KR20170008489A

KR20170008489A - Robot system and operating method thereof for repelling harmful fur and feather

Info

Publication number: KR20170008489A
Application number: KR1020150099738A
Authority: KR
Inventors: 전윤찬
Original assignee: 전윤찬
Priority date: 2015-07-14
Filing date: 2015-07-14
Publication date: 2017-01-24

Abstract

[0001] The present invention relates to a system for removing harmful tidal water, capable of effectively eradicating harmful tidal water when installing an aerial virtual fence for detecting access to harmful tidal water using a wireless sensor, A movable robot for detecting the intrusion of the tide, for eliminating the tide by using an eliminating means for eliminating the tide, generating an intrusion signal, and generating a state signal indicating the state of the intruder; And a client that receives at least one of an intrusion message and a status message corresponding to an intrusion signal or a status signal from the robot, wherein the robot is configured to detect the approach of the harmful assistant by using the wireless sensor, When the fence is installed and the robot senses approach of the harmful tidal water, the harmonic tidal water can be eradicated by emitting a sound wave of an audible or ultrasound frequency band.

Description

TECHNICAL FIELD [0001] The present invention relates to a robotic system for eliminating harmful tide,

The present invention relates to a harmful assistant fresh water abatement robot system and an operation method thereof, and more particularly, to a harmful assistant salvage robot system and an operation method thereof, and more particularly, The present invention relates to a harmful assistant robotic system and an operation method thereof.

In recent years, agricultural products have suffered a great deal of damage due to harmful tidal currents in rural areas of Korea. Especially in rural orchards, crops such as apples, pears, peaches, and corn have been damaged.

Fig. 1 is a photograph showing the damage of apples caused by flying birds, and Fig. 2 is a photograph showing the damage of corn caused by wild animals.

Wild birds are wild beasts, wild boar, elk, and wild birds such as sparrows, magpies, ducks, pigeons and turtles. As shown in Fig. 1 and Fig. 2, the harmful assistants are damaging the crops such as apples and corn.

FIG. 3 is a graph showing damage amounts according to kinds of harmful tidal water. As shown in FIG. 3, the damage caused by harmful tidal water is a problem that all rural areas including all the subsidiary books of Jeju Island and Ulleungdo nationwide have, and the damage amount is as large as several hundred billion won.

In FIG. 3, the values calculated for the direct damage caused by the harmful assistant are displayed, but the harmful assistant does not simply damage the crop. The results of the research that the harmful tide is the main cause of livestock infectious diseases such as foot-and-mouth disease and AI (Avian Influenza) are announced recently.

The cause of the infectious diseases caused by such animals is the direct and indirect propagation by wild tides such as wild boar, elk, rodents and migratory birds, and the virus that is present around the livestock farm is resistant or diverted, And the major cause of the damage increase. In particular, the amount of damage caused by foot-and-mouth disease has increased from 300.6 billion won in 2000 to 3 trillion won in 2011. In addition, the AI disease that occurred in early 2014 was reported to be the largest damage to the poultry farmhouse by 400 billion won.

4 is a photograph showing methods for eliminating harmful tidal water in general. 4 (a) is a photograph showing a scarecrow. Scarecrows have only a slight effect on the spicy short period of time due to the body odor of a person inflicted on a harefoot, but the effect of fighting harmful birds is negligible. It is almost impossible to eradicate harmful birds by using scarecrows because the bird's vision is easily developed and reacts to moving objects, but the nose is degenerated to maintain only respiratory function.

Fig. 4 (b) is a photograph showing that the crop is put on the bag. Generally, it prevents as much divergence from foliage as possible, and protects fruit trees from pests and harmful algae by preventing harmful birds and insects from physical access to fruit trees. It also protects fruit trees from direct sunlight and softens flesh. In addition, since it is possible to cultivate organic cotton without reducing or spraying the amount of pesticide, it is possible to cultivate high quality fruit juice. However, the method such as bagging is required to open the bag again after opening the bag at a proper time for coloring of the fruit trees, and when it is used in a wide farm, it is hand made through manual work, which requires a lot of labor and deep attention.

