KR20020037209A - Module type, multi-functional and remote operation system for raising, harvesting and loading control of crops - Google Patents

Abstract

PURPOSE: A system for growing, reaping, loading, and managing crops is provided to propel the innovation of an agricultural production technology through the development of the technology and device of remote operation, and to facilitate jointly a variety of operation through the simple alternation of a worktable end. CONSTITUTION: An operation software(1) is composed of a monitor-attached touch pad and a PC. When the operation is ordered through the monitor-attached touch pad, the PC sends and displays the image data to a monitor. A CCD(Charge Coupled Device) color camera(2) shots and transfers the images of three crops to the monitor. A caterpillar or rail tractor(7) comprises a watermelon loading gripper, a watermelon rounding gripper, a watermelon reaping gripper, a weeder, and a watering and spray nozzle. A weight load sensor(4), which is mounted on the caterpillar or rail tractor, perceives the weight of watermelon. A spray tank(5) is used when an operator sees the monitor image and tries to spray. A divider and loader(6) sorts and loads the watermelon as standard.

Description

Modular type, multi-functional and remote operation system for raising, harvesting and loading control of crops}

The present invention relates to a modular multifunctional remote operation system for crop cultivation, harvesting, and load management operations, and in particular, cultivation management, control, weeding and sorting operations focusing on the harvesting operation of watermelon and other crops as a simple replacement of the work tip. It is a modular multifunctional remote control system that can be used in common and has several crop cultivation, harvesting and load management tasks.

Conventional harvesting, management, and transporting operations have been mechanized one by one, and each has been partly mechanized for crops with simple functions and roles and heavy weights.

However, there is a problem in that it is difficult to handle a heavy crop such as watermelon and the design and stability of the remote control system is poor.

Therefore, the object of the present invention has been made to solve the above problems, the object of the present invention is to promote the innovation of agricultural production technology through the development of recognition, judgment technology, operation technology and device by remote operation, watermelon and other Focusing on the harvest work of crops, cultivation management, control, weeding and sorting work can be done by simple replacement of the work front, and various works can be used jointly, and crop cultivation, harvesting, and loading management work are provided. It is.

The present invention for achieving the above object is to produce a gripper starter for the operation controller and watermelon turning operation of the working system and the watermelon tap cutting device production and remote control operation and design of the control unit and to build a remote wireless monitoring system using CCTV By constructing a traveling device and a driving device, the system was able to cultivate and manage heavy crops such as watermelons by precisely redesigning the endless track type simple traveling system equipped with a work machine and the interface mechanism part.

Figure 1a is a block diagram when the vehicle occupants the vehicle of the crop cultivation, harvesting, load management operation modular multi-function remote operation system of the preferred embodiment of the present invention,

Figure 1b is an exemplary view when the vehicle of the operator of the crop cultivation, harvesting, load management operation modular multi-function remote working system of the preferred embodiment of the present invention,

Figure 2a is a block diagram when the operator remotely adjusts the unmanned working vehicle of the modular multi-functional remote working system for crop cultivation, harvesting, loading management operation of the preferred embodiment of the present invention,

Figure 2b is an exemplary view when the operator remotely adjusts the unmanned work vehicle of the crop cultivation, harvesting, stacking management modular multi-function remote working system of the preferred embodiment of the present invention,

Figure 3a is an exemplary view of the gripper for watermelon turning operation of the crop cultivation, harvesting, load management operation modular multi-function remote working system of the preferred embodiment of the present invention,

Figure 3b is a crop cultivation, harvesting, loading management operation of the modular multi-functional remote operation system illustrative example of the preferred embodiment of the present invention,

Figure 4a is an illustration of cutting crop cultivation, harvesting, stacking management modular multi-function remote working system of the preferred embodiment of the present invention,

Figure 4b is an illustration of a crop cultivation, harvesting, loading management operation modular multi-function remote working system cutting method of a preferred embodiment of the present invention,

Figure 5a is a cultivator, harvest, load management operation of the modular multi-functional remote operation system of the working frame frame design of the preferred embodiment of the present invention,

Figure 5b is a cultivation, harvesting, load management operation of the modular multifunctional remote working system of the working frame frame design of the preferred embodiment of the present invention,

5C is a rail driving type work machine frame design diagram of a crop cultivation, harvesting and stacking management modular multi-function remote working system according to an embodiment of the present invention;

Figure 6a, 6b is an example of a crop cultivation, harvesting, load management operation of the modular multi-function remote operation system of the working instruction of the touch pad control system for the construction and harvesting, weeding, control operation of the work programming tools for example.

