KR20130135580A - Automatic spray system - Google Patents

Automatic spray system Download PDF

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Publication number
KR20130135580A
KR20130135580A KR1020120059277A KR20120059277A KR20130135580A KR 20130135580 A KR20130135580 A KR 20130135580A KR 1020120059277 A KR1020120059277 A KR 1020120059277A KR 20120059277 A KR20120059277 A KR 20120059277A KR 20130135580 A KR20130135580 A KR 20130135580A
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KR
South Korea
Prior art keywords
spraying
unit
automatic
moving
liquid
Prior art date
Application number
KR1020120059277A
Other languages
Korean (ko)
Inventor
양순용
정찬세
정영만
Original Assignee
울산대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 울산대학교 산학협력단 filed Critical 울산대학교 산학협력단
Priority to KR1020120059277A priority Critical patent/KR20130135580A/en
Publication of KR20130135580A publication Critical patent/KR20130135580A/en

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
    • A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • A01C15/003—Bulk fertiliser or grain handling in the field or on the farm
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0003—Atomisers or mist blowers
    • A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/30—Spraying vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S43/00—Fishing, trapping, and vermin destroying
    • Y10S43/90—Liquid insecticide sprayer

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Health & Medical Sciences (AREA)
  • Soil Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Public Health (AREA)
  • Transportation (AREA)
  • Toxicology (AREA)
  • General Health & Medical Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

The present invention relates to an automatic spraying system for spraying perfusion to an object which includes a movable trolley moved by a power source; a cabin which is mounted on the movable trolley and on which a worker can be boarded; a vision sensor unit which is installed on the movable trolley to sense the shape of the object; a distance sensor unit which is installed on the movable trolley to measure the distance to the object; an automatic spraying unit which is installed on the rear side of the movable trolley and which sprays the perfusion; and a control unit which controls the automatic spraying unit according to the information of the shape of the object received via the vision sensor unit and the information of the position of the object received via the distance sensor unit. Therefore, the automatic spraying system is provided to obtain an excellent spraying effect by automatically spraying corresponding to the shape and the position of grains; to prevent a problem of the health of a worker by preventing the perfusion from being sprayed to the worker; to improve workability by automatically spraying; to evenly spray the perfusion to grains by adjusting a spraying angle and a spraying amount; to reduce wastes of the perfusion and obtains economic efficiency by preventing the excessive use of the perfusion by efficiently utilizing the perfusion.

Description

Automatic spray system {Automatic spray system}

The present invention relates to an automatic spreading device, and more particularly to an automatic spreading device for spraying the spreading liquid during crop cultivation.

In general, in the case of fruit farming or other facility farming, spraying on crops such as spraying liquid or fertilizer is frequently performed.

Thus, in the conventional spraying liquid spraying method, the first spraying directly by the operator, in this case, because the operator is spraying directly to the crop by holding the direct injection nozzle, it is an advantage that can be sprayed on the crops meticulously, but a lot of physical strength It is consumed and the worker is directly exposed to the spraying liquid and fertilizer, causing a problem of deterioration of health.

On the other hand, in the case of spraying the spraying liquid by the facilities, facilities such as pipes and sprinklers are installed, and the spraying is carried out using these facilities, which causes a high initial cost, and when the fallen leaves cover the sprinkler, the spraying liquid is evenly sprayed. There is a problem that can not be.

Next, in the case of spraying the spraying solution by a commercial spreader, the spraying solution and the fertilizer are sprayed using a moving body by spraying the orchard or the crop field using a commercial spreader, so that a certain amount of the specific crop is spread. Although the effect may occur, the spraying solution may not be evenly spread in response to the type and type of crop, and in some cases, the spraying solution or fertilizer is excessively consumed.

The present invention, by grasping the shape and location of the crops and can automatically spread the spray solution in response to this, the workability is good and can spread the spray solution evenly in response to a variety of crops, and efficiently spread the spray solution It is an object of the present invention to provide an automatic spreading device that can prevent excessive use of the spreading liquid.

