KR102592966B1 - Guardrail movable weeding device and guardrail movable weeding system containing this - Google Patents

Abstract

A guardrail mobile weeding device according to an embodiment of the present application includes a body portion in which an internal space is formed; a first driving roller mounted on the body so as to be rolled across the upper end of the guardrail on one side in the longitudinal direction in which the guardrail extends; a second drive roller mounted on the body portion to roll over the upper end of the guardrail on the other side in the longitudinal direction; a first arm member whose other end is connected to the body so as to be rotatable about a rotation axis in the transverse direction of the guardrail, and whose one end is arranged to extend to one side in the longitudinal direction; a first auxiliary roller mounted on the first arm member to be located on one longitudinal side of the first driving roller; a second arm member, one end of which is connected to the body so as to be rotatable about a rotation axis in the transverse direction of the guardrail, and the other end of which is arranged to extend to the other longitudinal direction; a second auxiliary roller mounted on the second arm member to be located on the other longitudinal side of the second drive roller; a rolling driving force providing unit that provides rolling driving force to the first driving roller and the second driving roller; a power supply unit provided to supply power to the rolling driving force providing unit; A weeding unit mounted to enable weeding of at least a portion of the area behind the guardrail; a first step detection sensor installed on the body portion to detect a dangerous step state on one side in which the first arm member is lifted upward beyond an allowable rotation angle; And it may include a control unit that controls the operation of the guardrail mobile weeding device in conjunction with the detection of the dangerous step condition on one side.

Description

Guardrail mobile weeding device and guardrail mobile weeding system including the same {GUARDRAIL MOVABLE WEEDING DEVICE AND GUARDRAIL MOVABLE WEEDING SYSTEM CONTAINING THIS}

The present application relates to a guardrail mobile weeding device and a guardrail mobile weeding system including the same.

If the amount of grass (weeds) growing on the roadside increases, it can obstruct the driver's view or spoil the aesthetics, so the grass growing on the roadside must be removed through road maintenance work.

Previously, in order to remove weeds growing on the roadside, workers had to carry heavy weeders and carry out weeding work directly on the roadside. However, when workers manually carry out weeding work while holding a weed, it takes a lot of labor and time, and safety problems that may lead to accidents also arise.

To solve this problem, a weeder was installed on the vehicle to remove weeds growing on the roadside. However, traffic control was required when weeding using a vehicle, and such weeding also required labor from workers driving the vehicle. did. Additionally, safety issues arose as weeding work was carried out on the roads, which could lead to accidents.

The technology behind this application is disclosed in Korean Patent Publication No. 10-259547.

The present application aims to solve the problems of the prior art described above, and provides a guardrail mobile weeding device that removes weeds growing on the roadside unmanned while the weeding device travels on a guardrail, and a guardrail mobile weeding system including the same. The purpose.

However, the technical challenges sought to be achieved by the embodiments of the present application are not limited to the technical challenges described above, and other technical challenges may exist.

As a technical means for achieving the above-described technical problem, the guardrail mobile weeding device according to an embodiment of the present application includes a body portion in which an internal space is formed; a first driving roller mounted on the body so as to be rolled across the upper end of the guardrail on one side in the longitudinal direction in which the guardrail extends; a second drive roller mounted on the body portion to roll over the upper end of the guardrail on the other side in the longitudinal direction; a first arm member whose other end is connected to the body so as to be rotatable about a rotation axis in the transverse direction of the guardrail, and whose one end is arranged to extend to one side in the longitudinal direction; a first auxiliary roller mounted on the first arm member to be located on one longitudinal side of the first driving roller; a second arm member, one end of which is connected to the body so as to be rotatable about a rotation axis in the transverse direction of the guardrail, and the other end of which is arranged to extend to the other longitudinal direction; a second auxiliary roller mounted on the second arm member to be located on the other longitudinal side of the second drive roller; a rolling driving force providing unit that provides rolling driving force to the first driving roller and the second driving roller; a power supply unit provided to supply power to the rolling driving force providing unit; A weeding unit mounted to enable weeding of at least a portion of the area behind the guardrail; a first step detection sensor installed on the body portion to detect a dangerous step state on one side in which the first arm member is lifted upward beyond an allowable rotation angle; And it may include a control unit that controls the operation of the guardrail mobile weeding device in conjunction with the detection of the dangerous step condition on one side.

In addition, the guardrail mobile weeding device further includes a second step detection sensor installed on the body portion to detect a dangerous step condition on the other side in which the second arm member is lifted upward beyond the allowable rotation angle, The control unit may control the operation of the guardrail mobile weeding device in conjunction with detection of a dangerous level difference state on the other side.

In addition, the first step detection sensor is a limit switch type that is arranged in contact to elastically support the lower surface of the first arm member, and when the first arm member is lifted upward beyond the upper limit of the allowable rotation angle, the first step detection sensor It is arranged so that the contact with the lower surface of the first arm member is released, and the control unit is configured to cause the guardrail mobile weeding device to be in a dangerous step state on one side when the first step detection sensor is released from contact with the lower surface of the first arm member. It can be judged as being placed.

In addition, the upper limit of the allowable rotation angle is, in the guardrail constructed by connecting a plurality of unit guardrails along the longitudinal direction, the upper limit of the unit guardrail where the first drive roller is located is relatively adjacent to one side in the longitudinal direction. If there is an upward step that increases the height of the top of the one-side neighboring unit guardrail, the upward step is set in consideration of whether the upward step corresponds to a size that causes the first drive roller to deviate from the one-side neighboring unit guardrail. You can.

Additionally, the first arm member may be hinged to have an elastic restoring force related to rotational elasticity with respect to the body portion to support the upper end of the guardrail with a predetermined elasticity.

In addition, the control unit, even if the one-side dangerous step state is detected, when the first step detection sensor re-contacts the lower surface of the first arm member within a preset time due to the elastic restoring force, the one-side dangerous step state is released. It can be judged that it has been done.

In addition, the guardrail mobile weeding device is an impact detection sensor that detects the amount of impact applied to the guardrail mobile weeding device when it passes the upper step portion of the guardrail mobile weeding device in response to the upper step existing in the guardrail. It may further include, when the amount of impact detected by the impact detection sensor exceeds a preset allowable amount of impact, the control unit may control the operation of the guardrail mobile weeding device in consideration of the amount of impact detected.

In addition, the control unit may detect other risk factors other than the upward step when the amount of impact detected by the impact detection sensor exceeds a preset allowable amount of impact even if the first step detection sensor does not detect the one-side dangerous step state. It is determined that this has occurred, and the operation of the guardrail mobile weeding device can be stopped.

In addition, the guardrail mobile weeding system according to an embodiment of the present application includes a guardrail mobile weeding device according to an embodiment of the present application; And a docking station installed with respect to the guardrail so that the guardrail mobile weeding device can be docked in response to longitudinal movement of the guardrail mobile weeding device with respect to the guardrail, wherein the guardrail mobile weeding device includes: The power supply unit is a battery type that is charged by receiving power from the docking station, and the docking station may include a power supply unit provided to provide power to the power supply unit.

The above-described means of solving the problem are merely illustrative and should not be construed as intended to limit the present application. In addition to the exemplary embodiments described above, additional embodiments may be present in the drawings and detailed description of the invention.

According to the means for solving the problem of the present application described above, the guardrail mobile weeding device according to an embodiment of the present application includes a first driving roller and a second driving roller disposed to roll across the upper end of the guardrail, and a weeding unit. By including it, the guardrail mobile weeding device can remove weeds existing on the roadside while traveling along the guardrail.

In addition, according to the means for solving the problem of the present application described above, the guardrail mobile weeding device according to an embodiment of the present application includes a first arm member and a second arm member rotatably connected to the body portion in the horizontal direction of the guardrail as a rotation axis. By including a first auxiliary roller and a second auxiliary roller mounted on each arm member, when the guardrail mobile weeding device moves along a guardrail with a step, the first arm member or the second arm is moved in response to the step. The member rotates, and as a result, the first auxiliary roller or the second auxiliary roller moves upward or downward to assist the rolling drive of the first driving roller and the second driving roller.

In addition, according to the means for solving the problem of the present application described above, the guardrail mobile weeding device according to an embodiment of the present application includes a first step detection sensor installed on the body portion, so that the first arm member has an upper limit of the allowable rotation angle. If it is lifted upward beyond , it is determined that the guardrail mobile weeding device is in a dangerous step on one side and a signal is sent to the operator to prevent the guardrail mobile weeding device from leaving.