Figure 5 is a photograph showing recently proposed methods for combating harmful tide. Fig. 5 (a) is a photograph showing a bird mobilizing a natural relationship. Bird mobiles prevent the access of harmful algae by allowing nautical models such as repair, kestrel, and hawk to move naturally in the wind. In particular, when a raptor model is installed, it is effective to eradicate algae effectively because the actual raptor has a habit of mistaking and collecting the model. However, since it is not necessarily the same species as the raptor model, it may have an excellent effect or a very low effect depending on the characteristics of the installed place.

5 (b) is a photograph showing a sound wave suppressor. The sound wave suppressor records various kinds of nuisance and dislike according to the kind of the algae, saves it as a computer chip, and sends out the sound through the treble speaker to eliminate the algae. However, such a sound wave suppressor has a problem of acting as a noise to a person and acting as a stress to a person. Especially, in case of harmful birds, magpies, pigeons and sparrows, most of them are resident birds. Since resident birds stay in the area and suffer damage, they are accustomed to repetitive sounds, and as time goes by, the effect of the birds is diminished.

Fig. 6 is a photograph of an orchard in which a net is installed in the air to prevent the damage of algae. In spite of attempts to combat various new harmful birds, the birds did not have a great effect due to the adaptation of the birds, and the most reliable method currently used is to wrap the net in the orchard as shown in Fig.

Public nets are a sure way to prevent bird damage but have the following disadvantages. First, the installation cost of the net is high, and second, when the net is exposed to sunlight, precipitation, wind, etc., it is weakened and broken. Also, in order to keep the net in the air, it is necessary to install the scaffold in the middle of the orchard and to install the net on the scaffold. Therefore, the obstacles to the growth of the trees due to the scaffolds and net installed in the orchard may occur and the scaffolds and net should be repaired continuously Therefore, there is a problem that labor is required.

4 to 6 are installed in a fixed form and have a limited range, so that the effect is insignificant, and there is a problem that the workforce is consumed due to maintenance or the like. The above-described conventional algae elimination apparatuses or algae elimination scaffolds are difficult to eradicate harmful fresh water over a wide range, and in order to eradicate the harmful fresh water, several eradication equipment should be installed at regular intervals.

In addition, since wild animals are highly alert to new objects and the environment, they can effectively eradicate the harmful assistant in the early stage, but the harmful assistants become accustomed to the eradicator or the scaffold over time, have.

In addition, the bird research institute has weakened the willingness to re-enter after the stigma has been eaten by the birds, and this information has spread among the birds, effectively developing medicines to eradicate the harmful birds, but criticism such as animal abuse has been raised. In addition, there is a risk that animals, such as livestock, pets, or humans, can be harmed if they misuse these medicines.

On the other hand, a wildlife eradication apparatus disclosed in Korean Utility Model Registration No. 20-0460553 (hereinafter referred to as prior art) filed and registered by the Republic of Korea as a prior art is disclosed. The prior art discloses an apparatus for exterminating wild animals by outputting a crying sound and a flash of light when an intruding wildlife entering the cultivated land is detected using electromagnetic waves. However, the prior art discloses a scheme for adding a radar sensor and a flash lamp to detect the wildlife in the above-mentioned sound wave suppressor, and has a problem in that it is difficult to effectively exterminate it over a wide area because it is configured in a fixed form.

Korean Utility Model Registration No. 20-0460553 (Designation: Wildlife Elimination Device)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide an aerial virtual fence in which a robot detects approaching of harmful tidal water on a cultivated land using a wireless sensor, And to provide a harmful tide assistant robotic system capable of eradicating harmful tidal water by emitting a sound wave in an ultrasonic frequency band and an operation method thereof.

In addition, the present invention provides a harmful assistant water repellent robotic system for enabling a user to detect harmful tidal water while moving in a cultivated land and to eliminate harmful tidal water while moving the information, And an operation method thereof.

According to another aspect of the present invention, there is provided a harmful assistant water repellent robotic system, which detects an intrusion of tidal water, thereby eliminating the tidal water by using an eliminating means for eliminating the tidal water, generating an intrusion signal, A movable robot for generating a status signal; And

And a client that receives at least one of an intrusion message and a status message corresponding to an intrusion signal or a status signal from the robot.