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

1: working software 2: CCD color camera

3: work drive interface 4: weight detection load sensor

5: control box 6: sorting, loading device

7: Wheel, tracked or rail driven work cart

8: wireless data transceiver

9: wireless video data transceiver

10: watermelon 20: control unit

30 Module 40 Camera

50: remote control unit 60: precision drive magazine

Hereinafter, described in detail with reference to the accompanying drawings for a preferred embodiment of the present invention.

FIG. 1A is a block diagram of a worker in a preferred embodiment when working with a vehicle, the work software 1 and the CCD color camera 2, the wheels, the tracked or rail-driven work cart 7 and the weight-sensing load sensor 4 ), The control box 5, the sorting, stacking device 6 and the work drive interface (3) to see the work program displayed on the touch pad monitor, the operator instructs the work.

The work software 1 is composed of a touch pad with a monitor and a PC computer. When a work instruction is performed on the touch pad with a monitor, the PC computer transmits image data and displays the same on a monitor.

The CCD color camera 2 photographs and transmits three images of crops at the upper end of the precision work magazine.

The wheel, crawler type or rail running type work cart 7 is a modular replaceable tip work device is composed of a watermelon enemy, gripper, watermelon swivel gripper, watermelon harvest gripper, weeding device, watering and control nozzle.

The watermelon enemy and the gripper are used in the case of the enemy and the work. The tip work part of the precision work magazine is replaced by the enemy and the work cutting tool, and the operator instructs the finger and the work block on the work program displayed on the touch pad mounting monitor. Then, an image is acquired from a color CCD camera installed in a work vehicle, and the acquired image is displayed on a monitor equipped with a touch pad, so as to view a monitor image with a touch pad and indicate a portion on the screen that is to be brewed.

At this time, after the three images are transmitted to the monitor equipped with the camera and the red fruit is directed to the three images, the local image processing regions are set for the indicated region, and the image processing is automatically performed using a computer. The center position data of the enemy and the part is set.

therefore. When a finger points the enemy and the work part drive block in the work program on the monitor equipped with the touch pad, the precision work magazine of the work drive is driven from the enemy and position data, and the antagonal cutting gripper mounted on the tip approaches and cuts.

The watermelon turning gripper is installed when the operator turns the watermelon turning work block on the work program displayed on the touchpad mounting monitor by replacing the watermelon head tip gripper with the watermelon turning work tip gripper. An image is acquired from the color CCD camera and the acquired image is displayed on the touch pad-mounted monitor to view the monitor image on which the touch pad is mounted and to display the watermelon to be harvested on the screen.

At this time, the precision work magazine equipped with the camera divides the driving work area of the work machine into three sections, transmits three images to the monitor equipped with the touch pad, and targets the indicated area after instructing watermelons for the three images. The local image processing areas are set and image processing is automatically performed by using a computer to set the center point positions of the watermelon, the watermelon size, and the tap position data of the watermelon.

Therefore, if you instruct a finger to turn the watermelon turning work block in the work program on the monitor equipped with the touch pad, the precision work magazine of the work drive is driven from the center point and the tap position data of the watermelon and the watermelon turning gripper mounted on the tip is watermelon. Approach it with a vacuum pad and hold up the watermelon, and the air pad attached to the side of the motor adsorbs the watermelon and rotates the watermelon at an angle.The upper vacuum pad is released from the adsorption state. It is eliminated and the upper pore pad adsorption starts and the watermelon is lifted.

The watermelon harvest gripper is installed in the work vehicle when the worker instructs the harvest work block on the work program displayed on the touchpad mounting monitor by replacing the tip work of the precision work magazine with the tip gripper for the harvest work in the case of harvest work. An image is acquired from the color CCD camera and the obtained image is displayed on the touch pad-mounted monitor to view the monitor image on which the touch pad is mounted and to instruct the watermelon to be harvested on the screen.