In addition, according to the problem solving means of the present application described above, the guardrail mobile weeding device according to an embodiment of the present application includes a second step detection sensor installed with respect to the body portion, so that the second arm member has an upper limit of the allowable rotation angle. If it is lifted upward beyond , it is determined that the guardrail mobile weeding device is in a dangerous step on the other side, and a signal is sent to the worker to prevent the guardrail mobile weeding device from leaving.

In addition, the guardrail mobile weeding device according to an embodiment of the present application is hinged so that the first arm member has an elastic restoring force related to rotational elasticity with respect to the body portion, so that the first arm member moves the upper end of the guardrail with a predetermined elasticity. By supporting this, when the first arm member rotates due to the step, the corresponding rotation angle is recovered by the elastic restoring force, so that the first auxiliary roller can assist the rolling drive of the first drive roller.

In addition, according to the problem solving means of the present application described above, the guardrail mobile weeding device according to an embodiment of the present application includes an impact detection sensor, so that the guardrail mobile weeding device responds to the upper step existing in the guardrail. When partially passing, the amount of impact applied to the guardrail mobile weeding device is detected, and the control unit takes into account the detected amount of impact and controls the operation of the guardrail mobile weeding device when the amount of impact exceeds the preset allowable impact amount. Damage can be prevented.

In addition, according to the problem solving means of the present application described above, even if the first step detection sensor of the guardrail mobile weeding device according to an embodiment of the present application has not detected a dangerous step state on one side, the amount of impact detected by the impact detection sensor has been If the set allowable impact amount is exceeded, the control unit determines that a risk factor other than the upward step has occurred and stops operating the guardrail mobile weeding device, thereby preventing damage to the guardrail mobile weeding device.

In addition, according to the means for solving the problem of the present application described above, the guardrail mobile weeding system according to an embodiment of the present application includes a docking station installed with respect to the guardrail so that the guardrail mobile weeding device can be docked, thereby enabling guardrail mobile weeding Power charging of the power source of the device may be possible.

Figure 1 is a front view for explaining a guardrail mobile weeding device according to an embodiment of the present application.
Figure 2 is a perspective view for explaining a guardrail mobile weeding device according to an embodiment of the present application.
Figure 3 is a side view to explain the guardrail mobile weeding device installed on the guardrail according to an embodiment of the present application.
Figures 4a to 4c are views (front views) for explaining the auxiliary roller and arm member of the guardrail mobile weeding device according to an embodiment of the present application.
5A to 5C are views (rear views) for explaining the auxiliary roller and arm member of the guardrail mobile weeding device according to an embodiment of the present application.
Figure 6 is a schematic conceptual diagram to explain how the guardrail mobile weeding device according to an embodiment of the present application travels along a guardrail with a level difference.
Figure 7 is a block diagram for explaining the sensor unit and control unit of the guardrail mobile weeding device according to an embodiment of the present application.
Figure 8 is a schematic conceptual diagram for explaining a guardrail mobile weeding system according to an embodiment of the present application.
Figure 9 is a schematic conceptual diagram illustrating an embodiment of the joining of the injection hole and the supply hole of the guardrail mobile weeding system according to an embodiment of the present application.
Figure 10 is a schematic conceptual diagram for explaining another embodiment of the joining of the injection hole and the supply hole of the guardrail mobile weeding system according to an embodiment of the present application.

Below, with reference to the attached drawings, embodiments of the present application will be described in detail so that those skilled in the art can easily implement them. However, the present application may be implemented in various different forms and is not limited to the embodiments described herein. In order to clearly explain the present application in the drawings, parts that are not related to the description are omitted, and similar reference numerals are assigned to similar parts throughout the specification.

Throughout this specification, when a part is said to be “connected” to another part, this includes not only the case where it is “directly connected,” but also the case where it is “electrically connected” with another element in between. do.

Throughout this specification, when a member is said to be located “on”, “above”, “at the top”, “below”, “at the bottom”, or “at the bottom” of another member, this means that a member is located on another member. This includes not only cases where they are in contact, but also cases where another member exists between two members.

Throughout the specification of the present application, when a part is said to “include” a certain element, this means that it may further include other elements rather than excluding other elements, unless specifically stated to the contrary.

In addition, when the direction of the guardrail is set based on the road where it is installed on the roadside (lateral side of the road) along the longitudinal direction of the road, the side of the guardrail facing the road is called the side located on the horizontal side of the road. can do. On the other hand, if it is placed on the side of the road and set as the front facing the wall of the guardrail based on the guardrail mobile weeding device facing the guardrail, the longitudinal direction of the road can be called the lateral direction based on the guardrail mobile weeding device. .

Hereinafter, a guardrail mobile weeding device (hereinafter referred to as 'this weeding device') according to an embodiment of the present application will be described.

Figure 1 is a front view for explaining a guardrail mobile weeding device according to an embodiment of the present application, Figure 2 is a perspective view for explaining a guardrail mobile weeding device according to an embodiment of the present application, and Figure 3 is an example of the present application This is a side view to explain how the guardrail mobile weeding device according to the embodiment is installed on the guardrail.

Referring to FIGS. 1 to 3 , the present weeding device 100 may include a body portion 110 in which an internal space 112 is formed. For example, the body portion 110 may include a body 111 in which an internal space 112 is formed.

For example, the body 111 may be formed so that the internal space 111 is open to the outside, but the body portion 110 is not limited to this and may include a cover that covers the internal space 111. .

For example, referring to FIGS. 1 to 3, the body portion 110 includes a first drive roller mounting portion 113 extending from the body 111 to one longitudinal side (3 o'clock direction in FIG. 1) and a body ( It may include a second driving roller mounting portion 114 extending from 111) to the other side in the longitudinal direction (9 o'clock direction in FIG. 1).

In addition, referring to FIGS. 1 and 3, the present weeding device 100 may include a weeding unit 160 mounted on one side of the body portion to enable weeding of at least a portion of the area behind the guardrail 10. there is. For example, the area behind the guardrail 10 may be on the opposite side of the roadway (e.g., based on the lateral direction of the road, not on the road side but on the other side of the road).

For example, referring to FIGS. 1 and 3, the weeding unit 160 is arranged to be rotatable about a rotation axis in a vertical direction perpendicular to the longitudinal and transverse directions of the guardrail with respect to the lower side from the body 111. It may include a weeding arm member 161, a cutter 162 mounted on one side of the weeding arm member 162, and a cutter driving force provider 163 that provides a rotational driving force to the cutter 162. For example, the cutter 162 may have blades formed radially about the circumference.

At this time, the weeding arm member 161 of the weeding unit 160 may be elastically rotated to prevent contact with the guardrail pillar (or obstacle). Additionally, for example, the cutter driving force providing unit 163 may receive power from a power source 150, which will be described later, and can be controlled through a control unit 190, which will be described later.

Additionally, as another example, the weeding unit 160 may be equipped with a chemical weeding method rather than a physical weeding method as described above. In this case, the weeding unit 160 may include a herbicide storage tank and a herbicide spray unit. For example, the herbicide storage tank may be disposed in the internal space 112 of the body 110, and the herbicide may be provided as particles (powder or granules) or liquid. Herbicides may be provided as materials used to remove weeds, which will be apparent to those skilled in the art.

Additionally, for example, the herbicide spraying unit may include a spraying nozzle and a spraying driving force providing unit. For example, the spray nozzle may be provided with driving force through a spray drive force provider to spray the herbicide stored in the herbicide storage tank toward the area behind the guardrail, and the spray nozzle may be provided within a preset angle range. can be rotated Additionally, for example, the herbicide spraying unit may be provided with various spray nozzles depending on the type of herbicide (eg, powder or liquid).

Since the weeding unit 160 may be equipped with various weeding devices that are obvious to those skilled in the art, a more detailed description will be omitted.

Referring to FIGS. 1 to 3, the weeding device 100 is arranged to be rollable on the upper end of the guardrail 10 on one side in the longitudinal direction where the guardrail 10 extends (based on FIG. 1, 3 o'clock direction). It may include a first driving roller 120a mounted on one side of the body in the longitudinal direction so as to be able to rotate about the horizontal direction of the guardrail with respect to the body 110 as a rotation axis. For example, the first driving roller 120a may be provided to rotate (roll) the transverse direction of the guardrail 10 (again, the direction in which the present weeding device faces the guardrail) about the rotation axis. In addition, for example, the first driving roller 120a may be driven to roll while being placed over the upper end of the guardrail 10 so that the weeding device 100 can be moved along the longitudinal direction of the guardrail 10. .

