KR20110058039A - A robot for weeding - Google Patents

Abstract

PURPOSE: A robot for weeding is provided to use a battery and a hydrogen fuel cell as a power source and to use a belt-type of wheel in which grooves and protrusions are formed. CONSTITUTION: A robot for weeding comprises: a movable unit(10) having a transfer function; a recognition unit(20) for recognizing the row of rice plants in a paddy field; a navigation unit(30) for collecting necessary information; a power supply unit(40) using an environment-friendly hybrid power source; a weeding unit(50); a transceiver(60) for performing wireless communication with the outside; an input unit(70) in which various information is inputted; a storage unit(80) for storing the information necessary form the drive of the robot for weeding; an output unit(90) for outputting various information; and a controller(100) for controlling the function of elements.

Description

Weeding Robot {A ROBOT FOR WEEDING}

The present invention relates to a robot, and more particularly, to a robot for removing weeds in Munnon.

Farming in Munnon requires a number of processes, and in particular, the removal of weeds from Munnon (watery paddy fields) is one of the most laborious, one of the tasks that is started after sowing and is carried out continuously.

Therefore, farmhouses use their chong mowers for munon weeding to save their hands. That is, Chongqing mower is a farming equipment that puts soil in the abandoned part of the crop in order to help the growth indirectly by removing the weeds between the gyrus after sowing or transplanting the soil.

However, conventional cultivation mowers are damaged seedlings due to poor transfer conditions, seedling damage due to turning, demand for weight reduction due to overweight of the machine, seedling damage caused by lifting and lowering of working machines during turning, seedling damage of adjacent rows by intertidal rotors, daytime A variety of problems, such as burying the seedlings on the rake, buried the tombs and burial of the tombs due to the front wheel soil, such as self-inclination in the electrocardiogram.

On the other hand, according to the development of science and technology, various types of robots have recently been developed, and recently, a robot for weeding has been developed that can replace the above-mentioned tillage mowers.

However, the conventional herbicidal robot has a problem in that it causes soot in farms because it uses an engine as a power source.

An object of the present invention for solving the above problems, using a battery and a hydrogen fuel cell as a power source, to provide a weeding robot that uses a belt-shaped wheel is formed with irregularities capable of weeding. will be.

The present invention for achieving the above object, a moving unit for providing a moving function; A power supply unit using a hybrid power source; Weeding weeding day or morning; And a control unit for controlling the functions of the moving unit, the power supply unit, and the weeding unit.

The present invention has the effect of using the hydrogen fuel cell as a power source, in addition to preventing pollution of the farmhouse due to soot and the like, farming in an environmentally friendly manner.

In addition, the present invention has the effect of improving the herbicidal function by using the belt-shaped wheels capable of the mowing function itself.

That is, the user puts the weeding robot according to the present invention into Munnon in accordance with the germination time of the weeds from 7 to 10 days after transplanting, thereby suppressing the photosynthesis of the weeds in a timely manner, disturbing germination, and weeding effect. By doing so, it is possible to expect the effect of replacing expensive labor and improving work efficiency.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is an external configuration diagram of an embodiment of the weeding robot according to the present invention, Figure 2 is an internal configuration diagram of an embodiment of the weeding robot according to the present invention.

The weeding robot according to the present invention is a robot capable of unmanned weeding at the initial stage of transplanting, and as shown in FIGS. 1 and 2, a moving unit 10 which is responsible for a moving function, and a recognition unit for recognizing a non-constant array ( 20), the navigation unit 30 for collecting the information necessary for the work path planning of the weeding robot, the power supply unit 40 using an environmentally friendly hybrid power source, the weeding unit 50 weeding day or morning, outside and wireless Transmission and reception unit 60 for performing communication, input unit 70 for receiving various information, storage unit 80 for storing information necessary for driving the weeding robot, and output unit for outputting various information. 90 and a controller 100 for controlling the functions of the components.