The robot includes a first ultrasonic sensor installed upward at an upper portion of the robot to detect intrusion of algae and generating an intrusion signal upon detection of intrusion of algae; A second ultrasonic sensor installed on a front surface of the robot and detecting an obstacle on the front surface of the robot; An erasure means for eradicating the tide when the intrusion signal is generated; A lower mobile unit configured in a lower portion of the robot and configured in a caterpillar shape, for moving the robot forward, backward, and rotated by a server motor; A frictional force sensor for sensing a frictional force with the ground of the lower movable body and generating a state signal for sensing the state of the robot; A wireless communication unit for receiving at least any one of the client and the intrusion signal or the status signal and wirelessly transmitting the signal to the client; A battery for supplying power to the first ultrasonic sensor, the second ultrasonic sensor, the rotation motor, and the rectilinear motor; And a solar heat collecting plate for supplying energy to the battery.

The robot arm may include a robot arm having one side supported by the robot in the form of a cantilever beam, the robot arm connected to the pivotal motor to pivot, connected to the linear motor to adjust the length thereof, A storage unit for storing a plurality of sound sources; A speaker for outputting the sound source stored in the storage unit when the detection signal is generated; And a lamp installed on one side of the robot, for emitting light from a battery to collect pests, and for pest collecting to come into contact with a net through which electric power flows.

Wherein the robot is configured to emit a laser toward the obstacle when the first ultrasonic sensor detects an obstacle on the front surface and to judge the laser as a fixed object when the laser is reflected for a preset time, And a laser sensor for detecting the intrusion of the tidal water after being determined to be changed.

The frictional force detection sensor may be configured to determine that the frictional force is out of a preset value and transmit a message corresponding to the status signal.

The robot further includes a controller for controlling the robot to randomly output any one of a sound of a raptor, a gunshot sound, an ultrasonic wave exceeding an audible frequency, a sound of a beating water, and a scream sound exceeding the human audible frequency range .

According to another aspect of the present invention, there is provided a method for operating a harmful tidal assistant robotic system, the method comprising: operating the robot in a sensing standby state for invasion of wild animals and birds; A determination step of determining whether or not intrusion of harmful fresh water is detected during the detection waiting state; Generating an intrusion signal if it is determined that intrusion of harmful tidal water of the beast or a bird has been detected; Erasing the harmful assistant water by using the eradication means configured in the robot; And transmitting a message to the client informing that the harmful fresh water has been intruded.

Wherein the determining step determines the intrusion of the birds using the upwardly directed first ultrasonic sensor, determines an obstacle ahead by using the forwardly directed second ultrasonic sensor, and uses the laser sensor when the obstacle is detected To detect whether or not the obstacle is moving, and to determine the intrusion of the beast.

According to another aspect of the present invention, there is provided a method for operating a harmful tidal assistant robotic system, the method comprising: operating the robot in a sensing standby state for invasion of wild animals and birds; A determination step of determining whether the robot is in an abnormal state during the detection waiting state; Generating a status signal if it is determined that the robot is in an abnormal state; And transmitting a message corresponding to the status signal to a client.

Wherein the determining step determines the abnormal state when the frictional force deviates from a preset reference value by using the frictional force detection sensor.

A method of operating a harmful assistant water repellent robotic system, the method comprising the steps of: awaiting reception of a message from the robot; Determining whether a corresponding message is received by generating a state signal generated by an intrusion signal or a state of the robot being left in an abnormal state; And generating an alarm when at least one of a message corresponding to the intruding signal or a message corresponding to the status signal is received from the robot.

A method of operating a harmful assistant helicopter robotic system includes advancing a robot in a direction in which a beast is found when it is determined that the intruded object is a beast; Controlling one of the stored sound sources to be randomly amplified and output; Controlling the robot arm to extend and rotating the robot arm to defeat the beasts; And controlling the sound source to be randomly amplified among the stored sound sources to be output if it is determined that the intruded object is a flying creature.

The harmful tidal assistant robotic system according to the present invention and the method of operating the same according to the present invention are characterized in that a wireless virtual sensor is used to install an air virtual fence for detecting approach of a harmful tidal water on a cultivated land, The sound wave of the audible or ultrasound frequency band is fired and the harmful assistant water can be eradicated.