In addition, for example, the first driving roller 120a may be mounted on the first driving roller mounting part 113, and may be mounted in front of the first driving roller mounting part 113 (based on FIG. 3, 9 o'clock direction). Can be installed. In addition, as another example, the first driving roller 120a may be mounted on the top of the first driving roller mounting part 113 (based on FIG. 3, 12 o'clock direction), but may be rolled on the upper part of the guardrail 10. It can be mounted to be positioned across the board. For example, the first driving roller 120a is mounted on the top of the first driving roller mounting portion 113, and the rotation axis of the first driving roller 120a is perpendicular to the guardrail 10 (in other words, It may be arranged to be in the transverse direction of the guardrail 10.

In addition, the present weeding device 100 has a second drive roller mounted on the body portion 110 so as to be rollably disposed across the upper end of the guard rail 10 on the other side in the longitudinal direction (9 o'clock direction, based on FIG. 1). 120b) may be included. For example, the second driving roller 120b may be provided to rotate (roll) the horizontal direction of the guardrail 10 (again, the direction in which the weeding device faces the guardrail) about the rotation axis. In addition, for example, the second driving roller 120b may be driven to roll while being placed over the upper end of the guardrail 10 so that the weeding device 100 can be moved along the longitudinal direction of the guardrail 10. .

In addition, for example, the second driving roller 120b may be mounted on the other longitudinal side of the body part so as to be rotatable about the horizontal direction of the guardrail as a rotation axis with respect to the second driving roller mounting part 114, and the second driving roller mounting part 114 It can be mounted in front of the driving roller mounting portion 114 (9 o'clock direction in FIG. 3). In addition, as another example, the second driving roller 120b may be mounted on the upper part of the second driving roller mounting unit 114 (based on FIG. 3, 12 o'clock direction), but may be rolled on the upper part of the guardrail 10. It can be mounted to be positioned across the board. For example, the second driving roller 120b is mounted on the top of the second driving roller mounting portion 114, and the rotation axis of the second driving roller 120b is perpendicular to the guardrail 10 (in other words, It may be arranged to be in the transverse direction of the guardrail 10.

Referring to FIGS. 2 and 3, the weeding device 100 may include a rolling driving force providing unit 121 that provides rolling driving force to the first driving roller 120a and the second driving roller 120b. . For example, the rolling driving force provider 121 may provide driving force to rotate the first driving roller 120a or the second driving roller 122 about the rotation axis direction.

For example, the rolling driving force providing unit 121 may include a plurality of rolling driving force providing units (eg, two). At this time, the rolling driving force providing unit 121 operates on the first driving roller 120a and the second driving force so that the plurality of rolling driving force providing units provide rolling driving force for each of the first driving roller 120a and the second driving roller 120b. It may be provided to be installed on each driving roller (120b). In addition, as another example, the rolling driving force providing part 121 is provided as one rolling driving force providing part 121 to provide rolling driving force to at least one of the first driving roller 120a and the second driving roller 120b. It can be provided.

Additionally, for example, the rolling driving force providing unit 121 may be a rotation motor, but is not limited thereto, and may be implemented by various rotation driving providing units.

For example, the present weeding device 100 is installed on one side along the longitudinal direction of the guardrail 10 by at least one of the first driving roller 120a, the second driving roller 120b, and the rolling driving force provider 121. Or it can be moved to the other side.

Referring to Figures 1 and 3, the weeding device 100 may include a power supply unit 150 provided to supply power to the rolling driving force providing unit 121.

For example, in the present weeding device 100, the power supply unit 150 supplies power to the rolling driving force providing unit 121, and the rolling driving force providing unit 121 uses the first driving roller 120a or the second driving roller ( By providing a rolling driving force to 120b), the first driving roller 120a or the second driving roller 120b0 is rolled to the upper part of the guardrail 10, thereby allowing the weeding device 100 to move the guardrail 10. It can be driven along the extension direction (longitudinal direction of the guardrail).

Additionally, for example, the power unit 150 may be disposed on the upper side of the body 111 (12 o'clock direction, based on FIG. 1).

The power supply unit 150 of the present weeding device 100 may be a battery type. For example, the power source 150 may include a battery, and the battery may be replaced by an operator, or may be provided to be charged by receiving power from the power provider 210 of the docking station 200, which will be described later. .

Additionally, for example, the power supply unit 150 may supply power to the weeding unit 160, and thus the weeding unit 160 may operate by the supplied power.

Additionally, for example, the power supply unit 150 may be electrically connected to the rolling driving force providing unit 121 or the weeding unit 160 in a wired or wireless manner to provide power.

FIGS. 4A to 4C are views (front views) for explaining the auxiliary roller and arm member of the guardrail mobile weeding device according to an embodiment of the present application, and FIGS. 5A to 5C are a guardrail according to an embodiment of the present application. This is a drawing (rear view) to explain the auxiliary roller and arm member of the mobile weeding device.

Referring to FIGS. 1, 2, and 4A to 5C, the weeding device 100 may include a first arm member 130a and a second arm member 130b. The first arm member 130a is formed such that the other end of the first arm member 130a (based on FIG. 1, 9 o'clock direction) is oriented in the transverse direction of the guardrail 10 (based on FIG. 3, 3 o'clock - 9 o'clock direction) is rotatably connected to the rotation axis, and one end of the first arm member 130a (based on FIG. 1, 3 o'clock direction) may be arranged to extend to one side in the longitudinal direction of the guardrail 10. .

For example, referring to FIGS. 4A, 4B, 5A and 5B, the other end of the first arm member 130a rotates with respect to one end of the first driving roller mounting portion 113. Can be connected to enable movement. For example, the first arm member 130a is installed at one end of the first driving roller mounting portion 113 in the transverse direction of the guardrail 10 (for example, the weeding device 100 faces the guardrail 10). It can be hinged so that it can rotate (direction) about the rotation axis.

Referring to FIGS. 1, 2, and 4A to 5C, the present weeding device 100 has a first arm member (based on FIG. 1, 3 o'clock direction) located on one side in the longitudinal direction (based on FIG. 1, 3 o'clock direction) than the first driving roller 120a. It may include a first auxiliary roller 140a that is mounted to be rotatable about the horizontal direction of the guardrail as a rotation axis with respect to 130a). For example, the first auxiliary roller 140a is mounted on one side of the first arm member 130a and may be installed in front of the first arm member 130a (based on FIG. 3, 9 o'clock direction).

For example, the first auxiliary roller 140a may be provided to rotate (roll) the horizontal direction of the guardrail 10 about the rotation axis. In addition, for example, the first auxiliary roller 140a may be driven to roll while being placed over the upper end of the guardrail 10 so that the weeding device 100 can be moved along the longitudinal direction of the guardrail 10. .

For example, the first auxiliary roller 140a may be rolled by the rolling driving force of the first driving roller 120a or the second driving roller 120b and moved along the longitudinal direction of the guardrail 10. It is not limited to this, and the first auxiliary roller 140a may also be driven to roll along the longitudinal direction of the guardrail 10 by receiving rolling driving force from the rolling driving force providing unit 121.

Figure 6 is a schematic conceptual diagram to explain how the guardrail mobile weeding device according to an embodiment of the present application travels along a guardrail with a level difference.

In addition, referring to FIGS. 4A to 6, the first arm member 130a is hinged to have an elastic restoring force with respect to rotational elasticity with respect to the body portion 110 to support the upper end of the guardrail 10 with a predetermined elasticity. You can.

For example, the hinge connection of the first arm member 130a is such that the first auxiliary roller 140a is maintained in contact with the top of the guardrail 10. ) can be provided to have rotational elasticity in the downward direction (6 o'clock direction, based on Figure 1) with the horizontal direction as the rotation axis. For example, the first arm member 130a uses the horizontal direction of the guardrail 10 as its rotation axis so that the position of the first auxiliary roller 140a is located relatively lower than the position of the first driving roller 120a. It can be set to maintain a downward rotation state by a preset angle. For example, the preset angle may be a downward angle that allows the first auxiliary roller 140a to remain in contact with the top of the guardrail 10 due to the downward step existing in the guardrail 10. In addition, as another example, when the first arm member 130a is installed relatively lower than the position of the first driving roller 120a with respect to the body portion 110, the first auxiliary roller 140a is installed at the guardrail 10. ) may be hinged to the body portion 110 at an angle such that contact with the top of the body is maintained.