The moving part 10 is composed of a track type (belt shape), and ensures stable straightness, reduces required power, and constitutes the belt 12 to give the herbicidal effect to the moving part itself. The unevenness 12b is placed on the surface of the at regular intervals and heights to make use of the herbicidal effect. Table 1 below compares the conventional wheel-type moving unit and the track moving unit applied to the present invention.

As described above, the moving part 10 applied to the present invention has an orbital shape in which a belt (chain) 12 having an area rotates by a plurality of wheels 12, and has a large contact area with the ground. It has excellent driving force and stability, and it can be less drowned. In addition, as shown in FIG. 1, the moving part protrudes the unevenness (projection, lug) 12b on the outer circumferential surface of the belt body 12a constituting the belt 12, so that weeds may be formed by the unevenness as the belt passes. As it is dug up, it is characterized by a natural weeding process. In addition, a hole 12c is formed in the belt body formed between the unevenness and the unevenness of the belt body so that the soil can easily escape. That is, since the concave-convex and concave-convex grooves are recessed, as the belt moves, the munon of the non-non accumulates in the concave-convex space between the concave-convex and concave-convex, thereby weakening the weed removal function of the concave-convex as described above. Therefore, the present invention forms a hole 12c in the belt body recessed between the unevenness and unevenness, so that the soil and the like can be easily escaped through the hole. To explain in detail, Munon will hit the roundabout and after that, it will move to 100mm ~ 300mm deeply. In other words, Munnon is a mixture of clay black, crests, and water, so the movement of the machine is very difficult. Since the degree of omission of munon varies from location to location, from soil to soil, from depth to depth, and from time to time, the conventional wheel type requires a large driving force (torque) and sufficient energy to drive the robot mower. Therefore, in order to travel the clay ground like Munon, the track-type moving part like this invention is stable. That is, for the Munnon driving, the track-type moving part like the present invention made of a light material that is strong, the track width is suitable for the width of the intertonic width, can provide the herbicidal effect and is made of light material should be applied. In addition, the soil and foreign matter pushed by the belt during driving and turning back into the recessed space of the belt should be a structure that can push the soil and foreign matter out of the belt. Therefore, the belt 12 of the moving part applied to the present invention is composed of a belt body 12a using a relatively inexpensive MC nylon material, and the outer circumferential surface of the belt body is provided with irregularities (lugs) at regular intervals. To push the rear to provide a herbicidal effect, the belt body has a hole (12c) is formed at a predetermined interval, so that the soil can escape well. In addition, each of the plurality of wheels 11 for rotating the belt 12 is rotated by a power source provided from the power supply to prevent the belt 12 from detaching and to allow dirt and foreign matter to escape from the inside of the track. The wheel 11b has a diameter larger than the diameter of the wheel and includes guides 11a mounted at both ends of the wheel so as to step with the wheel. In addition, since the wheel groove 11c is formed on the surface of the wheel in the same direction as the belt groove 12d formed on the inner circumferential surface (bottom surface) of the belt body, the belt 12 can be prevented from slipping from the wheel 11. . In addition, the guide 11a is formed with a plurality of guide grooves (not shown) at regular intervals so that foreign matter caught between the belt and the wheel groove can be discharged to the outside of the wheel.

The recognition unit 20 is for recognizing the young mother of Munnon, and the controller may determine the moving direction of the moving unit by using the information recognized by the recognition unit. The recognition unit may be variously implemented by using a CCTV, an infrared sensor, etc. currently used in general, and a detailed description thereof will be omitted.

Transmitting and receiving unit 60 is to transmit a variety of information of the weeding robot to the monitoring terminal of the administrator via a wireless or to receive a variety of information from the monitoring terminal, the weeding robot according to the present invention is capable of autonomous driving, In some cases, it may be remotely controlled by the monitoring terminal.

