KR20010020756A - An unmanned fertilizer-spraying method and the device - Google Patents

Abstract

PURPOSE: An unmanned sprayer is provided which uses one sprayer transferred by a transfer tool to control insect pests so that it improves efficiency in preventing diseases. CONSTITUTION: The unmanned spraying system comprises the parts of: multiple moving poles(10) which are placed along furrows in a straight line inside greenhouse and supported by a support part; a transfer rail for the sprayer(20) which is placed in the opposite side of the moving pole; a transfer tool(30) which includes multiple sensing tools and a control tool; and a connection tool for the moving pole wherein an 'L'-character lead pole is run forward and backward to move the sprayer along the moving pole and an unmanned sprayer is put on the lead pole to be transferred along the moving pole.

Description

Unmanned fertilizer-spraying method and the device

The present invention relates to an automated unmanned control apparatus and method for preventing pests on plant horticultural crops, such as a vinyl house or a glass greenhouse, and in detail, can control the entire plant house automatically with a single control unit. The present invention relates to an unmanned control device and a method for improving space utilization by mounting a chemical supply hose and a power line by a shaped lead rod.

9 is a conventional unmanned control device having a medicine rod formed with a plurality of nozzles, as shown in Figure 9, the wheel is driven by the built-in motor to move the drug on the running rail 110 by itself while supplying the agricultural crops Office control device 100 configured to spray on has been developed and used. However, the control device as described above has only a function of spraying drugs while reciprocating along the running rail by the driving force of the control device itself, so that the control devices are installed one by one for every running rail installed in a straight line along the furrow in the plastic house.

Therefore, in the case of a large vinyl house or a glass greenhouse, dozens of field grooves are formed, and one control device must be installed for every mockup, which means that the plant house farmers have to pay huge installation cost.

In addition, the conventional unmanned control method as described above must be driven by manipulating the control devices installed in each running rail, and thus cannot be called an unmanned control device by a fully automated system, and each control device must be operated in a closed space. This poses a serious threat to worker health. In addition, the control device was developed to control the entire house of the facility automatically with one control device by the transfer device to control, but due to the straight shape of the connecting lead rod had a problem that the transfer device lead rod occupies a lot of space.

Therefore, the present invention has been made to solve the problems of the conventional unmanned control device, the object of the present invention can automatically control the entire facility house with a single control unit and the "b" shaped lead rod chemical solution hose and The present invention provides an unmanned control device having an improved structure so that space can be installed by using electric wires and operation and management are easy.

In order to achieve the above object, the present invention is provided with a plurality of nozzles formed in the medicine box, the wheel is driven by a built-in motor to move the medicine supplied by the hose while moving through the running rail by itself to the agricultural crops In the provided control device, the control device transport rail installed on one side end facing the ridge in the facility house, the control device transport means for reciprocating by the control device transport rail, and the connecting means support so that the control device can be moved along the traveling rod A lead rod fixed to the lead rod and operated backward / backward, a plurality of recognition display members 11 installed on the first support member of the traveling rod, and a detection sensor 60 for detecting data of the recognition display member and a detection signal of the detection sensor. Drive the connecting means drive motor 43 to connect the lead rod fixed to the connecting means support to the traveling rod. / Combines and transfers the control unit along the traveling rod and detects the control return panel 12 installed at the end of the traveling rod, and reverses the driving direction of the control unit so that the control unit is transferred to the transfer means 30. Go back and move to the driving rod after the recognition indicator is installed.

1 is a perspective view of an unmanned control apparatus of the present invention,

Figure 2a is a perspective view of the internal state of the main body case of the control unit transfer means in the present invention,

Figure 2b is a perspective view of the coupling means coupled state of the control unit transfer means in the present invention,

3 is a perspective view of the transfer means state,

4 is a top view of FIG. 3

5 is a side view of FIG. 3;

Figure 6 is a perspective view of the connection path movement path state,

Figure 7 is a schematic plan view for explaining the present invention unmanned control method,

8 is a schematic configuration diagram for showing an installation state of the unmanned control apparatus of the present invention;

9 is a schematic configuration diagram for showing an installation state of a conventional unmanned control device,

10 is a flow chart for explaining the present invention unmanned control method ,,

11 is a block diagram illustrating the control of the unmanned control apparatus of the present invention;

12 is a perspective view showing a state in which a power line and a chemical solution supply lake are settled in a connection means of a "b" shape in the present invention;