At this time, the precision work magazine equipped with the camera divides the driving work area of the work machine into three sections, transmits three images to the monitor equipped with the touch pad, and targets the indicated area after instructing watermelons for the three images. The local image processing areas are set and image processing is automatically performed using a computer, and the center point positions of the watermelon and the respective watermelon size and the tap position data are set.

Therefore, if you point the finger at the harvesting unit driving block in the work program on the monitor equipped with the touch pad, the precision work magazine of the driving unit is driven from the center point and the tap position data of the watermelon, and the harvesting gripper mounted at the tip approaches the watermelon. Using watermelon pad, lift up watermelon, cut watermelon tap with cutting blade mounted on harvesting gripper, measure watermelon weight from load cell mounted on gripper, calculate watermelon density using watermelon size data from image, Prediction of ripeness (sweetness) and sweetness of watermelons with density and appearance color of watermelon, classify grades into small and medium grades and sugar grades, and classify at harvest by driving solenoid driving window of sorted loading with classified grade data Select and load.

In the case of the weeding operation, in the case of the weeding operation, the tip work unit of the precision work magazine is replaced with the weeding tip device for mounting and instructing the touch pad, and the image is obtained from the color CCD camera installed in the work vehicle and the obtained image is displayed on the touch pad mounting monitor. The user views the monitor image on which the touch pad is mounted and instructs the weeds to be weeded on the screen.

At this time, the precision work magazine equipped with the camera divides the driving work area of the work machine into three sections and transmits three images to the monitor equipped with the touch pad and targets the indicated area after instructing weeds for the three images. The local image processing regions are set and image processing is automatically performed using a computer to set the center point positions and the area data of the weeds.

Therefore, when a finger is pointing a weeding part drive block in a work program on a monitor equipped with a touch pad, a pull-out weeding gripper or a high voltage weeder driven by the precision work magazine of the work driving part is driven from the center point and area data of the weeds. The rod approaches weeds and removes the weeds.

The irrigation and control nozzles are installed in the case of irrigation, fertilization and control work by replacing the tip work part of the precision work magazine with the tip nozzle window for irrigation (fertilization, control) work, and the irrigation on the work program displayed on the touchpad mounting monitor. When a worker touches each work block with a finger, an image is obtained from a color CCD camera installed in the vehicle and the acquired image is displayed on a monitor equipped with a touch pad to view the monitor image with a touch pad and The area to be controlled is indicated on the screen.

At this time, the precision work magazine equipped with the camera divides the driving work area of the work machine into three sections and transmits three images to the monitor equipped with the touch pad and indicates the watering (fertilization, control) area for the three images. Afterwards, local image processing areas are set for the indicated area, and image processing is automatically performed using a computer to set irrigation (fertilization, control) area data.

Therefore, if the finger is supported by the irrigation (fertilization, control) work drive block in the work program on the monitor equipped with the touch pad, the precision work magazine of the work drive is driven from the center point and area data of the weed and the irrigation water mounted on the tip ( Application is carried out from the device.

The weight sensing load sensor 4 is a load sensor for detecting the weight of the watermelon in wheels, tracked or rail-driven work cart.

The control container 5 is used to control and view the monitor image equipped with a touch pad.

The job driver interface 3 converts the touchpad indicator image processing and the job command from the job program and transmits data to operate the wheel, the tracked or rail-driven work cart.

The sorting and stacking device 6 classifies watermelons by specifications and loads the classified watermelons.

1B shows an exemplary view of a worker in a preferred embodiment when boarding a work vehicle.

Fig. 2A is a block diagram of a remote control of an unmanned work vehicle of the preferred embodiment by the work software 1, the CCD color camera 2, the wireless image data transmission / reception apparatus 9, and the work driver interface 3 wireless data. It consists of a transceiver 8, a wheel, a caterpillar or rail traveling type work cart 7, a weight sensor 4, a control box 5, and a sorting and stacking device 6.

The work software 1 is composed of a touch pad with a monitor and a PC computer, which is the same as when the worker is in a work vehicle.

The CCD color camera 2 is the same as the case where the worker rides on the work vehicle.

The wireless image data transmitting / receiving device 9 transmits the image captured by the CCD color camera to the work software.