The power supply unit 70 provides all the driving force necessary for the weeding robot using the battery, and has a characteristic that the battery can be recharged by using the hydrogen fuel cell when the battery is discharged. That is, the power supply unit applied to the present invention generates a power using a battery for supplying power for driving the herbicidal robot according to the present invention, the hydrogen fuel cell for charging power to the battery by generating power using hydrogen, the amount of power of the battery It comprises a detector for sensing and a controller for determining the power generation of the hydrogen fuel cell by analyzing the sensed signal detected by the detector. In other words, the present invention has a feature that the power system required for driving the herbicidal robot is composed of a hybrid power supply unit that secures the shortcomings of a conventional battery or an engine, thereby being able to continuously supply eco-friendly and appropriate power. That is, the present invention is composed of a hybrid type that uses a nickel-metal hydride battery (battery) that can be recharged by a hydrogen fuel cell as a power source together with a hydrogen fuel cell that can be charged by itself. Meanwhile, the controller of the power supply unit may automatically control the DC output voltage of the battery according to the load from 22V to 28V as necessary. In addition, the controller may switch the load automatic relay to detect the load current by using a detector to protect the charger and the power generator when the weeding robot is in operation. In addition, the power supply unit may be configured to enable the mounting and separation of the hydrogen storage container (MH: Metal Hydrogen) of the hydrogen fuel cell. In addition, the controller may detect the fuel pressure of the hydrogen fuel cell by using a detector to blink a warning sound or a lamp through the output unit when the fuel (hydrogen, etc.) is insufficient. In addition, the power supply unit is provided with a water tank (Water Tank) to supply a small amount of humidification gas, thereby improving the characteristics and performance of the hydrogen fuel cell. In addition, the power supply unit may transmit each data (stack voltage, current, temperature, load current, etc.) through the RS232C communication port. In addition, the controller can analyze various detection signals using the detector to emergency stop or automatically return the weeding robot.In case of three emergency stops, the controller checks the STACK voltage and continuously outputs a warning sound when it is determined that the fuel is insufficient. can do. In addition, the controller may automatically stop the STACK when the charger is completed. In addition, the power supply has a feature that can be operated stably because it has a function to prevent the occurrence of external noise and static electricity. In addition, the controller detects the STACK overload and low current temperature, and if the predetermined range is exceeded, the controller enters the emergency stop mode and automatically returns after a predetermined time has elapsed. In addition, the controller detects the load voltage when the voltage of the charger is less than 20V and determines (programs) whether the load is at startup or steady state by a voltage holding time, and supplies power to the load when it is determined to be started. In this case, an additional battery charge request message may be output. That is, since the above state is an overload, the controller may allow a message to be output so that the load may be blocked or manually operated. In addition, the controller maintains the charging mode when the detected voltage of the charger is less than 20V to 26.8V. That is, the controller can drive the power supply to charge the charger up to 26.8V (charger can charge up to 1.4 times the charger rating) in consideration of temperature characteristics and lifetime. At this time, the charging voltage of the charger can be changed arbitrarily, and two DIODEs are connected in series to the output of the DC / DC converter to prevent reverse current and instantaneous overcurrent. As described above, the power supply unit applied to the present invention uses a hybrid power source (battery and hydrogen fuel cell), and may be configured using a 400W hydrogen fuel cell and a nickel hydride battery 40AH (battery). On the other hand, the function of the controller of the power supply may be integrally performed by the controller.

The navigation unit 30 performs a function of establishing a work path plan of the weeding robot, which will be described in detail with reference to FIG. 3.

The weeding unit 50 performs a function of weeding Munnon during the day or the morning, and the weeding unit applied to the present invention includes weekly weeders 52 for weeding the Nonon week, and an interweaver weeder for weeding the morning 51) are connected as one. Here, the day refers to both the left and right of the direction in which the weeding robot moves, and the intervening term refers to between the front and rear ends of the moving direction of the weeding robot. The configuration and function of the weeding section will be described in detail with reference to FIG. 4.

3 is an exemplary view for explaining the operation of the navigation unit applied to the herbicidal robot according to the present invention.