The present invention provides an automatic spraying device for automatically spraying a spraying liquid onto an object, comprising: a moving cart moving by a power source; A cabin mounted on the moving cart and capable of boarding by a worker; A vision sensor unit installed in the moving cart to detect a shape of the object; A distance sensor unit installed in the moving cart to measure the distance of the object; An automatic spraying unit provided at a rear of the moving cart to spray the spreading liquid; And a controller for controlling the automatic spraying unit according to the shape information of the object received through the vision sensor unit and the position information of the object received through the distance sensor unit.

In addition, the present invention comprises a moving measuring unit for measuring the speed and the steering angle of the moving vehicle; And a warning unit capable of displaying a warning to an operator, wherein the controller may control the warning unit in response to the speed and the steering angle information of the moving vehicle received from the mobile measurement unit.

In addition, the present invention is provided in front of the moving cart, and further comprises a manual injection unit for spraying the spraying liquid manually by the operator.

Here, the moving trolley may be a three-wheeler, or may be applied as a caterpillar vehicle.

On the other hand, the automatic spraying unit, a storage tank for storing the spraying liquid, an automatic spraying nozzle connected to the storage tank and spraying the spraying liquid, and can change the spraying angle, between the storage tank and the automatic spraying nozzle It is installed in, and the pump for providing the injection pressure of the spraying liquid, and controlled by the control unit, and the injection angle adjusting means for adjusting the injection angle of the automatic injection nozzle.

Automatic spreading device according to the present invention provides the following effects.

First, the workability is excellent because the spraying liquid is automatically sprayed according to the form and location of the crop.

Second, to prevent the exposure to the spray solution to workers to solve the health problems, it can be automatically sprayed to improve workability.

Third, the spraying effect is excellent because it spreads the spraying liquid evenly while controlling the spray angle and spraying amount of the spraying liquid in response to various crops.

Fourth, the spraying liquid can be used efficiently to prevent overuse of the spraying liquid and economical.

1 is a view schematically showing an automatic spraying apparatus according to an embodiment of the present invention.
2 is a block diagram showing a control flow of the control unit of FIG.

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

1 is a view schematically showing an automatic spraying apparatus according to an embodiment of the present invention, Figure 2 is a block diagram showing the control flow of the controller of FIG.

First, referring to FIG. 1, the automatic spraying apparatus 700 according to an embodiment of the present invention is for automatically spraying a spraying liquid such as a spraying liquid and a fertilizer onto an object such as the crop 1, and a mobile truck ( 100, a vision sensor 210, a distance sensor 220, an automatic injection unit 300, and a controller 400.

The moving cart 100 is moved by a power source (not shown), and the power source may be an engine or a motor by gasoline or diesel.

Here, the mobile trolley 100 can be easily rotated, small sized, and economical three-wheeler even in a bad road situation of the moving path.

In addition, the mobile trolley 100 may be applied as a caterpillar vehicle so that it can run freely even in the uneven moving path or mud.

The automatic spraying apparatus 700 may further include a cabin 110 mounted on the mobile trolley 100 to allow the operator to ride and comfortably operate, thereby protecting the worker from direct exposure of the spraying liquid. .

On the other hand, the automatic spraying apparatus 700, by detecting and determining the shape and position of the crop 1 through the vision sensor 210, the distance sensor 220 and the control unit 400, the crop (1) In response to this, the spreading liquid can be evenly and efficiently spread. In this regard, the vision sensor unit 210 detects the shape of the crop 1 and transmits the image information of the crop 1 to the control unit 400, and is installed in front of the moving cart 100. It is.

The distance sensor unit 220 measures the distance between the mobile truck 100 and the crop 1 and transmits position information of the crop 1 to the controller 400, and the mobile cart 100. It is installed in front of. At this time, the vision sensor unit 210 and the distance sensor unit 220 is shown in the drawing in the preferred embodiment of the front of the mobile truck 100 in the preferred embodiment, which is an embodiment of the mobile truck 100 If it is a position that can easily detect the shape and distance of the crops (1), such as the side can be mounted in various positions of the moving cart 100, and also for the vision sensor 210 and the distance sensor 220 Detailed description will be omitted because the known vision sensor and the distance sensor and its configuration for achieving the above object corresponds.