The job driving unit interface 3 classifies the standard from the job program and loads the classified watermelons.

The wireless data transmitting and receiving device 8 transmits the contents of the working software to a wheel, a crawler or a rail traveling work cart.

The wheeled, caterpillar or rail-driven work cart 7 has a modular replaceable tip work device comprising a watermelon enemy, a gripper, a watermelon twirl gripper, a watermelon harvest gripper, a weeding device, and a watering and control nozzle.

The watermelon enemy and the gripper transmits three images to the monitor mounted on the camera when the worker rides the work vehicle, but when the operator remotely controls the unmanned vehicle of FIG. 2B, the precision work magazine equipped with the camera is a working machine. The driving work area of the monitor transmits three images wirelessly to a monitor equipped with a touch pad. The other parts are the same.

The watermelon turning gripper is the same as other parts except that the center point and the tap position data of the watermelon are converted into driving data and transmitted to the work driving unit wirelessly as compared with the case where the worker is in the work vehicle.

The watermelon harvest gripper is identical to the other parts except that the worker is converted into driving data and wirelessly transmitted to the work driving unit as compared with the case where the worker rides the work vehicle.

The weeding device and the watering and controlling nozzles are the same as when the worker of FIG.

The weight sensor 4 is the same as when the worker boards the work vehicle of FIG. 1A.

The control container 5 is the same as when the worker of FIG.

The sorting and stacking device 6 is the same as when the worker of FIG.

Figure 2b illustrates that in a preferred embodiment the operator can remotely control and adjust the unmanned work vehicle.

3a or 3b is an exemplary view showing the action of the gripper for watermelon turn operation of the preferred embodiment as follows.

The payload weight is the average weight of the most matured watermelon cultivation, and the method adopts vacuum adsorption and motor rotation to minimize the damage of destruction, uses a pneumatic mechanism to reduce the weight of the gripper, and uses magazines for loading and detaching. For this purpose, it is designed to be easily mounted / detachable in the precision magazine, and the interface such as pneumatic, vacuum, and sensor is connector type, and is composed of the mechanism part, the running part, and the conveying part.

In addition, the mechanical part is equipped with a work piece mount / detachable type and block type work area movement and harvest transfer function, the work piece mount / detachable type is to give a number of management functions using the same work frame and block type work area movement It aims to improve the performance of instruments through the precision work and the non-precise work separation through the mixing of precision movement and section movement. The harvest transfer function is to transfer the harvest from the work area to the loading area due to the harvest load function.

The driving unit is a block type work area movement, a rail driving method, a motor drive, and a battery power source. The block type work area movement includes automatic and manual movement of a section using a proximity sensor and automatic section movement through a work for a predetermined work region. The rail driving method is for the mechanical stability of the working frame, the level of the precision magazine is easily maintained, the influence on the ground and the wheel slippage is minimized, and the motor driving and the battery power supply are precise. The driving method for the section movement and the adoption of its own battery power supply maximize the advantages of the structure simplification and remote control.

The conveying section consists of pneumatic harvest conveying and rolling harvest loading, the pneumatic harvesting being simple, lean and the rolling harvesting simplifies the implement by employing the simplest conveying loading method from the working area to the loading area.

In order to turn the watermelon, the gripper must rotate the tap with its center axis so that the bottom of the watermelon (ground plane) rises up, and it must not affect the stem and surrounding stems and leaves, and there is no loss of skin. .

In the rotation method, the fruit should be pulled from the ground to a certain height to separate the surroundings from the gripper's range of motion so as not to affect the nipples, surrounding stems and leaves.

To minimize the damage to the skin, the traction method was selected using a vacuum pad. The traction height was 300 mm considering stem damage.

Next, in order to simplify the mechanism and suppress the damage of the skin, the method of using two vacuum pads on the side of the fruit was selected as shown in FIG. 3B, and the pad was rotated around the central axis using a pneumatic motor. .

In particular, Figure 3b shows that the towing operation pad and the gripper bundle are approaching and towing the watermelon in order to make the towing work first. Rotation The method was set up so that the work was done in the order of turning the watermelon using the pneumatic motor with the jingo pad as the axis.

Figure 4a or 4b is illustrated as an illustration of the watermelon tap cutting device and the harvester gripper starter of the preferred embodiment.