As described above, the navigation unit 30 establishes a work path plan of the weeding robot, and determines a moving direction of the weeding robot. In particular, the present invention provides a method for accurately measuring the position of the weeding robot. It is characterized by using the VRS system provided by Ridge Information Service.

That is, in order for the herbivore robot to establish a work path plan, precise self-localization recognition is required. However, the presently provided GPS receiver has a high precision of 1m or more, but because the positioning data for the precision work is inaccurate, the present invention is to obtain a high-precision positioning data, the VRS (Virtual Reference Station) of the National Geographic Information Institute The network is connected to the network to obtain correction data.

To this end, the navigation unit includes a GPS receiver capable of receiving GPS information and a modem for accessing the VRS network and receiving VRS information from the VRS system.

That is, the controller 100 may control the moving direction of the moving unit 10 by analyzing the hairline by using the recognition unit 20, but weeding using the GPS information and the VRS information of the navigation unit 30. By accurately analyzing the position of the robot, it is possible to systematically establish the work path plan of the moving part in consideration of the size or shape of the discussion.

In addition, the control unit may directly receive the coordinate information of the robot through the input unit 70, it may perform a more precise position control function.

Figure 4 is an exemplary view for explaining the operation of the weeding unit applied to the robot for weeding according to the present invention.

The weeding part applied to the present invention has a daytime or interweave weeding function with no power, and for this purpose, a plurality of intertidal weeders (configuration disposed at the rear end of the weeding part 50 shown in FIG. 1) are shown in FIG. 4. As shown in the figure, the configuration includes a main body 51a divided into two branches so as to have a constant angle in a 'V' shape in a horizontal state with the ground, and a plurality of weeding blades 51b mounted at regular intervals on the main body. It is. In addition, a plurality of dripping holes 51c are formed in the main body 51a so that non-non-water can pass therethrough. In addition, the weeding blade (51b) is composed of a plow blade structure of 45 degrees both sides that can dig simple and soil, and is inclined 45 degrees in the rear of the traveling direction, it is composed of a structure that can be sent to the rear without catching things like straw have. That is, the plurality of interweaver mowers 51 are configured to be manually variable in width, and the blade provides an effect of digging while scratching the structure in which the plow blades stand on both sides. In addition, the two branches of the main body 51a are formed to have an angle of 120 ± 30 degrees. In addition, each of the plurality of intertidal weeders 51 is connected to the support 54 through the shock absorber 53, the plurality of support is connected to one central axis (55). That is, each interweave mower is equipped with a shock absorber 53, so that the non-uniform pressure according to the unbalanced road surface state can be adjusted constantly. In addition, a plurality of daytime mowers 52 are connected to the central axis 55. In addition, the central axis 55 is configured to be lifted by the servo cylinder 56, the servo cylinder may be driven by the controller 100. On the other hand, as described above, each intertidal mower 51 is connected to the support 54 through a shock absorber 53 of a shock absorbing structure (showr structure) (attached to a motorcycle or a bicycle to absorb vibration or maintain a constant pressure against the ground). The main body 51a has a water drain hole 51c for water drainage, and the main body 51a has a symmetrical structure as if it is the front of a boat. It is designed to scrape dirt evenly against uneven ground.

In addition, the daytime mowers 52 are attached to the central shaft 55 in a rake form in front of each of the intertidal mowers 51 (manual spacing adjustable). Here, the daytime mowers 52 may be applied to the daytime mowers that are commonly used today.

On the other hand, six sets of weeders constituting the weeders (one interweaver and one day weeder make up a set of weeders) can be lifted by the servo cylinder 56 can be adjusted to the interval of the main body of the weeding robot.

Those skilled in the art will appreciate that various changes and modifications can be made without departing from the technical spirit of the present invention. Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

1 is a view illustrating an external configuration of an embodiment of a robot for weeding according to the present invention.

Figure 2 is an embodiment of the internal configuration of the robot for mowing according to the invention.