13 is a flowchart for explaining an automatic mode of a control means in the present invention;

14 is a flowchart for explaining a manual mode of the control means in the present invention;

15 is a circuit diagram showing a manual / automatic mode for pump control in the present invention,

16 is a circuit diagram showing a control means in the present invention;

17 is a flowchart showing control means in the present invention;

* Description of the symbols for the main parts of the drawings *

1: unmanned control system 10: traveling rod

11: conveying means color display member 12: control unit return touch plate

13-a: Transfer means reverse touch plate 13-b: Transfer means stop touch plate

20: transfer rail 30: control unit transfer means

31-a: main body case 31-b: upper case

31-c: lower case 32: rollo bracket

33: roller for driving the conveying means 34: motor for driving the conveying means

35: guide roller 40: driving rod connecting means

41: lead rod 41a: engaging projection

42-a: Rec Gear 42-b: Pinion Gear

43: connecting means drive motor 44: connecting means support (frame)

45: connecting means support bracket 50: control device

51: medicine box 52: injection nozzle

53: chemical supply hose 54: chemical supply hose and wire

60: traveling rod sensor 61: lead rod sensor

62: control unit detection sensor 63-64: transfer means detection limit switch

80: control means 100: control device

110: running rail A: crop

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

Figure 1 is a perspective view of the unmanned control device of the present invention, Figure 2 is a perspective view of the upper / lower internal state of the control device transfer device in the present invention, Figure 8 is a schematic installation showing the installation state of the unmanned automatic control device of the present invention 12 is a perspective view showing a state in which the electric wire and the chemical liquid supply hose are mounted on the "b" shaped lead rod in the present invention, and FIG. 16 is a circuit diagram showing the control means.

As shown in the drawing, a plurality of traveling rods 10 installed in a straight line along the ridges in the facility house and supported by the support member are installed along the ridges, and transported to the control unit installed at one end opposite to the traveling rods. The rail 20 is comprised.

In addition, the control unit transfer means 30 reciprocating by the transfer rail, and the lead rod 41 is fixed to the connecting means frame so that the control unit can be moved along the traveling rod 10, and the forward / reverse operation; Recognition display member 11 installed on the first rail hanger of the traveling rod 10, a sensor 60 for sensing the data of the recognition display member, and receives the detection signal of the sensor to drive the motor 43 The lead rod is connected to / coupled with the traveling rod to transfer the control unit along the traveling rod, and at the same time, when the control unit return touch panel 12 installed at the end of the traveling rod is detected, the driving direction of the control unit is reversed. The control unit returns to the conveying means and moves to the rail after the recognition display member 11 is installed.

Referring to the operation of the present invention configured as described above are as follows.

The present invention includes a plurality of traveling rods 10 installed in a straight line along a large ridge, a transport rail 20 horizontally installed at one end of the traveling rod 10, and a plurality of sensing means 60, 61, 62, 63, 64 and a control means 80, and a control means transfer means 30 for reciprocating on the transfer rail 20, and mounted to the side of the transfer means 30, the traveling rod 10 and the lead rod ( 41 is made of a control device 50 that can move along the traveling rod connecting means 40 and the traveling rod 10 for connecting and spray the medicine.

The traveling rod 10 is formed in a straight line along the ridge between the crop and the crop of the facility house, is supported and installed by the connecting means of the ceiling house ceiling.

A recognition display member 11 is formed on the first rail hanger of the traveling rod 10 so that the traveling means 30 moves along the transfer rail 20 and the traveling rod sensor 60 moves to the first rail hanger. The recognition display member 11 may be formed.

In addition, transfer means reverse / political touch plates 13-a and b are also formed at both ends of the transfer rail 20 so that the transfer means 30 is the transfer means reverse touch plates 13-a and b. When it comes in contact with the transfer means reverse limit switch 63, the control means 80 generates a control signal so that the transfer means 30 is reversed.

The control unit transfer means 30 is equipped with sensors (60, 61, 62, 63, 64) capable of detecting the traveling rod, lead rod, control unit, transfer rail, the transfer means by the signal input from the sensors The drive motor 34, the drive rod connecting means drive motor 43, the control unit 50, and the control means 80 for controlling the operation of the pump are incorporated in the main body case 31-a.