The automatic spraying unit 300 is provided at the rear of the moving cart 100 to spray the spraying liquid. In detail, the automatic injection unit 300 includes a storage tank 310, an automatic injection nozzle 320, a pump 330, and an injection angle adjusting unit 340.

The storage tank 310 is installed in the mobile trolley 100, and serves to store the spreading liquid.

The automatic injection nozzle 320 is connected to the storage tank 310 is supplied with the spraying liquid is sprayed, and has a structure that can change the spray angle through the spray angle adjusting means 340.

Here, the spray angle adjusting means 340 is controlled by the control unit 400, the spray angle according to the shape of the crop (1) corresponding to the tall crop (1) and the short crop (1) The spraying of the spraying liquid can be efficiently carried out by adjusting. The injection angle adjusting means 340, one side is coupled to the automatic injection nozzle 320 and the other side is hinged to the moving cart 100 includes a moving rod that can change the angle, the motor module for moving the moving rod Although not shown is shown in the configuration, this can be various embodiments as an embodiment, and these various embodiments are applicable to any injection device that can adjust the known injection angle.

The pump 330 is installed between the storage tank 310 and the automatic spray nozzle 320, and serves to provide a spray pressure to the spraying liquid, is connected to the control unit 400 and the control unit ( The injection amount and the injection amount can be adjusted by receiving the signal from 400).

Furthermore, the automatic spraying apparatus 700 further includes a moving measuring unit 510 and a warning unit 520 capable of displaying a warning to an operator.

The movement measuring unit 510 measures the speed and the steering angle of the mobile trolley 100, and transmits the measured speed and the steering angle information of the mobile trolley 100 to the controller 400. Here, the mobile measuring unit 510 may be applied to a known speed sensor and a steering angle sensor installed in the moving cart 100, but may measure the speed and the steering angle of the moving cart 100. As a means, various applications are possible.

The warning unit 520 is connected to the control unit 400 and receives a signal from the control unit 400 to warn the operator to recognize, and various means such as a warning light or a warning sound may be applied to the warning means.

On the other hand, the automatic spraying device 700 further includes a manual spraying unit 600 that allows a worker to directly spray the spraying liquid. The manual spraying unit 600 is provided at the front of the mobile cart 100, is connected to the storage tank 310 is supplied with the spraying liquid, the manual spraying angle and the injection amount is adjusted according to the operator's operation With the injection nozzle, the operator can carefully inject to the part that can not be sprayed by the automatic injection unit 300. On the other hand, since the manual injection unit 600, a known manual injection device and its configuration correspond to a detailed description thereof will be omitted.

Hereinafter, the control unit 400 will be described. 2, the control unit 400, the shape information of the crop 1 received through the vision sensor unit 210, and the position of the crop 1 received through the distance sensor unit 220 Receiving information, and controls the automatic injection unit 300 based on this information. That is, the controller 400 controls the pump 330 and the spray angle adjusting means 340 of the automatic spraying unit 300 based on the shape information and the position information of the crop 1 to spray the spray amount and the spray angle of the spraying liquid. To control.

Furthermore, the controller 400 receives the speed and the steering angle information of the mobile trolley 100 from the mobile measurement unit 510, and sets a steering angle of the mobile trolley 100 corresponding to the speed of the mobile trolley 100 to be set. If it is determined to be out of range, the warning unit 520 is controlled to allow the operator to recognize this matter.

As described above, the automatic spraying apparatus 700 sprays the spraying liquid automatically according to the shape and position of the crop 1, and sprays the spraying liquid by adjusting the spraying liquid spraying angle and the spraying amount. It can spread the spray evenly to improve the spraying effect, and it is economical because it can provide the operator with the convenience of work and the spraying liquid can be used efficiently to prevent overspreading of the spraying liquid.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100 ... trolley 110 ... cabin
210 ... vision sensor unit 220 ... distance sensor unit
300 ... Automatic injection unit 310 ... Storage tank
320 ... Automatic injection nozzle 330 ... Pump
340 ... Injection angle control unit 400 ... Control unit
510 ... Mobile measurement unit 520 ... Warning unit
600 ... manual spraying unit 700 ... automatic spraying device