For example, the first arm member 130a may be hinged to the first driving roller mounting portion 113 by an elastic member to have an elastic restoring force related to rotational elasticity. For example, the elastic member may be a rotationally elastic member. For example, when the first arm member 130a is set to have a preset rotation angle, the rotational elastic member is rotated upward or downward with respect to the first arm member 130a by a rotational elastic restoring force. The first arm member 130a can be restored to a preset angle. However, the elastic member is not limited to the rotational elastic member, and the first arm member 130a provides an elastic restoring force related to the rotational elasticity to the body portion 110 to support the upper end of the guardrail 10 with a predetermined elasticity. It can be provided with various elastic members.

For example, referring to FIGS. 4A to 6, weeding as seen from the guardrail 10, which is constructed by connecting a plurality of unit guardrails 10 along the longitudinal direction (based on FIG. 6, 3 o'clock to 9 o'clock direction) An upward step in which the top height of a neighboring unit guardrail on one side in the longitudinal direction (based on FIG. 6, 3 o'clock direction) is relatively higher than the top height of the unit guardrail where the first drive roller 120a of the device 100 is located. When (a) exists, friction occurs between the first auxiliary roller 140a and the jaw due to the upward step (a), so that the first arm member 130a rotates in the transverse direction of the guardrail 10. It rotates upward and is provided with rotational elasticity in the downward direction with the horizontal direction of the guardrail 10 as the rotation axis, so that contact between the first auxiliary roller 140a and the top of the guardrail 10 is maintained. can do. Accordingly, the first auxiliary roller 140a can be rolled while maintaining contact with the top of the guardrail 10.

In addition, for example, referring to (c) to (e) of FIG. 6, the first auxiliary roller ( When the height of the top of the unit guardrail 10 where 140a) is located is relatively high, the first arm member 130a is set downward by a rotation angle preset in the horizontal direction of the guardrail 10 as the rotation axis to provide the first auxiliary position. A rotational elastic force may be provided to maintain the first auxiliary roller 140a in contact with the top of the unit guardrail where the roller 140a is located.

In addition, referring to FIGS. 1, 2, and 4A to 5C, the second arm member 130b of the present weeding device 100 is one end of the second arm member 130b with respect to the body portion 110 (FIG. 1, 3 o'clock direction) is rotatably connected to the horizontal direction of the guardrail 10 (3 o'clock to 9 o'clock, based on FIG. 3) as a rotation axis, and the other end of the second arm member 130b (FIG. 1, 9 o'clock direction) may be arranged to extend to the other longitudinal side of the guardrail (10).

For example, referring to FIGS. 4A, 4B, 5A, and 5B, one end of the second arm member 130b rotates with respect to the other end of the second driving roller mounting portion 114. Can be connected to enable movement. For example, the second arm member 130b is installed at the other end of the second driving roller mounting portion 114 in the transverse direction of the guardrail 10 (for example, the weeding device 100 faces the guardrail 10). It can be hinged so that it can rotate (direction) about the rotation axis.

Referring to FIGS. 1, 2, and 4A to 5C, the present weeding device 100 has a second arm member (based on FIG. 1, 3 o'clock direction) located on the other longitudinal side (based on FIG. 1, 3 o'clock direction) than the second driving roller 120b. It may include a second auxiliary roller 140b that is mounted to be rotatable about the horizontal direction of the guardrail as a rotation axis with respect to 130b). For example, the second auxiliary roller 140b is mounted on the other side of the second arm member 130b, and may be installed in front of the second arm member 130b (based on FIG. 3, 9 o'clock direction).

For example, the second auxiliary roller 140b may be provided to rotate (roll) the horizontal direction of the guardrail 10 about the rotation axis. In addition, for example, the second auxiliary roller 140b may be driven to roll while being placed on the upper end of the guardrail 10 so that the weeding device 100 can be moved along the longitudinal direction of the guardrail 10. .

For example, the second auxiliary roller 140b may be rolled by the rolling driving force of the first driving roller 120a or the second driving roller 120b and moved along the longitudinal direction of the guardrail 10. It is not limited to this, and the second auxiliary roller 140b may also be driven to roll along the longitudinal direction of the guardrail 10 by receiving rolling driving force from the rolling driving force providing unit 121.

In addition, referring to FIGS. 4A to 6, the second arm member 130b is hinged to have an elastic restoring force with respect to rotational elasticity with respect to the body portion 110 to support the upper end of the guardrail 10 with a predetermined elasticity. You can.

For example, the hinge connection of the second arm member 130b is such that the second arm member 130b is connected to the guardrail 10 so that the second auxiliary roller 140b is maintained in contact with the top of the guardrail 10. ) can be provided to have rotational elasticity in the downward direction (6 o'clock direction, based on Figure 1) with the horizontal direction as the rotation axis. For example, the hinge connection of the second arm member 130b is such that the second arm member 130b is connected to the guardrail 10 so that the second auxiliary roller 140b is maintained in contact with the top of the guardrail 10. ) can be provided to have rotational elasticity in the downward direction (6 o'clock direction, based on Figure 1) with the horizontal direction as the rotation axis. For example, the second arm member 130b uses the horizontal direction of the guardrail 10 as its rotation axis so that the position of the second auxiliary roller 140b is located relatively lower than the position of the second driving roller 120a. It can be set to maintain a downward rotation state by a preset angle. For example, the preset angle may be a downward angle that allows the second auxiliary roller 140b to remain in contact with the top of the guardrail 10 due to the downward step existing in the guardrail 10. In addition, as another example, when the second arm member 130b is installed relatively lower than the position of the second driving roller 120b with respect to the body portion 110, the second auxiliary roller 140b is installed at the guardrail 10. ) may be hinged to the body portion 110 at an angle such that contact with the top of the body is maintained.

For example, the second arm member 130b may be hinged to the second driving roller mounting portion 114 by an elastic member to have an elastic restoring force related to rotational elasticity. For example, the elastic member may be a rotationally elastic member. For example, when the second arm member 130b is set to have a preset rotation angle, the rotational elastic member is generated by a rotational elastic restoring force when an upward or downward rotation occurs with respect to the second arm member 130b. The second arm member 130b can be restored to a preset angle. However, the elastic member is not limited to the rotational elastic member, and the second arm member 130b provides an elastic restoring force related to the rotational elasticity to the body portion 110 to support the upper end of the guardrail 10 with a predetermined elasticity. It can be provided with various elastic members.

For example, in the case where the weeding device 100 moves from one side to the other side (from 3 o'clock to 9 o'clock, based on FIG. 6) along the longitudinal direction of the guardrail 10, the weeding device 100 There is an upward step (a) in which the top height of the neighboring unit guardrail on the other side of the longitudinal direction (based on FIG. 6, 3 o'clock direction) is relatively higher than the top height of the unit guardrail where the second drive roller 120a is located. In this case, friction occurs between the second auxiliary roller 140b and the jaw due to the upward step (a), and the second arm member 130b rotates upward with the horizontal direction of the guardrail 10 as the rotation axis. However, it is provided to have downward rotational elasticity with the horizontal direction of the guardrail 10 as the rotation axis, so that contact between the second auxiliary roller 140b and the upper end of the guardrail 10 can be maintained. Accordingly, the second auxiliary roller 140b can be rolled while maintaining contact with the top of the guardrail 10.

In addition, for example, in the case where the present weeding device 100 moves from one side to the other side (based on FIG. 6, from 3 o'clock to 9 o'clock) along the longitudinal direction of the guardrail 10, the present weeding device 100 ), when the top height of the unit guardrail 10 where the second auxiliary roller 140a is located is relatively higher than the top height of the unit guardrail 10 where the second drive roller 120a is located, the second arm member ( 130b) is set downward by a preset rotation angle with the lateral direction of the guardrail 10 as the rotation axis, so that the second auxiliary roller 140b is maintained in contact with the top of the unit guardrail where the second auxiliary roller 140b is located. Rotational elastic force can be provided to do so.

In addition, for example, when the present weeding device 100 moves along the guardrail 10, if there is a step (a) in the guardrail 10, the first driving roller 120a and the second driving roller ( 120b) Each may be connected by an elastic member having a vertical elastic force to each of the first driving roller mounting portion 113 and the second driving roller mounting portion 114 to enable vertical driving in response to the vertical direction of the guardrail 10. .

For example, when the first arm member 130a or the second arm member 130b is rotated upward due to the step (a), the vertical elastic member (elastic member with vertical elastic force) is the rotational elastic member. It may be provided to prevent a situation where the first driving roller 120a or the second driving roller 120b does not contact the guardrail 10 due to elastic restoring force. For example, the vertical elastic member is used to maintain contact between the first driving roller 120a or the second driving roller 120b and the top of the guardrail 10 (based on FIG. 3, 12 o'clock direction). The roller 120a or the second driving roller 120b may be provided to have elastic restoring force to the lower side by a preset distance.