In addition, the lower case (31-c) is equipped with a traveling rod connecting means 40, the driving rod connecting means 40 is connected to the driving rod 10 and the lead rod 41 by one control unit 50 all crops It is possible to spray the medicine.

Here, the traveling rod connecting means and the "b" shaped lead rod 41 and the coupling rod (41-a) of the shell type is formed at the tip of the lead rod and the lead rod is supported / fixed to the connecting means support 44 It is configured to engage the pinion gear 42-b mounted to the connecting rod support and the connecting gear support 42-b across the center of the connecting means support. The pinion gear 42-b is rotated by the operation of the driving rod connecting means drive motor 43 fixed to the main body case 31-a, and the gear gear 42-a engaged with the pinion gear is moved back and forth. By doing so, the connecting means support 44 and the lead rod 41 fixed thereto are connected to and separated from the traveling rod 10 by performing forward and backward motions. At this time, the connecting means support (frame) 44 which supports / fixes the lead rod is fixed by the bracket 45 so as to prevent shaking.

In addition, in the bracket 45, when the connecting means support moves forward / backward for a predetermined length or more, the connecting means support stop sensor is attached to prevent the connecting means support from being detached.

Accordingly, when the lead rod 41 is advanced and inserted / coupled to the traveling rod 10, the control unit 50 moves along the traveling rod 10 to spray the medicine.

In detail, first, when power is input through the power input unit 70, the driving means driving motor 34 is first driven by the operation start command of the control means 80, and the feeding means 30 is a motor. When the moving display 20 moves along the transport rail 20 by the wheel 33 rotated by the 34, and detects the recognition display subsidiary 11 formed on the traveling rod 10 firstly touched by the traveling rod sensor 60. The control means 80 generates a control signal to stop the driving of the motor 34.

At this time, the stop position of the transfer means 30 is a point where the lead rod 41 and the traveling rod 10 are located in a straight line.

Subsequently, when the transfer means 30 is stopped, the control means 80 drives the driving rod connecting means drive motor 43 again so that the lead rod 41 is moved forward and eventually the engaging projection 41a of the lead rod 41 is performed. Is connected while being interpolated at the end of the traveling rod (10).

In addition, at this time, the detection sensor 60 incorrectly detects the recognition display member 11 or another obstacle interferes with the detection sensor so that the lead rod is advanced without the lead rod 41 being inserted into the end of the traveling rod 10. In order to prevent the installation of the lead rod end and the corresponding sensor in the traveling rod, if the two rods do not react when the lead rod moves forward with the traveling rod, the operation is stopped by the control means 80, and the emergency bell or warning light is operated to provide mechanical It is also possible to install a device to report a fault.

When the lead rod 41 and the traveling rod 10 are completely coupled, the control means 80 allows the lead rod drive motor 43 to stand still and drives the control unit 50.

Therefore, the control unit 50 is moved by the built-in motor as well as to spray the drug through the medicine stand 51 and the injection nozzle 52.

As described above, the control unit 50 advances along the traveling rod 10, and the limit switch installed at the control unit 50 detects the control unit reverse touch plate 10 installed at the end of the traveling rod 10 at the end of the traveling rod 10. When the control unit 50 recognizes the end point, the control unit motor retreats and returns to its original position, that is, the lead rod 41.

At this time, when the control unit reverse touch plate 12 is recognized, the pump pauses to stop the drug spraying and stops until it is transported to the next traveling rod.

This can save the chemical solution because there is no need to waste unnecessary chemicals.

The above description of the exact control method is described in the circuit diagram of FIG.

When the control unit 50 comes to its original position, the control unit detecting sensor 62 notifies the control unit 80 again, and the control unit 80 reversely rotates the lead rod driving motor 43 to lead rod 41. By being separated from the traveling rod 10, one cycle for the unmanned air conditioner is completed.

Such a control operation is made repeatedly in all the traveling rods 10 it is possible to control the entire house in the facility.

Meanwhile, transfer means reverse / stop touch plates 13-a and b are also formed at the end of the transfer rail 20 so that the sensing sensor 63 formed on the transfer means 30 is the reverse touch plate. When the sensing unit (13-a) is detected, the control unit (80) receives the input and reverses the driving of the motor in the transfer unit (30) to return to the initial control position. At this time, if the proximity to the original position is detected by the sensor 64 formed on the conveying means (30) recognizes the conveying means stop touch plate (13-b) is stopped.