In addition, the harmful tidal assistant robotic system of the present invention and its operation method can detect the harmful tidal water while moving on the cultivated land and can eliminate the harmful tidal water while moving the information and the information of the robot to the predetermined client So that the harmful assistant water can be effectively exterminated and the operator can effectively prevent the harmful assistant water.

Fig. 1 is a photograph showing damage to an apple caused by a bird.
2 is a photograph showing the damage of corn due to wild animals.
FIG. 3 is a graph showing damage amounts according to kinds of harmful tidal water.
4 is a photograph showing methods for eradicating harmful tidal water in general.
5 is a photograph showing recently proposed methods for combating harmful tides.
FIG. 6 is a photograph of an orchard in which a net is installed in the air to prevent the damage of birds.
FIG. 7 is a block diagram schematically showing a configuration of a harmful assistive water control robotic system according to an embodiment of the present invention; FIG.
8 is a block diagram showing a configuration of a robot according to an embodiment of the present invention.
9 is a block diagram schematically showing a configuration of a robot according to an embodiment of the present invention.
FIG. 10 is a photograph of the front side of a robot by manufacturing the robot according to an embodiment of the present invention. FIG.
FIG. 11 is a photograph of a side of a robot manufactured by manufacturing a robot according to an embodiment of the present invention. FIG.
12 is a flowchart illustrating a process of eliminating and reporting harmful tidal water in a robot system for eliminating harmful tidal water according to an embodiment of the present invention.
13 is a flowchart showing a process of detecting an abnormal state and reporting the abnormal state in a robot system for eliminating harmful tidal water according to an embodiment of the present invention.
FIG. 14 is a flowchart illustrating an operation process in a client when intrusion information or state information is received according to an embodiment of the present invention. FIG.
FIG. 15 is a flowchart showing the process of eradicating harmful tidal water according to FIG. 12 of the present invention. FIG.

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

FIG. 7 is a block diagram schematically showing the configuration of a harmful assistive water control robotic system according to an embodiment of the present invention. Referring to FIG. Referring to FIG. 7, the harmful assistive water control robotic system of the present invention and its operation method include a robot 100 and a client 200.

When the robot 100 detects an intrusion of a bird, it generates an intrusion signal and generates a state signal indicating its own state. Further, the robot 100 can remove the fresh water from the farm 10 using the repelling means. The repelling means can drive the robot 100 by swinging the physical device while advancing toward the tide, or generating a high volume of audible or non-audible sound. In particular, a person has an audible frequency in the range of 20 to 20000 Hz, and in the case of a rat, hearing is developed to a frequency of 1000 to 70,000 Hz, which is the auditory frequency. In addition, cats can hear sounds having a frequency of 30 Hz to 60,000 Hz, and dogs can hear sounds of 40 Hz to 47,000 Hz. In particular, in the case of farms such as chickens and pheasants, the intrusion of a dog or a goat is fatal, and in the case of a farm where a bulbous plant is cultivated, the rodent eats the bulbous plant, Can be fired and fired. However, in the case of birds, harmful birds can be eliminated by generating sounds of enemies within the audible frequency because they are within the hearing range of a human being or are almost similar in audio frequency range to humans. For example, when the frequency exceeds 15000 Hz, stress acts on a person, so that a sound within a frequency range of 15000 Hz can be generated and the bird can be kicked out.

In addition, since the robot 100 is configured to be movable within the farm 10, it is possible to detect an obstacle and avoid obstacles to wander the inside of the farm. The intrusion signal generated by the robot 100 is generated when the intrusion of harmful tidal water is detected as described above. The status signal is a signal indicating that the robot 100 is not operating normally when the robot 100 is in an abnormal state. For example, a state signal can be generated when the robot 100 hits an obstacle, or when the robot 100 collapses during movement and becomes unable to operate normally.