The cutting method consists of cutting method, blade induction method, tip recognition method, turning and harvesting operation.The cutting method is blade crossing type (including safety device) and pneumatic blade driving method and blade guard and blade cleaning device attached to the blade guide. We adopt method.

The blade induction method employs a cutting guide type and a rolling guide that can be cut regardless of the size of the watermelon, and a stem and leaf protection method through vacuum adsorption and towing.

The method of recognizing the vertex is using a worker indirect teaching method (using partial image processing) and a machine coordinate control method based on the calculated coordinates of the center of the watermelon and the calculated coordinates and center coordinates. have.

The turning operation should be done by turning the stem to the axis to prevent damage to the head.

The harvesting operation is the blade guide and vacuum traction of the blade cloud guide with respect to the center of the watermelon.

Figures 5a to 5c is a design diagram of the manufacturing and construction of the precision work magazine, rail-type simple traveling system running unit body for attachment of the preferred embodiment as follows.

It consists of manufacturing a precision work magazine for attaching a work machine and manufacturing and constructing a rail-type simple traveling system running part body, and manufacturing and constructing a work machine frame and a rail-driven simple traveling system moving part body.

The production of the precision work magazine for attaching the work machine is divided into a precision magazine and a frame, where the precision magazine has a rectangular unitary structure using a gantry-type Cartesian robot, and the system uses a Cartesian robot to move the unit work horizontally. In order to perform the attitude and target approach of the unit operator by using the vertical axis and the rotation axis, and to perform the weeding work and the precision control work smoothly, the Cartesian robot with the position precision within 0.1 mm is used. It is possible to improve the stopping torque and to make positioning.

The frame was then welded to a steel structure to reinforce the deflection or frame strength.

The frame is composed of AC motor, limit switch, circular shaft, and ball bush to move the precision magazine in 450mm increments in the vertical direction of the ridge.

The production and construction of the rail-type simple traveling system traveling unit body is composed of a work machine frame and a rail-driven simple traveling system running unit body, and the working machine frame has a sagging or tilting frame in order to precisely maintain the operation of the magazine. It should be minimized so that the work machine body is placed on the rail to maintain posture regardless of soil and soil conditions.

The width of the train is designed to 2000mm according to the average width of the ridge, and the rail driving type simple driving system body is manufactured and constructed by rail driving method, and the driving wheels and rails are made of steel using ready-made products. It is driven by using two auxiliary wheels and AC motor is used in consideration of durability and moisture resistance as driving source of driving.

The traveling system main body can move forward or backward in 500mm increments and is designed to be operated by operators.

The basic configuration of the system is wheels, small frame, worker area and loading area.

In addition, FIG. 5A or FIG. 5B shows that the work machine frame construction is designed because the work machine frame itself uses a manner of traveling on a rail.

A two-layer reinforcement frame was used to ensure that the frame had sufficient strength, and the operator and precision magazine could be seated on the frame.

Based on the direction of the system, there is a space to mount the precision magazine in the first half, and a small bar space and a harvesting place in the second half.

In addition, FIG. 5C shows that the magazine manufacture can move the X and Y axes of the work area by using a centuries-type Cartesian robot and the vertical axis and rotation by using a stepping motor.

At this time, the selected Cartesian coordinate robot is XY YAMAHA robot, and the total payload is designed to 6kg and the rail driving type simple traveling system moving body is manufactured by using the method that the frame itself drives the rail. The main material used was a steel beam.

6A or 6B are exemplary diagrams of work programming tools for constructing and harvesting, weeding, and controlling a work instruction touch pad control system according to a preferred embodiment, as follows.

It consists of the production of the touch pad control system for harvesting, weeding, control, work controller and work order work instruction, and the work programming framework performance test for harvest work. The harvesting, weeding, control work control controller is divided into single chip control method and control structure. In the chip control system, the main controller of the system has a large system load because it needs to perform image processing, work command, and judgment.

Therefore, the unique function of each unit worker and system is to design the configuration to operate separately by deciphering the command output from the main controller using a separate single chip processor, and the processors of the secondary controller are equipped with ROM and RAM inside. Because it can be used without a separate memory configuration, simple control configuration is possible.