In other words, for example, when the first arm member 130a or the second arm member 130b is rotated upward due to the step (a), the vertical elastic member moves the first arm member 130a or the second arm member 130b by the elastic restoring force of the rotational elastic member. The driving roller (120a) or the second driving roller (130b) applies an external force in the downward direction to the guard rail (10) between the first driving roller (120a) or the second driving roller (120b) and the guard rail (10). When a gap occurs, contact between the first driving roller 120a or the second driving roller 120b and the guardrail 10 can be maintained by the elastic restoring force of the vertical elastic member.

Additionally, referring to FIGS. 1 to 3, the present weeding device 100 may include a side roller 115. The side roller 115 is installed in front of the body 112 (9 o'clock direction in FIG. 3), contacts the side of the guardrail 10, and can be provided to roll along the guardrail 10. there is.

For example, referring to FIG. 3, the side roller 115 is in contact with the side of the guardrail 10 by the rolling driving force caused by at least one of the first driving roller 120a and the second driving roller 120b. It can be rolled along the guardrail 10 in this state.

In addition, for example, the side roller 115 is arranged so that the rotation axis of the side roller 115 is parallel to the side of the guardrail 10, and the peripheral surface of the side roller 115 is adjacent to the side of the guardrail 10. It can be placed in contact with . Here, the side of the guardrail 10 may be a side of the guardrail 10 facing the road (a side located on the lateral side relative to the road).

Referring to FIGS. 4A to 5C , the present weeding device 100 may include a first step detection sensor 183 and a second step detection sensor 184. Referring to FIGS. 4A to 5C, the first step detection sensor 183 detects a dangerous step state on one side in which the first arm member 130a is lifted upward beyond the allowable rotation angle with respect to the body portion 110. It can be rotatably installed on one side of the body. For example, the first step detection sensor 183 may be installed on one side of the first driving roller mounting unit 113.

Referring to FIGS. 4A to 5C, the first step detection sensor 183 is a limit switch type that is arranged in contact to elastically support the lower surface of the first arm member 130a, and allows the first arm member 130a to rotate. When lifted upward beyond the upper limit of the angle, the first arm member 130a may be arranged to be released from contact with the lower surface. For example, the first step detection sensor 183 is in contact with the lower surface of the first arm member 130a, and the lever part 183a is in contact with the lower surface of the first arm member 130a. It may be a limit switch type that includes a switch unit 183b that detects a state corresponding to release. At this time, for example, the switch unit 183b may be installed on one side of the first driving roller mounting unit 113.

For example, the first step detection sensor 183 rotates the lever unit 183a in a preset manner so that the lever part 183a partially maintains contact with the first arm member 130a when the first arm member 130a rotates upward. It can be set to remain rotated upward by the angle. For example, the preset rotation angle may correspond to the allowable rotation angle of the first arm member 130a.

Additionally, for example, the lever portion 183a of the first step detection sensor 183 may be provided to have rotational elastic force corresponding to the downward rotation angle of the first arm member 130a.

Referring to FIGS. 4B, 4C, 5B, and 5C, the upper limit of the allowable rotation angle of the first arm member 130a is when the plurality of unit guardrails 10 are rotated in the longitudinal direction (based on FIG. 6, 3:00 - 9:00) A neighboring unit on one side in the longitudinal direction (based on FIG. 6, 3 o'clock direction) is relatively higher than the height of the top of the unit guardrail where the first drive roller 120a is located in the guardrail 10 built by connecting along the direction (direction). If there is an upward step (a) that increases the height of the top of the guardrail, considering whether the upward step (a) corresponds to a size that causes separation from the guardrail of one neighboring unit of the first drive roller (120a) can be set.

For example, the allowable rotation angle of the first arm member 130a is the weeding device 100 even when the first arm member 130a is rotated upward or downward due to the step (a) of the guardrail 10. ) may be within the rotation angle range corresponding to the case where the first driving roller 120a does not deviate from the guardrail 10 and travels along the longitudinal direction of the guardrail 10. On the other hand, the upper limit of the allowable rotation angle of the first arm member 130a is that the first arm member 130a is rotated by the step (a) of the guardrail 10, and the first arm member 130a of the present weeding device 100 The rotation angle corresponding to the case where there is a possibility that the driving roller 120a separates from the guard rail 10 may be adjusted. At this time, when the first arm member 130a exceeds the upper limit of the allowable rotation angle, the first step detection sensor 183 may detect this as a one-side dangerous step state.

In other words, referring to FIGS. 4A to 5C, the first step detection sensor 183 is in contact with the lower surface of the first arm member 130a within the allowable rotation angle range of the first arm member 130a. It is maintained, and when the first arm member 130a exceeds the upper limit of the allowable rotation angle, the contact with the lower surface of the first arm member 130a is released, and a dangerous step state on one side can be detected.

Meanwhile, Figure 7 is a block diagram for explaining the sensor unit and control unit of the guardrail mobile weeding device according to an embodiment of the present application.

Referring to FIGS. 1 to 3 and 7, the present weeding device 100 controls the operation of the weeding device 100 in conjunction with the detection of a dangerous step state on one side of the first step detection sensor 183. It may include a control unit 190. For example, the control unit 190 may receive a signal about a dangerous step state on one side from the first step detection sensor 183.

In addition, for example, the control unit 190 may control the operation (execution) of the rolling driving force providing unit 121 from the ON/OFF operation of the power unit 150, and may also control the rotation direction of the rolling driving force providing unit 121. , speed, etc. can be controlled. Additionally, for example, the control unit 190 may control the spray amount, spray direction, rotation, etc. of the nozzle unit 160.

In addition, for example, the control unit 190 measures the amount of power of the power unit 150, and when the power amount of the power unit 150 reaches a preset limit, it detects this and sends an action signal to the operator, or the rolling driving force provider After controlling the rotation direction of 121 and moving it to the position of the docking station 200, which will be described later, the power supply unit 150 and the power supply unit 210 can be docked to charge the power of the power supply unit 150. At this time, the preset limit amount of power may be the amount of power that allows the weeding device 100 to move to the location of the docking station 200, considering the separation distance between the weeding device 100 and the docking station 200. there is.

However, the preset limit for the amount of power is not limited to this, and may be self-evident to those skilled in the art or may be a limit set through experiments, etc.

In addition, the control unit 190 may determine that the weeding device 100 is in a dangerous step state on one side when the first step detection sensor 183 releases contact with the lower surface of the first arm member 130a. .

For example, when the first arm member 130a exceeds the upper limit of the allowable rotation angle and the first step detection sensor 183 detects a dangerous step condition on one side, the control unit 190 detects the first step detection sensor 183 ), a signal for detection of a one-side dangerous step state is received, and it can be determined that the weeding device 100 is in a one-side dangerous step state.

In addition, even if a dangerous step condition on one side is detected, the control unit 190 determines that the first step detection sensor 183 is connected to the lower surface of the first arm member 130a within a preset time due to the elastic restoring force of the first arm member 130a. When re-contacted, it can be determined that the one-side dangerous step state has been lifted.

For example, friction occurs between the first auxiliary roller 140a and the jaw due to the upward step (a) present in the guardrail 10, and the first arm member 130a exceeds the upper limit of the allowable rotation angle. When rotated at an angle, the contact between the first step detection sensor 183 and the lower surface of the first arm member 130a is released, and even if a dangerous step condition on one side is detected by the control unit 190, the first arm member 130a is released within a preset time. When the lower surface of the first arm member 130a and the lever portion 183a of the first step detection sensor 183 of the member 130a come into contact again due to the rotational elastic restoring force, the control unit 190 controls the weeding device 100. ) It can be determined that the dangerous step state on one side has been lifted.

Here, the preset time may be a time set in consideration of a predetermined time for preventing the first driving roller 120a of the present weeding device 100 from deviating from the guard rail 10 due to a step.

In addition, the second step detection sensor 184 of the present weeding device 100 is connected to the body portion 110 to detect a dangerous step condition on the other side in which the second arm member 130b is lifted upward beyond the allowable rotation angle. It can be rotatably installed on the other side of the body. For example, the second step detection sensor 184 may be installed on the other side of the second driving roller mounting unit 114.

