar is inserted into the first groove, and the second bar is inserted into the second groove. Is inserted into the injection module and the body is coupled to the control robot. According to claim 3,
The third coupling part is located between the plurality of first slide wheels located on the left side of the lower surface of the case,
The fourth coupling part is located between the plurality of first slide wheels located on the right side of the lower surface of the case, the control robot. delete delete According to claim 1,
The moving means is composed of an endless track including a wheel and a belt surrounding the wheel, a control robot. According to claim 2,
the injection part,
A control robot further comprising; a blowing fan provided at the rear of the nozzle so that the chemical solution sprayed from the nozzle is scattered. a body provided with a plate and a moving means provided under the plate;
A control module provided in front of the upper surface of the plate;
a spraying module equipped with a spraying unit for spraying a liquid medicine; and
Including; a loading module equipped with a loading plate for loading loads;
the body,
a first guide provided on the upper surface of the plate and formed in the front and rear direction on the rear left side of the control module;
a second guide formed on the rear right side of the control module on the upper surface of the plate and provided in the forward and backward directions;
a first coupling part provided on the left side of the first guide from the rear left side of the control module on the top surface of the plate to be located outside the first guide;
a second coupling part provided on the right side of the first guide from the rear right side of the control module on the top surface of the plate to be located outside the second guide;
a first groove provided in the first coupling part; and
Including; a second groove provided in the second coupling part,
The injection module,
a storage tank in which liquid chemicals are stored;
a pump connected to the storage tank and supplying a liquid chemical to the injection unit;
a case in which the storage tank and the pump are provided; and
Including; injection module door for opening and closing the inside of the case,
The control module,
a battery for supplying electricity to a motor driving the means of transportation and the pump;
a control unit controlling the motor, the injection unit, and the pump; and
A control module door that surrounds the battery and the control unit so that the battery and the control unit are located therein, and opens and closes the inside of the control module;
The loading module,
a fifth guide formed on the left side of the lower surface of the loading plate in the forward and backward direction to guide the position of the loading module by being positioned outside the first guide when the loading module is slid and coupled to the upper surface of the plate;
a sixth guide formed on the right side of the lower surface of the loading plate in the forward and backward direction so that the loading module is positioned outside the second guide when the loading module is slid and coupled to the upper surface of the plate;
a plurality of second slide wheels provided under the loading plate so that the loading module slides on the upper surface of the plate when the loading module is coupled to the plate, and positioned outside the fifth and sixth guides;
a fifth coupling portion located at a position corresponding to the first coupling portion and provided on the left side of the fifth guide from the left side of the lower surface of the loading plate so as to be located outside the fifth guide;
a sixth coupling portion located at a position corresponding to the second coupling portion and provided on the right side of the sixth guide from the right side of the lower surface of the loading plate so as to be located outside the sixth guide;
a third bar provided in the fifth coupling part; and
Including; a fourth bar provided in the sixth coupling part,
The injection module or the loading module is selectively coupled to and separated from the body, and when the injection module or the loading module is coupled to the body, the injection module or the loading module is slid and coupled to the upper surface of the plate so as to be located at the rear of the control module, ,
When the loading module and the body are coupled, the loading module slides on the upper surface of the plate so that the front surface of the loading module comes into contact with the rear surface of the control module, and the third bar is inserted into the first groove. And, the fourth bar is inserted into the second groove and the loading module and the body are coupled to each other. According to claim 10,
The fifth coupling part is located between the plurality of second slide wheels located on the left side of the lower surface of the loading plate,
The sixth coupling part is located between the plurality of second slide wheels located on the right side of the lower surface of the loading plate, the control robot.

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