Also, the client 200 may be a cell phone terminal of a farm owner, a dedicated terminal, or a predetermined cell phone terminal. Preferably, the client 200 is a mobile phone terminal capable of wireless communication. The robot 100 may be configured to communicate with the client 200 using at least one of WiFi communication, Bluetooth communication, zigbee communication, 3G communication, 4G communication, and 5G communication . A plurality of clients 200 may be configured and a message corresponding to an intrusion signal or a status signal may be transmitted to a plurality of client terminals 200. If an intrusion signal is generated in the robot 10, a message such as "intrusion of a wildlife assistant has been detected" may be transmitted. When a status signal is generated in the robot 100, the operation of the robot is in an incomplete state. May be transmitted to a predetermined number of clients (100).

FIG. 8 is a block diagram illustrating a configuration of a robot according to an embodiment of the present invention. FIG. 9 is a schematic diagram illustrating a configuration of a robot according to an embodiment of the present invention. FIG. 11 is a photograph of a side of a robot by manufacturing a robot according to an embodiment of the present invention. The robot of the present invention includes a first ultrasonic sensor 102, a second ultrasonic sensor 104, a laser sensor 106, a frictional force sensor 108, a wireless communication unit 110, a lower moving object 112, A power supply unit 130, and a control unit 140. The repelling means 120 is composed of a robot arm 122, a storage unit 124, a speaker 126 and a lamp 128. The power supply unit 130 is constituted by a battery 132 and a solar light collecting plate 134 do.

Referring to FIGS. 8 to 11, the first ultrasonic sensor 102 is installed at an upper portion of the robot 100 to detect intrusion of algae, and generates an intrusion signal upon detection of intrusion of algae. The first ultrasonic sensor 102 may be configured to collect three to five ultrasonic sensors, and each of the ultrasonic sensors 102 may be configured to be oriented in a different direction. This is because the first ultrasonic sensor 102 can sense intrusion of tide water in a wide range, in particular, intrusion of algae, but it may not detect a bird approaching from a square, so three or five ultrasonic sensors are used in combination. For example, when three ultrasonic sensors are used in combination, the orientation direction may be upward in a triangular shape. In addition, when three ultrasonic sensors are combined, the ultrasonic sensor may be inclined at an angle of 70 to 90 degrees with respect to the ground.

The second ultrasonic sensor 104 is installed to face the front surface of the robot 100 and detects obstacles on the front surface of the robot 100. Since the robot 100 is an object moving in the farm 10, the robot 100 is configured to be able to drive while avoiding the obstacles appearing on the front surface.

In addition, the robot 100 includes a laser sensor 106 for detecting intrusion of beasts other than birds. When the obstacle is detected by the second ultrasonic sensor 104, the laser sensor 106 operates to detect whether or not the obstacle is moving. When the laser sensor 106 measures the distance between the obstacle and the robot 100 by emitting a laser to the obstacle and it is determined that the measured obstacle maintains a predetermined distance from the robot 100 at a constant distance, And avoids the obstacle and manages the obstacle. However, if the laser sensor 106 determines that the laser is not reflected after the object is caught by the laser, or if the distance between the object is remote or within a predetermined time, it can be determined that the object is invaded by the beasts.

The frictional force detection sensor 108 is configured to detect an abnormal state of the robot 100. The frictional force detection sensor 108 senses the frictional force of the lower moving body 112 and regards the frictional force as a normal operation when the frictional force is within a certain range. When the frictional force is out of a certain range, . For example, the lower moving body 112 can be configured as a caterpillar, and when the frictional force between the inner wheel of the caterpillar and the caterpillar surface is sensed to indicate frictional force within a certain range, it is regarded as a normal operation. It is possible to generate a status signal.

When the robot 100 is torn or a malicious person lifts the robot 100, the robot 100 can not operate normally, and the lower moving body 112 can not operate normally. The frictional force of < / RTI > In addition, when the front and rear surfaces are blocked by the obstacle, the frictional force exceeds a certain range. If it exceeds the predetermined range or does not fall within the predetermined range, it is determined that the operation is abnormal and the status signal is generated.

When the wireless communication unit 110 receives at least one of an intrusion signal and a status signal in communication with the client 200, the wireless communication unit 110 wirelessly transmits the signal to the client 200. As described above, the wireless communication unit 110 can communicate with the client 200 through at least one of communication methods such as WiFi communication, Bluetooth communication, zigbee communication, 3G communication, 4G communication, .