The present invention is described in detail the control means of the control means for unmanned control is the circuit diagram shown in FIG.

The present invention as described above is described step by step for the unmanned control method as follows.

That is, the driving rod connecting means 40 and the traveling rod 10 mounted on the traveling rod 30 which is first contacted after the transfer means 20 moves along the transfer rail 20 and the movement stage is simultaneously with the input of power. And a step of connecting the control unit after the connecting step, and controlling the spraying agent by controlling the spraying agent while the control unit 50 is moved along the traveling rod after the connecting step 30 and the controlling unit 50 after the controlling step returns to the traveling rod. Separating the connecting means 40 and the traveling rod 10, and after the separating step, the transfer means 30 is returned to the original position.

Naturally, the moving direction and speed of the transfer means 30 and the moving direction and speed of the control unit 50 may be operated in a manual mode by an operator.

Here, a chemical liquid supply hose and a power line 54 are provided on the lead rod in the traveling rod connecting means 40 of the control unit transfer means, and the control unit uses the “b” shaped lead rod to move the chemical along the traveling rod. When the chemical liquid supply hose and the power line mounted on the lead rod are sprayed along the control unit 50 when spraying with the spray rod, the reason why the chemical liquid supply hose and the power line may be caught on the bent portion of the lead rod is applied. The lead rod 41 is inclined at a predetermined angle so that the chemical liquid supply hose and the wire 54 are not caught by the bent portion of the lead rod during the control, and the chemical liquid supply hose and the wire 54 are smoothly supplied along the control device.

As described above, according to the present invention can be controlled as a whole by a single control unit transported by the control unit transfer means can reduce the installation cost, it is possible to increase the efficiency of the control operation.

In addition, the "b" shaped traveling rod connecting means 40, the lead rod has improved the structure to improve the space utilization in the facility house, and to facilitate the operation and management.

Claims (5)

A control device comprising a medicine rack having a plurality of nozzles and a control device for spraying chemicals supplied by a hose to a crop while the wheel is driven by a built-in motor and moves through a running rail by itself. A plurality of traveling rods 10 installed in a straight line and supported by the support member along the ridges, a control unit conveying rail 20 installed at one side end of the driving rod, and a plurality of sensing means for reciprocating by the control unit conveying rail A control unit conveying means (30) having (60, 61, 62, 63, 64) and control means (80), and the "b" shaped to be operated forward / reverse so that the control unit can be moved along the traveling rod (10). Unmanned control station comprising a driving rod connecting means 40 equipped with a lead rod 41 and a known unmanned control unit which is transported mounted on the lead rod and sprays drugs while moving along the driving rod 10. . The method of claim 1, The traveling rod connecting means 40 is a shell-shaped coupling protrusion 41-a formed at the front end and the “b” shaped lead rod 41 and the connecting means support and connecting means which are supported / fixed by the connecting means support 44. Unmanned control device, characterized in that configured to engage with the pinion gear (42-b) mounted to the drive motor (43). The method of claim 1, Unmanned control apparatus characterized in that the sensor corresponding to the lead rod engaging projection end portion (41-a) of the running rod connecting means (40) and the running rod (10). The method of claim 1, The “b” shaped traveling rod connecting means lead rod 41 having the chemical liquid supply hose and the wire of the control unit being transferred is inclined at a predetermined angle to control the bent portion of the “b” shaped transfer connecting means lead rod 40. Unmanned control device for smooth supply of chemical liquid supply hose and wire during blocking. In the method for spraying the chemicals supplied by the hose to the crops having a plurality of nozzles formed with a nozzle, the transfer means 30 is moved along the transfer rail 20 by receiving power, in the movement process Stopping the transfer means 30 when detecting the recognition means installed on the traveling rod, and connecting the “b” shaped lead rod 40 and the traveling rod 10 mounted on the transfer means 30 after the stopping step. And, after the connecting step, the control unit 50, which was transported by the transfer means 30 moves along the traveling rods to spray and control the medicine, and when the sensing means to detect the recognition means installed on the other side of the control rods of the control unit Stopping the movement and backing the control unit; and if the control unit 50 is in the original position after the control step, separating the “b” shaped lead rod 40 and the traveling rod 10, and after the separation step. All After the step, and a shutdown operation for repeating the above steps to the feed means 30 advance the unattended control method characterized by comprising: doeeojim composed of the conveying means 30 is returned to its original position.