3 is an exemplary view for explaining the operation of the navigation unit applied to the herbicidal robot according to the present invention.

Figure 4 is an exemplary view for explaining the operation of the weeding unit applied to the robot for weeding according to the present invention.

<Description of the symbols for the main parts of the drawings>

10: moving unit 20: recognition unit

30: navigation unit 40: power supply unit

50: herbicide 60: transceiver

70: input unit 80: storage unit

90: output unit 100: control unit

Claims (18)

A moving unit providing a moving function; A power supply unit using a hybrid power source; Weeding weeding day or morning; A weeding robot comprising a control unit for controlling the functions of the moving unit, the power supply unit, the weeding unit. The method of claim 1, The moving unit, Multiple wheels; And A weeding robot comprising a belt configured to orbit to rotate by the plurality of wheels. The method of claim 2, The belt, Belt body having an area; And A herbicidal robot comprising a plurality of irregularities which are formed to protrude at regular intervals on the outer circumferential surface of the belt body. The method of claim 3, wherein The weeding robot, characterized in that the hole through the outer peripheral surface and the inner peripheral surface of the belt body is formed between the irregularities of the belt body. The method of claim 2, Each of the plurality of wheels, A wheel that rotates by the power provided from the power supply; And Weeding robot having a diameter larger than the diameter of the wheel, comprising a guide mounted to both ends of the wheel to step with the wheel. The method of claim 5, Weaving robot, characterized in that the wheel groove is formed on the surface of the wheel in the same direction as the belt groove formed on the inner peripheral surface of the belt. The method of claim 1, The power supply unit, A battery for supplying power to the moving unit and the weeding unit; And Generating power using hydrogen, the robot for weeding comprising a hydrogen fuel cell for charging power to the battery. The method of claim 7, wherein The control unit, Weeding robot, characterized in that for determining the power production of the hydrogen fuel cell according to the amount of power of the battery. The method of claim 1, The weeding unit, A plurality of daytime mowers for mowing the daytime of Munnon; And It includes a plurality of intertidal weeders for weeding the Munnon intertidal, Each of the intertidal mowers, A main body divided into two so as to have a constant angle in a horizontal state with the ground; And A mowing robot comprising a plurality of mowing blades mounted on the main body at regular intervals. The method of claim 9, The main body weeding robot, characterized in that a plurality of dripping holes are formed in the main body so that the non-non-water can pass. The method of claim 9, Each of the weeding blades, Weeding robot, characterized in that inclined 45 degrees toward the rear of the moving direction. The method of claim 9, Each of the weeding blades, A weeding robot, characterized by the blades standing on both sides. The method of claim 9, Each of the plurality of intertidal mowers, Is connected to the support via a shock absorber, a plurality of supports are connected to one central axis, the central weedling robot, characterized in that the plurality of daytime mowers are connected. The method of claim 13, The central axis can be lifted by the servo cylinder, The servo cylinder is driven by the control unit, characterized in that the robot for weeding. The method of claim 1, A recognition unit for recognizing a non-non-transparent row where the moving unit is moved; A navigation unit for collecting information necessary for the movement path planning of the moving unit; And Further comprising a transceiver for performing wireless communication with the outside, The recognition unit, the navigation unit, the transmitting and receiving unit is a herbicidal robot, characterized in that controlled by the control unit. The method of claim 15, The navigation unit communicates with a satellite communication and a virtual reference station (VRS) system to receive GPS information and VRS information, The controller, the weeding robot, characterized in that for establishing the movement route plan of the moving unit using the information collected through the recognition unit and the navigation unit. The method of claim 16, Further comprising an input unit for receiving information, The control unit, the weeding robot, characterized in that for establishing the movement path plan of the moving unit using the coordinate information input through the input unit together with the information. The method of claim 6, The guide, the belt and so that the foreign matter caught between the hwilhom can be discharged to the outside of the wheel, a plurality of guide grooves are herbicidal robot, characterized in that it is formed with a predetermined distance.

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