The lower moving body 112 is configured to start the robot, and is composed of a servo motor (not shown) and a caterer connected to the servo motor. The caterpillar connected to the servomotor has a merit that it can make the revolving maneuver easily and also can safely start the horse. For example, the rotation of the caterpillar formed on the left side and the rotation of the caterpillar formed on the right side can be reversed.

The robot arm 122 is connected to the rotation motor 121 and configured to rotate. The robot arm 122 is connected to a rectilinear motor (shown in the figure) and configured in the form of a cantilever configured to be length-adjustable. When the robot arm 122 is composed of three stages, it is composed of an outer arm, an intermediate arm, and an inner arm. When the linear motor is operated as one side, the inner arm is advanced along the guide formed on the inner side of the intermediate arm by the operation of the gear, and when the advancement of the inner arm is completed, the intermediate arm is extended again. On the other hand, when the rectilinear motor is operated to the other side, the inner arm is moved backward along the inner gear formed on the outer arm to be reduced. The rectilinear motor combines the worm wheel of the worm gear so as to move in accordance with the rotation of the motor, and the worm of the worm moves to a straight line such as a forward or reverse direction by the rotation of the worm wheel so that the length of the robot arm 122 can be adjusted. Alternatively, the robot arm 122 can be configured to be extendable from a rack and a pinion. A gripping means may be formed at an end of the robot arm, and the gripping means may be configured to hold an indefinite object by the elasticity of the spring.

The storage unit 124 stores various sound sources corresponding to various kinds of erasure sounds. For example, various types of eradication sounds may be sounds of birds of prey, guns, ultrasonic waves exceeding audible frequencies, sounds of beasts, screams, etc. In addition, the storage unit stores messages corresponding to the intrusion signals and messages corresponding to the status signals.

The speaker 126 amplifies various output sounds stored in the storage unit 126 and outputs the amplified sound.

The lamp 128 is installed on one side of the robot and receives power from the power supply unit 130 to emit light to collect pests and to collect the collected insects so as to touch the network through which electricity flows. Since the lamp 128 is a lamp having a high luminance, the energy of the battery 132 in the power supply unit 130 can be consumed quickly. Therefore, a separate switch for further turning on the operation of the lamp 128 is provided, So that it can be maintained in a turned-off state. However, basically, the lamp 128 must be powered by the battery 132 configured in the robot 100, so that the lamp 128 can be turned on only when the robot 100 is turned on.

The power supply unit 130 is configured to supply power to all the devices described above and includes a battery 132 for supplying power and a solar light collecting plate 134 for charging the battery 134.

The solar light collecting plate 134 collects solar energy and uses it to charge the battery 134. However, the solar light collecting plate 134 may be charged by a solar heat collecting plate or a generator using fossil energy.

The control unit 140 reads the corresponding unique number information of the client 200 from the storage unit 124 and transmits the corresponding message to the client 200 corresponding to the read information. The control unit 140 controls the sound of the birds of prey or the gun sound from the storage unit 124 to the speaker so that the birds are infiltrated through the first ultrasonic sensor 102 when the intrusion signal is generated, In case of intrusion of wild animals, ultrasonic waves exceeding the audible frequency may be fired to eradicate the harmful assistant water, or amplification of the sound or shot of the beast can be performed to eliminate the beast. Especially, in case of harmful birds, it is mostly resident birds. If the resident stays in the area and suffers damage and becomes accustomed to the sound output through the speaker 126, the effect of eliminating the algae using the sound is deteriorated. Therefore, various sounds are preferably output so that the sound can be randomly output . Accordingly, preferably, when the control unit 140 detects an intrusion signal, the control unit 140 controls the speaker 126 to output a randomly selected sound among the various types of sound stored in the storage unit 124.

When receiving at least one of an intrusion signal and a status signal, the controller 140 detects the signal and transmits it to the client 200 wirelessly. When the controller 140 detects an intrusion signal, the control unit 140 reads a pre-stored message corresponding to the intrusion signal from the storage unit 124 and transmits the read message to the client 200. Similarly, when the controller 140 detects the status signal, the controller 140 reads the pre-stored message corresponding to the status signal from the storage unit 124 and transmits the read message to the client 200. [

The client 200 may be configured to communicate with the wireless communication unit 110 using at least one of WiFi communication, Bluetooth communication, Zigbee communication, 3G communication, 4G or 5G communication.