The basic configuration of the controller is divided into a processor unit, a digital input / output unit and a serial communication unit.

In addition, in this system, the gripper or work machine in each system, orthogonal robot, vertical and rotating stepping motors have different input and output types for each device. Designed with transistor output of 100VDC 2A range and motor operation gripper operation requiring sub-unit control adopts distributed control method with separate processor. Each sub-unit controllers are designed and manufactured to interoperate using serial communication.

The performance testing of the working programming tool for manufacturing and harvesting the touch pad control system for work instruction is divided into the touch pad controller and the harvesting local image processing system performance test. The touch pad controller is composed of a touch panel, a panel controller, It is composed of software and the touch panel is ultrasonic so that precise teaching is possible.

In addition, the panel controller can digitally convert the analog signal input from the panel to perform RS232C communication so that it can be compatible with the mouse signal. Since it is compatible with the mouse, the main controller can handle the same as the mouse input.

In the performance test of the harvested local image processing system, the performance test of the appearance detection and reconstruction, the center point search, and the stalk search through the central teaching of the watermelon were tested. The system performance depends on the complexity of the input image, but was able to process three per second in the same image.

The harvested local image processing algorithm has a structure in which the operator selects an approximate watermelon center point and a spigot, and performs watermelon top, shape restoration, and center point search using an image processing technique.

The controller design for the next harvest, weed and control operation was designed with 16 solid state outputs with 12 inputs in the form of optical isolation to accommodate a variety of applications. The input allowable voltage of the input port was designed to be 5 ~ 30V, and the power was separated from the outside (sensor side) and inside (processor side) with the optical isolator to prevent the processor from being affected by the external shock voltage. In addition, the output port (100V 2A (DC)) is designed in the form of a transistor output with an allowable range so that a pneumatic solenoid, a small capacity solenoid, a large capacity relay, and a magnet switch can be driven without a separate driver.

The processor unit adopts a single chip control method and the processor used is ATmel AT89C51. The control method adopts a distributed control method with a separate controller for each unit (gripper controller + digital input / output controller, command decoder).

As shown in Figure 12 and 13, the controller analyzes the decoded signal of the ultrasonic touch screen and converts it into the signal form of the computer serial mouse.

As described above, the present invention has the effect of reducing the time and cost by easily harvesting, managing, and transporting the crops by manned and unmanned, and harvesting, managing, transporting, loading by remotely controlling the crops wirelessly. Because of the effect that can work, it is a very useful invention in the agricultural wireless communication industry and agricultural machinery industry.

Claims (5)

The work system includes a modular simplified vignette unit for harvesting, managing and transporting operations, which allows the operator to remotely control the multifunction work for planting the modular facility with work tip replacement and remote control. Crop cultivation, harvesting, and load management work module, comprising a working frame, a precision working magazine for attaching the working tool, a rail traveling type simple traveling system, and a programming tool for constructing, harvesting, weeding, and controlling the work order. Type multifunctional remote working system. The crop of claim 1, wherein the working tip comprises a tip gripper for turning the watermelon, a tip cutting shear for working with the tip, and a tip gripper for harvesting, a tip gripper for harvesting, a tip nozzle device for weeding, and a tip nozzle device for watering (fertilizing, controlling). Modular, multifunctional remote operation system for planting, harvesting and loading management tasks. The method of claim 1, wherein the working frame and the precision work magazine for attaching the working tool is a crop cultivation, harvesting, loading management work modular multifunctional, characterized in that the working frame is a way to run the rail up and consists of a two-layer reinforcement frame Remote working system. The method of claim 2, wherein the watermelon is rotated by using a vacuum pad to lift up the watermelon and the motor-mounted geothermal pads installed on the side adsorb the watermelon and rotate the watermelon at an angle to start adsorption of the upper geothermal pad to lift the watermelon Modular multifunctional remote operation system for crop cultivation, harvesting, and load management operations. 3. The antagonist cutting gripper according to claim 2, wherein the antagonist and the enemy operation instruct the enemy and the work unit driving block in the work program on the monitor equipped with the touch pad, and the precision work magazine of the work driving unit is driven from the enemy and position data and mounted on the tip. Modular multifunctional remote operation system for crop cultivation, harvesting, and load management operations, characterized by cutting to and fro.