For example, the present weeding device 100 may be capable of traveling on one side, moving to one longitudinal side of the guardrail 10, and traveling on the other side, moving to the other longitudinal side of the guardrail 10. At this time, for example, the first step detection sensor 183 detects a dangerous step condition on one side when the weeding device 100 is driven on one side, and the second step detection sensor 184 detects a dangerous step condition on the other side of the weeding device 100. When driving, dangerous step conditions on the other side can be detected.

For example, referring to FIGS. 4A to 5C, the second step detection sensor 184 is a limit switch type that is arranged in contact to elastically support the lower surface of the second arm member 130b. ) may be arranged to release the contact with the lower surface of the second arm member 130b when it is lifted upward beyond the upper limit of the allowable rotation angle. For example, the second step detection sensor 184 detects a lever unit in contact with the lower surface of the second arm member 130b and a state corresponding to contact or release between the lever unit and the lower surface of the second arm member 130b. It may be a limit switch type that includes a sensing switch unit. At this time, for example, the switch unit of the second step detection sensor 184 may be installed on the other side of the second driving roller mounting unit 114.

For example, when the second arm member 130b is rotated upward, the second step detection sensor 184 rotates upward by a preset rotation angle so that the lever part maintains some contact with the second arm member 130b. It can be set to maintain the status. For example, the preset rotation angle may correspond to the allowable rotation angle of the second arm member 130b.

Additionally, for example, the lever portion of the second step detection sensor 184 may be provided to have rotational elastic force in response to the downward rotation angle of the second arm member 130b.

For example, referring to FIG. 6, the upper limit of the allowable rotation angle of the second arm member 130b is when a plurality of unit guardrails 10 are connected along the longitudinal direction (based on FIG. 6, 3 o'clock to 9 o'clock direction). The height of the top of the neighboring unit guardrail on the other side in the longitudinal direction (based on FIG. 6, 3 o'clock direction) is relatively higher than the height of the top of the unit guardrail where the second drive roller 120b is located in the guardrail 10 built by If there is an upward step (a) that increases, it can be set by considering whether the upward step (a) corresponds to a size that causes separation from the guardrail of the neighboring unit on the other side of the second drive roller (120b).

For example, the allowable rotation angle of the second arm member 130b is the weeding device 100 even when the second arm member 130b is rotated upward or downward due to the step (a) of the guardrail 10. ) may be within the rotation angle range corresponding to the case where the second driving roller 120b does not deviate from the guardrail 10 and travels along the longitudinal direction of the guardrail 10. On the other hand, the upper limit of the allowable rotation angle of the second arm member 130b is that the second arm member 130b is rotated by the step (a) of the guardrail 10, and the second arm member 130b of the present weeding device 100 The rotation angle corresponding to the case where there is a possibility of the driving roller 120b being separated from the guard rail 10 can be adjusted. At this time, when the second arm member 130b exceeds the upper limit of the allowable rotation angle, the second step detection sensor 184 may detect this as a dangerous step state on the other side.

For example, the control unit 190 allows the weeding device 100 to move to one side and the other side (e.g., reciprocating movement) along the longitudinal direction with respect to the guardrail 10, so that the first step detection sensor 183 ) and the upper limit of the allowable rotation angle of the second step detection sensor 184 may be set to be the same or similar.

In other words, referring to FIGS. 4A to 5C, the second step detection sensor 184 is in contact with the lower surface of the second arm member 130b within the allowable rotation angle range of the second arm member 130b. It is maintained, and when the second arm member 130b exceeds the upper limit of the allowable rotation angle, the contact with the lower surface of the second arm member 130b is released, and a dangerous step state on the other side can be detected.

In addition, referring to FIGS. 1 to 3 and 7, the control unit 190 can control the operation of the weeding device 100 in conjunction with the detection of a dangerous step state on the other side by the second step detection sensor 184. there is.

For example, the control unit 190 may receive a signal about a dangerous step state on the other side from the second step detection sensor 184.

In addition, for example, the control unit 190 determines that the weeding device 100 is in a dangerous step state on the other side when the second step detection sensor 184 releases contact with the lower surface of the second arm member 130b. You can judge.

For example, when the second arm member 130b exceeds the upper limit of the allowable rotation angle and the second step detection sensor 184 detects a dangerous step state on the other side, the control unit 190 detects the second step detection sensor 184 ), a signal for detection of a dangerous step state on the other side is received, and it can be determined that the weeding device 100 is in a dangerous step state on the other side.

In addition, even if a dangerous step condition on the other side is detected, the control unit 190 causes the second step detection sensor 184 to be positioned on the lower surface of the second arm member 130b within a preset time due to the elastic restoring force of the second arm member 130b. If contact is made again, it can be determined that the dangerous step state on the other side has been lifted.

For example, friction occurs between the second auxiliary roller 140b and the jaw due to the upward step (a) present in the guardrail 10, and the second arm member 130b exceeds the upper limit of the allowable rotation angle. When rotated at an angle, the contact between the second step detection sensor 184 and the lower surface of the second arm member 130b is released, and even if the control unit 190 detects a dangerous step condition on the other side, the second arm member 130b is released within a preset time. When the lower surface of the second arm member 130b and the lever part of the second step detection sensor 184 come into contact with the member 130b again due to the rotational elastic restoring force, the control unit 190 determines the risk of the other side of the weeding device 100. It can be determined that the step state has been lifted.

Here, the preset time may be a time set in consideration of a predetermined time to prevent the second driving roller 120b of the present weeding device 100 from deviating from the guardrail 10 due to a step.

In addition, referring to FIG. 7, the weeding device 100 responds to the upper step existing in the guardrail 10 and applies the weeding device 100 when it passes the upper step portion of the weeding device 100. It may include an impact detection sensor 181 that detects the amount of impact. For example, when there is a step at the top of the guardrail 10 and an impact is applied to the weeding device 100, the impact detection sensor 181 detects the amount of impact applied to the weeding device 100, and A corresponding impact signal may be generated and transmitted to the control unit 190.

Referring to FIG. 7, when the amount of impact detected by the impact detection sensor 181 exceeds the preset allowable amount of impact, the control unit 190 may control the operation of the weeding device 100 by taking the detected amount of impact into consideration. . For example, the control unit 190 may control the operation of the weeding device 100 by considering the shock signal transmitted by the shock detection sensor 181.

For example, the preset allowable impact amount is the amount of impact applied to the weeding device 100 when an impact is applied to the weeding device 100 due to the step (a) of the guardrail 10. ) may be set in consideration of the amount of impact that separates the guardrail 10 or causes damage to the weeding device 100. At this time, the preset allowable amount of impact may be set as the lower limit of the amount of impact that causes separation or damage to the weeding device 100.

For example, referring to FIG. 6, the control unit 190 determines in advance the amount of impact detected by the impact detection sensor 181 when the weeding device 100 passes the step (a) of the guardrail 10. If the set allowable impact amount is exceeded, the power supply unit 150 may be controlled or a danger signal may be transmitted to the user to prevent the weeding device 100 from being separated from the guardrail 10 or damaged by impact.

In addition, the control unit 190 detects the upward step ( It is determined that a risk factor other than a) has occurred, and the operation of the weeding device 100 can be stopped. For example, other risk factors other than the upward step (a) (other than vertical step deformation) may be risk factors that can cause such lateral deformation or distortion, such as vehicle collisions, natural disasters, and landslides.

For example, when there is lateral distortion in the guardrail 10, the weeding device 100 does not detect a dangerous step state on one side through the first step detection sensor 183, but the impact detection sensor 181 If the detected impact amount exceeds the preset allowable impact amount, it is determined that a risk factor other than the upward step has occurred, and the control unit 190 stops operating the weeding device 100 or takes action by providing information to the user. can be taken.

In addition, the control unit 190 detects the upward step ( If it is determined that a risk factor other than a) has occurred, the operation of the weeding device 100 may be stopped.

In addition, for example, referring to FIG. 7, the weeding device 100 adjusts the upper step existing in the guardrail 10 with respect to the direction in which the weeding device 100 moves along the guardrail 10. It may include a contour recognition sensor 182 that recognizes in advance and generates a step recognition signal corresponding to the recognized step (a). For example, the present weeding device 100 includes a sensor unit including the above-described first step detection sensor 183, the second step detection sensor 184, the impact detection sensor 181, and the outline recognition sensor 182 ( 180) may be included.

For example, referring to FIGS. 1 and 7 , the outline recognition sensor 182 may be installed on the upper side of at least one of the first driving roller mounting part 113 and the second driving roller mounting part 114. In addition, for example, the outline recognition sensor 182 detects (recognizes) in advance the height of the step (a) when an upward step (a) exists in the guardrail 10 with respect to the moving direction of the weeding device 100. ) to generate a corresponding step recognition signal, and transmit the step recognition signal to the control unit 190.