12 is a flowchart illustrating a process of eliminating and reporting harmful tidal water in a robot system for eliminating harmful tidal water according to an embodiment of the present invention. In step S102, the robot 100 is turned on to detect and remove the harmful assistant water.

In step S104, the robot 100 is operated by the lower mobile body 112 to operate in a detection standby state for intruding wild animals and beasts by each detection function while circulating the farm.

In step S106, the controller 140 continuously determines whether intrusion of the harmful fresh water is detected during the detection waiting state. For example, the first ultrasonic sensor 102 detects the infestation of the birds, and the second ultrasonic sensor and the laser sensor detects the intrusion of the beasts.

If it is determined that intrusion of the harmful fresh water is detected (step S106, Y), the control unit 140 generates an intrusion signal (step S108), and combats the harmful assistant by using the destruction unit (step S110).

In step S112, the controller 140 transmits a message corresponding to the intrusion signal to the client 200. [

FIG. 13 is a flowchart illustrating a process of detecting an abnormal condition in a robot system for eliminating harmful tidal water according to an embodiment of the present invention and reporting the abnormal condition. In step S202, the robot 100 is turned on to detect and eliminate the harmful assistant water.

In step S204, the robot 100 is operated by the lower mobile body 112 and operates in a detection standby state for intruding wild animals and beasts by each detection function while circulating the farm.

In step S206, the control unit 140 continuously determines whether the robot 100 is in the abnormal state during the detection waiting state. For example, by using the frictional force sensor 108, it is detected whether or not the frictional force is out of a preset reference value.

If it is determined that the robot 100 is in an abnormal state (Y in step S206), the controller 140 generates a status signal (step S208).

In step S210, the controller 140 transmits a message corresponding to the status signal to the client 200. [

FIG. 14 is a flowchart illustrating an operation process in a client when intrusion information or state information is received according to an embodiment of the present invention. In step S302, the client 200 waits for the report of the robot 100.

In step S304, it is continuously determined whether or not a corresponding message is received due to the occurrence of a state signal generated by an intrusion signal generated due to intrusion of harmful fresh water or an abnormal state of the robot.

If at least one of the message corresponding to the intrusion signal and the message corresponding to the status signal is received from the robot 100 (Y in step S304), the client 200 generates an alarm and returns (step S306). Here, the alarm message may be an alarm signal.

FIG. 15 is a flowchart showing the process of eliminating harmful tidal water according to FIG. 12 of the present invention.

First, in step S402, the control unit 140 determines whether the intruded object is a wild beast or a bird.

If it is determined that the intruding object is the beast (step S402, invasion of wild beasts), the controller 140 advances the robot in the direction in which the beasts are found (step S404).

In step S406, the control unit 140 controls the speaker 126 to amplify and output one sound source randomly among the sound sources for destruction stored in the storage unit 124.

In step S408, the controller 140 controls the robot arm 122 to extend, and rotates the robot arm 122 to defeat the beasts. Because wild beasts express their vigilance on moving objects that are bigger than themselves, they can effectively combat wild beasts. At this time, it is possible to constitute the gripping means formed at the end portion of the robot arm 122 to rotate in a state of gripping an elastic rubber material so as to alert the harmful assistant.

If it is determined that the infiltrant is a bird (step S402, infestation of the bird), the control unit 140 moves the robot in the direction in which the bird is found (step S410).

In step S412, the control unit 140 controls the robot 100 to amplify and output one sound source randomly among the sound sources for destruction stored in the storage unit 124 through the speaker 126 while moving the robot 100 in the direction of the bird.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Ranges and equivalents thereof are to be construed as being included within the scope of the present invention.