Claims (6)

In the automatic spraying device for automatically spraying the spray liquid on the object,
A mobile trolley moving by a power source;
A cabin mounted on the moving cart and capable of boarding by a worker;
A vision sensor unit installed in the moving cart to detect a shape of the object;
A distance sensor unit installed in the moving cart to measure the distance of the object;
An automatic spraying unit provided at a rear of the moving cart to spray the spreading liquid; And
And a control unit for controlling the automatic spraying unit according to the shape information of the object received through the vision sensor unit and the position information of the object received through the distance sensor unit. The method according to claim 1,
A moving measurement unit measuring a speed and a steering angle of the moving vehicle; And
It further includes a warning unit for displaying a warning to the worker,
And the control unit controls the warning unit in response to the speed and the steering angle information of the moving vehicle received from the mobile measuring unit. The method according to claim 1,
The moving trolley is a three-wheel drive (automatic spraying device). The method according to claim 1,
The moving cart is an automatic spreading device is a caterpillar (Caterpillar) vehicle. The method according to any one of claims 1 to 4,
The automatic injection unit,
A storage tank for storing the spreading liquid;
An automatic spray nozzle connected to the storage tank to spray the spraying liquid and change the spray angle;
A pump which is installed between the storage tank and the automatic spray nozzle and provides an injection pressure of the spraying liquid;
Automatic spraying device controlled by the control unit, comprising a spraying angle adjusting means for adjusting the spraying angle of the automatic spray nozzle. The method according to any one of claims 1 to 4,
Is provided in front of the moving cart, the automatic spraying device further comprises a manual spraying unit for spraying the spraying liquid manually by the operator.
KR1020120059277A 2012-06-01 2012-06-01 Automatic spray system KR20130135580A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106857471A (en) * 2017-04-01 2017-06-20 吉林大学 A kind of laborsaving Self-propelled high-and-low bar crop field chemical spraying device
CN108719243A (en) * 2018-04-09 2018-11-02 杨东萍 A kind of landscape garden multi-angle rainer
CN109090085A (en) * 2018-08-15 2018-12-28 广州极飞科技有限公司 The job control method and system and apparatus for work and unmanned vehicle of apparatus for work
KR20190080820A (en) * 2017-12-28 2019-07-08 강명수 Automatic agricultural facilities and automatic moving system
KR20190134889A (en) * 2018-05-04 2019-12-05 그린앤씨(주) Automatic Apparatus and method for Sticking SeedBiodegrading­MulchingFilm capable of inhibiting greenhouse gas exhaust and water use
KR20200048031A (en) * 2018-10-29 2020-05-08 한국로봇융합연구원 Apparatus for preventing fruit tree disease correspond with driving speed of a speed sprayer and thereof method
KR20220141141A (en) * 2021-04-12 2022-10-19 (주)디엘원 Unmanned vehicle for pest control

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106857471A (en) * 2017-04-01 2017-06-20 吉林大学 A kind of laborsaving Self-propelled high-and-low bar crop field chemical spraying device
KR20190080820A (en) * 2017-12-28 2019-07-08 강명수 Automatic agricultural facilities and automatic moving system
CN108719243A (en) * 2018-04-09 2018-11-02 杨东萍 A kind of landscape garden multi-angle rainer
KR20190134889A (en) * 2018-05-04 2019-12-05 그린앤씨(주) Automatic Apparatus and method for Sticking SeedBiodegrading­MulchingFilm capable of inhibiting greenhouse gas exhaust and water use
CN109090085A (en) * 2018-08-15 2018-12-28 广州极飞科技有限公司 The job control method and system and apparatus for work and unmanned vehicle of apparatus for work
KR20200048031A (en) * 2018-10-29 2020-05-08 한국로봇융합연구원 Apparatus for preventing fruit tree disease correspond with driving speed of a speed sprayer and thereof method
KR20220141141A (en) * 2021-04-12 2022-10-19 (주)디엘원 Unmanned vehicle for pest control

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