In addition, for example, the control unit 190 may detect a risk generated by at least one of the first step detection sensor 183, the second step detection sensor 184, the impact detection sensor 181, and the outline recognition sensor 182. By detecting a signal, the operation of the weeding device 100 can be controlled.

For example, the control unit 190 is connected wired or wirelessly from the first step detection sensor 183, the second step detection sensor 184, the impact detection sensor 181, and the outline recognition sensor 182 to receive signals. A control signal can be transmitted based on signal information received from the power supply unit 150, the rolling driving force providing unit 121, and the weeding unit 160.

In addition, for example, the control unit 190 may be based on a decision result related to the guardrail dangerous step state, or may detect the first step detection sensor 183, the second step detection sensor 182, the impact detection sensor 181, and the contour Based on the danger signal received from one or more of the recognition sensors 182, an operation stop signal, an action signal, etc. may be generated, and the generated signal may be provided to the user in various ways.

For example, as an example of the various methods, the control unit 190 displays an operation stop signal, an action signal, etc. on an equipment monitor (e.g., a display unit) or transmits it to the worker's terminal (e.g., a mobile phone), etc. , it is possible to enable users to take action based on these signals. Additionally, as another example, the control unit 190 may transmit an operation stop signal, an action signal, etc. to the user through a visual display such as an LED display of the present weeding device 100.

The control unit performs overall control so that each of the above components can perform their functions normally. This control unit may be implemented in the form of hardware, software, or a combination of hardware and software. The control unit may be implemented in the form of a computing device (operation device) such as a microprocessor, but is not limited to this, and may be implemented in various forms that are obvious to those skilled in the art.

Meanwhile, hereinafter, a guardrail mobile weeding system (hereinafter referred to as 'this system') including a guardrail mobile weeding device according to an embodiment of the present application described above will be described. However, this system shares the same or equivalent technical features as the above-described weeding device, and the same reference numerals are used for the same or similar configurations as the weeding device 100, and overlapping descriptions are simplified or omitted. I decided to do it.

Figure 8 is a schematic conceptual diagram for explaining a guardrail mobile weeding system according to an embodiment of the present application.

Referring to FIG. 8, the system 1000 may include the weeding device 100 and the docking station 200.

The docking station 200 is located on one side of the guardrail in the transverse direction so that the weeding device 100 can be docked in response to the longitudinal movement of the weeding device 100 with respect to the guardrail 10. can be installed in For example, the docking station 200 may be installed to enable docking (coupling) with the weeding device 100 to the guardrail 10 along which the weeding device 100 moves.

Referring to FIG. 8 , the docking station 200 may include a power provider 210 . The power providing unit 210 may be provided to provide power to the power supply unit 150 . At this time, the power supply unit 150 may be a battery type that is charged by receiving power from the docking station 200.

For example, referring to FIG. 8 , the power supply unit 210 may be electrically connected to the power source unit 150 by wire or wirelessly and provide power to the power source unit 150 to charge the power source unit 150. Since this method of providing power through electrical connection can be accomplished in various ways that are obvious to those skilled in the art, detailed description will be omitted.

Figure 9 is a schematic conceptual diagram for explaining an embodiment of the joining of the injection hole and supply hole of the guardrail mobile weeding system according to an embodiment of the present application, and Figure 10 is a guardrail mobile weeding system according to an embodiment of the present application. This is a schematic conceptual diagram to explain another example of joining the injection hole and the supply hole.

For example, when the weeding unit 160 of the present weeding device 100 is equipped with a chemical weeding method including a herbicide storage tank and a herbicide spray unit, the docking station 200 includes the herbicide storage unit 220. It can be included.

Referring to FIGS. 8 to 10, the herbicide storage unit 220 may be provided to fill the herbicide storage tank with herbicide. For example, the herbicide storage unit 220 may be connected to a herbicide storage tank and may be provided to supply herbicide to the herbicide storage tank.

For example, a supply hole 221 may be formed in the herbicide storage unit 220 to supply the herbicide to the herbicide storage tank, and the herbicide storage tank 220 may supply the herbicide from the herbicide storage unit 220. An injection hole 164a may be formed to receive the injection hole 164a.

Also, for example, referring to FIGS. 8 to 10, the injection hole 164a and the supply hole 221 may be formed at positions corresponding to each other. For example, the positions corresponding to each other are such that when the weeding device 100 and the docking station 200 are installed with respect to the guardrail 10, the injection hole 164a and the supply hole 221 can be joined to each other. It may be a location.

Also, for example, referring to FIGS. 8 to 10 , the injection hole 164a and the supply hole 221 may be provided to be bonded and connected to each other. For example, the herbicide storage unit 220 and the herbicide storage tank may be connected to each other through the supply hole 221 and the injection hole 164a, and by the connection, the herbicide storage tank is connected to the herbicide storage unit 220. ) can be supplied with herbicides.

For example, referring to Figures 9 and 10, the injection hole 151 and the supply hole 221 are provided to be docked and connected to each other, and when normal docking is completed, the injection hole 164a and the supply hole 221 are joined. A junction signal can be generated by . At this time, for example, the docking station 200 may include a control unit, and the control unit controls the herbicide supply unit 220 by a bonding signal generated upon completion of normal docking of the injection hole 164a and the supply hole 221. The herbicide can be supplied to the herbicide storage tank.

For example, referring to FIG. 9, the supply hole 221 protrudes from the herbicide storage unit 220 by a predetermined amount, and the injection hole 164a is a hole of a size (width) that allows the insertion of the supply hole 221. It can be formed, and the connection between the supply hole 221 and the injection hole 164a can be done through an insertion connection. For example, referring to (a) of FIG. 9, the supply hole 221 can be inserted into the injection hole 164a so that the herbicide does not leak out when not connected to the supply hole 221, but the supply hole ( An elastic member may be provided to maintain blockage of the injection hole 164a when 221) is not inserted.

Additionally, for example, a bonding sensor that generates a bonding signal may be provided on the peripheral surface of the supply hole 221 when the supply hole 221 is inserted into the injection hole 164a by a predetermined amount or more. For example, referring to (b) of FIG. 9, when the supply hole 221 is inserted into the injection hole 164a by a predetermined amount, the elastic member of the injection hole 164a and the joint sensor of the supply hole 221 contact. A junction signal can be generated by . At this time, the control unit of the docking station 200 determines that the supply hole 221 and the injection hole 164a are docked normally, and controls the herbicide to be supplied from the herbicide storage unit 220 to the herbicide storage tank. You can.

In addition, as another example, referring to FIG. 10, the supply hole 221 protrudes more than a predetermined amount from the herbicide storage unit 220, and the injection hole 164a also protrudes more than a predetermined amount from the herbicide storage tank, and the supply hole 221 ) and when the injection hole 164a is not docked, an elastic member may be provided to maintain the blockage of the injection hole 164a to prevent exchange between the inside and outside air of the herbicide storage tank.

In addition, referring to FIG. 10, the supply hole 221 may be provided with a disk member that allows movement in the plane direction from the circumferential surface of the herbicide storage unit 220 so that normal docking with the injection hole 164a is achieved. there is. For example, referring to (a) of FIG. 10, when joining is performed at a location where the positions of the supply hole 221 and the injection hole 164a do not correspond to each other, the supply hole 221 and the injection hole 164a Referring to FIG. 10 (b), in order to prevent abnormal docking by alternating the junctions, movement in the direction of the surface is made through the disk member of the supply hole 221 to change the position of the supply hole 221 to the injection hole 164a. It is possible to ensure normal docking of the supply hole 221 and the injection hole 164a by moving it to a position corresponding to the position of .

At this time, for example, the supply hole 221 and the injection hole 164a may each be provided with a magnetic material for the member forming the hole. For example, referring to (a) of FIG. 10, the supply hole 221 may be provided with a magnetic material at the 3 o'clock direction, and the injection hole 164a may be provided with a magnetic material at the 9 o'clock direction. Normal docking can be completed by pulling each other by the magnetism of the magnetic material of the supply hole 221 and the magnetic material of the injection hole 164a.

In addition, for example, a bonding sensor in which a bonding signal is generated upon completion of normal docking by the magnetic material of the supply hole 221 and the injection hole 164a with respect to at least one of the supply hole 221 and the injection hole 164a. may be provided.