100: robot 102: first ultrasonic sensor
104: second ultrasonic sensor 106: laser sensor
108: Friction force sensor 110: Wireless communication unit
112: lower movable body 120:
122: robot arm 124:
126: speaker 128: lamp
130: Power supply unit 132: Battery
134: Solar collecting plate 200: Client

Claims

A movable robot for detecting the intrusion of the tide, for eliminating the tide by using the tampering means for eliminating the tide, generating an intrusion signal and generating a status signal indicating the status of the tide; And
And a client receiving at least one of an intrusion message and a status message corresponding to an intrusion signal or a status signal from the robot.

The robot system according to claim 1,
A first ultrasonic sensor installed upwardly at an upper portion of the robot to detect intrusion of a bird and generating an intrusion signal when an intrusion of a bird is detected;
A second ultrasonic sensor installed on a front surface of the robot and detecting an obstacle on the front surface of the robot;
An erasure means for eradicating the tide when the intrusion signal is generated;
A lower mobile unit configured in a lower portion of the robot and configured in a caterpillar shape, for moving the robot forward, backward, and rotated by a server motor;
A frictional force sensor for sensing a frictional force with the ground of the lower movable body and generating a state signal for sensing the state of the robot;
A wireless communication unit for receiving at least any one of the client and the intrusion signal or the status signal and wirelessly transmitting the signal to the client;
A battery for supplying power to the first ultrasonic sensor, the second ultrasonic sensor, the rotation motor, and the rectilinear motor; And
And a solar heat collecting plate for supplying energy to the battery.

2. The apparatus according to claim 1,
A robot arm having one side supported by the robot in the form of a cantilever, a robot arm coupled to the pivoting motor and pivotable to be connected to the linear motor to adjust the length thereof, and a gripping means for gripping objects on the other side;
A storage unit for storing a plurality of sound sources;
A speaker for outputting the sound source stored in the storage unit when the detection signal is generated; And
And a lamp installed on one side of the robot for emitting a light from a power source to collect pests and bringing collected pests into contact with a net through which electric power flows, thereby eliminating the harmful assistant water repellent robot system.

The robot system according to claim 1,
If the first ultrasonic sensor detects an obstacle on the front surface, it emits a laser toward the obstacle. If the laser is reflected for a predetermined time, it is determined that the object is a fixed object. And further comprising a laser sensor for detecting the intrusion of the tidal water.

The robot system according to claim 1,
Further comprising a control unit for controlling to randomly output, through the speaker, any one of a sound of a raptor, a gunshot sound, an ultrasonic wave exceeding an audible frequency, a sound of a beating water, and a scream sound exceeding the human audible frequency range Robot system to eliminate tide.

Operating the robot in a detection standby state for intrusion of wild animals and wild animals;
A determination step of determining whether or not intrusion of harmful fresh water is detected during the detection waiting state;
Generating an intrusion signal if it is determined that intrusion of harmful tidal water of the beast or a bird has been detected;
Erasing the harmful assistant water by using the eradication means configured in the robot;
And sending a message to the client informing the client that the harmful assistant has entered.

7. The method according to claim 6,
A first ultrasonic sensor oriented upwardly is used to determine infiltration of a bird, a forward obstacle is determined using a forward second ultrasonic sensor, and when the obstacle is detected, And detecting the intrusion of the wild beast.

Operating the robot in a detection standby state for intrusion of wild animals and wild animals;
A determination step of determining whether the robot is in an abnormal state during the detection waiting state;
Generating a status signal if it is determined that the robot is in an abnormal state;
And transmitting a message corresponding to the status signal to a client.

9. The method according to claim 8,
And when the friction force deviates from a preset reference value by using the frictional force detection sensor, the abnormal state is determined to be the abnormal state.

9. The method according to at least one of claims 6 to 8,
The client waiting for a message from the robot;
Determining whether a corresponding message is received by generating a state signal generated by an intrusion signal or a state of the robot being left in an abnormal state;
And generating an alarm when at least one of a message corresponding to the intrusion signal or a message corresponding to the status signal is received from the robot.

8. The method of claim 7,
Advancing the robot in the direction in which the beast is found, if it is determined that the intruded object is the beast;
Controlling one of the stored sound sources to be randomly amplified and output;
Controlling the robot arm to extend and rotating the robot arm to defeat the beasts;
And controlling to amplify and output one sound source randomly among the stored sound sources for eradication when it is determined that the intruded object is a flying creature.