For example, referring to FIG. 10, during normal docking by the magnetic material of the supply hole 221 and the injection hole 164a and the disk member of the supply hole 221, the bonding sensor generates a bonding signal and It can be transmitted to the control unit of the docking station 200. Accordingly, the control unit of the docking station 200 determines that the supply hole 221 and the injection hole 164a are docked normally, and controls the herbicide to be supplied from the herbicide storage unit 220 to the herbicide storage tank. You can.

The joining method of the injection hole 164a and the supply hole 221 and the control method using the joining signal can be provided in various ways that are obvious to those skilled in the art.

Referring to FIG. 8, the herbicide storage unit 220 stores the herbicide so that the herbicide can be naturally supplied to the herbicide storage tank by gravity without the need for a separate driving device for supplying the herbicide to the herbicide storage tank. It may be provided to be located above the storage tank. For example, the supply hole 221 may be formed to be located on the lower side (lower part) of the herbicide supply unit 220, and the injection hole 164a may be formed to be located on the upper side (upper part) of the herbicide storage tank. there is.

The herbicide supply unit 220 is provided to be located above the herbicide storage tank, and the supply hole 221 is set to be located below the herbicide supply unit 220, so that the herbicide stored in the herbicide supply unit 220 is gravity-fed. Since the herbicide can be naturally supplied to the storage tank, a separate driving device (for example, a pump, etc.) may not be provided.

In addition, for example, since the herbicide storage unit 220 is provided to be located above, the power providing unit 210 may be provided to be located below the herbicide storage unit 220. The power supply unit 210 and the power supply unit 150 may be electrically connected wired or wirelessly.

Meanwhile, for example, the control unit 190 of the present weeding device 100 measures the amount of power of the power unit 150, and when the amount of power of the power unit 150 reaches a preset limit, it detects this and detects the rolling driving force providing unit ( After controlling the rotation direction of 121 and moving it to the position of the docking station 200, the power supply unit 150 and the power providing unit 210 can be docked. In addition, the control unit 190 of the present weeding device 100 can transmit a signal to the control unit of the docking station 200, and the control unit of the docking station 200 allows the power provider 210 to provide power to the power supply unit 150. You can control it to provide.

In addition, for example, the control unit 190 of the present weeding device 100 measures the amount of herbicide stored in the herbicide storage tank, and when the amount of herbicide stored reaches a preset limit, it detects this and the rolling driving force provider 121 ) can be moved to the position of the docking station 200 by controlling the direction of rotation, and then the herbicide storage tank and the herbicide storage unit 220 can be docked. In addition, the control unit 190 of the present weeding device 100 may transmit a signal to the control unit of the docking station 200, and the control unit of the docking station 200 may transmit a signal to the herbicide storage unit 220 for the herbicide storage tank. It can be controlled to allow herbicide filling.

The description of the present application described above is for illustrative purposes, and those skilled in the art will understand that the present application can be easily modified into other specific forms without changing its technical idea or essential features. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. For example, each component described as unitary may be implemented in a distributed manner, and similarly, components described as distributed may also be implemented in a combined form.

The scope of the present application is indicated by the claims described below rather than the detailed description above, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present application.

10: Guardrail
100: Guardrail mobile weeding device
110: body part
111: body
112: interior space
113: First driving roller mounting portion
114: Second driving roller mounting portion
115: side roller
120a: first driving roller
120b: Second driving roller
121: Rolling driving force providing unit
130a: first arm member
130b: second arm member
140a: First auxiliary roller
140b: Second auxiliary roller
150: power unit
160: Weeding unit
161: Absence of weeding arm
162: cutter
163: Cutter driving force providing unit
164: Herbicide storage tank
164a: injection hole
165: Herbicide spraying unit
180: sensor unit
181: Shock detection sensor
182: Contour recognition sensor
183: First step detection sensor
183a: lever part
183b: switch part
184: Second step detection sensor
190: Control unit
200: docking station
210: Power provision unit
220: Herbicide storage unit
221: Supply hall
1000: Guardrail mobile weeding system

Claims (8)

As a guardrail mobile weeding device,
a body portion in which an internal space is formed;
A first drive mounted on one longitudinal side of the body so as to be rotatable about the horizontal direction of the guardrail with respect to the body so that it can be rolled over the upper end of the guardrail on one side in the longitudinal direction where the guardrail extends. Roller;
a second drive roller mounted on the other longitudinal side of the body to be rotatable about the transverse direction of the guardrail with respect to the body so as to roll across the upper end of the guardrail on the other longitudinal side;
a first arm member whose other end is rotatably connected to the body portion about a rotation axis in the transverse direction of the guardrail, and whose one end is arranged to extend to one side in the longitudinal direction;
a first auxiliary roller mounted to be rotatable about a rotation axis in the transverse direction of the guardrail with respect to the first arm member so as to be located on one longitudinal side of the first drive roller;
a second arm member, one end of which is rotatably connected to the body portion about a rotation axis in the transverse direction of the guardrail, and the other end of which is arranged to extend in the other longitudinal direction;
a second auxiliary roller mounted on the second arm member so as to be located on the other longitudinal side of the second drive roller so as to be rotatable about a rotation axis in the transverse direction of the guardrail with respect to the second arm member;
a rolling driving force providing unit that provides rolling driving force to the first driving roller and the second driving roller;
a power supply unit provided to supply power to the rolling driving force providing unit;
a weeding unit mounted on one side of the body to enable weeding of at least a portion of the area behind the guardrail;
a first step detection sensor installed on one side of the body portion to be rotatable with respect to the body portion to detect a dangerous step condition on one side in which the first arm member is lifted upward beyond an allowable rotation angle; and
A guardrail mobile weeding device comprising a control unit that controls the operation of the guardrail mobile weeding device in conjunction with detection of the dangerous step condition on one side. According to paragraph 1,
The guardrail mobile weeding device detects a second step installed on the other side of the body portion to be rotatable with respect to the body portion to detect a dangerous step condition on the other side in which the second arm member is lifted upward beyond the allowable rotation angle. Contains more sensors,
The control unit controls the operation of the guardrail mobile weeding device in conjunction with detection of a dangerous step state on the other side. According to paragraph 1,
The first step detection sensor is a limit switch type that is arranged in contact to elastically support the lower surface of the first arm member, and when the first arm member is lifted upward beyond the upper limit of the allowable rotation angle, the first step detects the sensor. It is arranged so that contact with the lower surface of the arm member is released,
The control unit determines that the guardrail mobile weeding device is in a dangerous step state on one side when the first step detection sensor releases contact with the lower surface of the first arm member. According to paragraph 3,
The upper limit of the allowable rotation angle is,
In the guardrail constructed by connecting a plurality of unit guardrails along the longitudinal direction, the top height of a neighboring unit guardrail on one side in the longitudinal direction is relatively higher than the top height of the unit guardrail where the first drive roller is located. When an increasing upward step exists, the guardrail mobile weeding device is set in consideration of whether the upward step corresponds to a size that causes the first drive roller to deviate from the neighboring unit guardrail on one side. According to paragraph 3,
The first arm member is hinged to have an elastic restoring force related to rotational elasticity with respect to the body portion to support the upper end of the guardrail with a predetermined elasticity,
The control unit determines that, even if the one-side dangerous step state is detected, when the first step detection sensor re-contacts the lower surface of the first arm member by the elastic restoring force within a preset time, the one-side dangerous step state is released. A guardrail mobile weeding device that is used to judge. According to clause 5,
The guardrail mobile weeding device further includes an impact detection sensor that detects the amount of impact applied to the guardrail mobile weeding device when it passes the upward step portion of the guardrail mobile weeding device in response to the upward step existing in the guardrail. Contains,
The control unit controls the operation of the guardrail mobile weeding device in consideration of the detected impact amount when the amount of impact detected by the impact sensor exceeds a preset allowable impact amount. According to clause 6,
The control unit generates risk factors other than the upward step when the amount of impact detected by the impact detection sensor exceeds a preset allowable amount of impact even if the first step detection sensor does not detect the one-side dangerous step state. A guardrail mobile weeding device that determines that the guardrail mobile weeding device has been removed and stops driving the guardrail mobile weeding device. In the guardrail mobile weeding system,
Guardrail mobile weeding device according to paragraph 1; and
A docking station installed on one side of the guardrail in the transverse direction so that the guardrail mobile weeding device can be docked in response to longitudinal movement of the guardrail mobile weeding device with respect to the guardrail,
The power unit of the guardrail mobile weeding device is a battery type that is charged by receiving power from the docking station,
The docking station is,
A guardrail mobile weeding system comprising a power supply unit provided to provide power to the power supply unit.

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