KR20200057961A - Unmanned Working apparatus by remote control - Google Patents

Abstract

The present invention relates to a remotely-controllable unmanned work apparatus capable of increasing work efficiency and increasing productivity and, more particularly, to a remotely-controllable unmanned work apparatus including: a main body including movable wheels provided on both sides of the main body so as to be movable by receiving a power from a built-in battery; a monitoring module including one or more cameras provided on an outer side of the main body to photograph an area around the main body or sense an obstacle when the main body moves; a microcomputer configured to receive and process a wireless control command from a remote site, including a central control unit for analyzing information collected by the monitoring module to control a movement and a direction change of the main body according to control of a preset program, and mounted on the main body; a wireless communication module configured to receive the wireless control command from the remote site and transmit the signal processed by the microcomputer to the remote site; a work tool detachably attached to a front end of a support to perform a necessary work according to a signal transmitted from the microcomputer; and a remote controller including a wireless communication module to remotely control the work tool and the movement of the main body while remotely transmitting and receiving information to and from the microcomputer.

Description

Unmanned working apparatus by remote control

The present invention relates to an unmanned working device capable of remote control, in particular, a remote using a micom and a wireless remote controller mounted on the body to perform difficult work performed directly by physical workers during spraying and agricultural spraying and agricultural pesticide used in salt farms. The present invention relates to an unmanned work device capable of remote control, which allows work to be performed through control, thereby reducing operator's hand.

Along with the development of mechanical, electrical, and electronic technologies, the performance of various working devices is also developing significantly, and the development of these industrial technologies contributes greatly to improving productivity while reducing physical labor of working workers.

In spite of the process of advancing industrial technology in various fields as described above, in some industries and fields such as agriculture and fishery, the work is still being carried out based on the physical workforce of the workers, which is causing difficulties.

In particular, due to the reduction of the workforce and the aging of the existing workforce, there is a situation in which work efficiency and productivity in certain fields that utilize the workforce of workers are lagging behind.

For example, in the case of salt farm operators that produce salts of sea salt, the salt precipitated in salt farms is collected directly into one place by using a wheat straw (onion) to collect salts deposited in salt farms in the salt farms.

The salt collection process, which is the process of collecting salt for the first time even when the salt farm facility or device is being automated and mechanized, requires a lot of physical labor of workers, and there is an urgent need to take measures to improve it.

Of course, to solve this conventional problem, the electric salt pans are developed or invented, but in the case of the electric pans, the cost is low and the use thereof is poor.

As another example, as a large portion of work is mechanized in agricultural fields such as field farming and vinyl house, it is possible to reduce worker's hand and increase labor efficiency.

However, it is a reality that in some work areas where repair facilities are poor or cannot be mechanized due to the nature of crops, the direct worker is in need of performing the necessary work by administering labor.

-Korean Patent Registration No. 10-1705423 (Registration Date: 2017.02.03, Name of the invention: Salt collection device for salt) -Korean Patent Publication No. 10-2017-19003 (Publication date: 2017.02.21, name of invention; electric rod for salt use with guide wire) -Korean Patent Registration No. 10-1426234 (Registration Date: July 29, 2014, Name of Invention: Electric Rod for Salt)

The present invention is to provide an unmanned work device capable of remote control to increase the efficiency and productivity of the work by reducing the labor force of the worker, which was used for some specific work in the agricultural field and the agricultural mill used in the conventional salt farm. There is a purpose.

In order to achieve the above object, an unmanned work device capable of remote control according to the present invention includes a main body provided with moving wheels on both sides to be movable by receiving power from a built-in battery; A monitoring module provided with one or more cameras provided on the outside of the main body to photograph an area around the main body or sense an obstacle when the main body is moved; A microcomputer equipped with a central control unit that receives and processes a wireless control command from a remote location, analyzes the information collected by the monitoring module, and controls the movement and direction change of the main body according to control of a set program; A wireless communication module provided to receive a radio control command from a remote site and to transmit a signal processed by the micom to the remote site; A working tool fixedly installed and detachably attached to a support installed in front of the main body so as to operate according to the signal transmitted from the microcomputer; A work tool operation means having one end fixed to the support 38 and the other end connected to the main body side to operate the work tool within a predetermined range in the up-down or forward-backward direction, and operated by power supplied from the battery; It consists of a configuration that includes; a wireless remote controller having a control unit and a wireless communication module that can remotely control the movement and work tools of the main body while information is transmitted and received remotely with the micom.

In particular, one embodiment of the work tool is composed of a straw having a certain length and height that is in close contact with the floor surface and collects the work objects on the floor surface in one place.

In addition, another embodiment of the work tool is composed of a chemical injection means, the chemical injection means, the left and right ends are closed and a plurality of through-holes are formed at regular intervals on the outer periphery to supply the water-soluble content supplied to the outside. It is made of a hollow type to be sprayed, and is provided with a sprinkling pipe installed at the front end of the support, and an inner space that can be filled with a certain amount of water-soluble content, and is installed detachably on the upper portion of the main body, and the storage container and the sprinkling pipe A fluid supply hose that is connected to and installed to supply the water-soluble contents stored in the storage container to the sprinkler pipe, and the storage container to forcely discharge the water-soluble contents filled in the storage container into the fluid supply hose while operating according to the control signal of the remote controller. It consists of a configuration including; a discharge pump installed inside.

In addition, the micom includes a moving wheel driving control unit for controlling movement and direction of the main body, an image data processing unit for processing data received from a surveillance camera installed on the main body, and overall control of the work of the work tool. A work tool control unit, a battery charge / discharge monitoring unit that monitors charging and discharging of the battery, and transmits data to a remote server or a user's wireless remote controller for the work performed in the micom, and signals transmitted from the wireless remote controller. It consists of a configuration equipped with a wireless communication module to receive and control each part through the microcomputer.

In addition, the wireless remote controller, a speed control unit for controlling the transfer speed of the main body, a direction control unit for controlling the movement direction of the main body, a power control unit for controlling the power of the main body, and a working or finished body A return control unit for returning to the original position, a monitor for displaying an image captured by the surveillance camera provided on the main body side, and a work tool control unit for controlling a work tool provided in the main body to perform necessary work, It consists of a configuration that includes a wireless communication module for transmitting and receiving information with the main body side microcomputer.

The unmanned operation device capable of remote control according to the present invention having the above-described configuration allows the main body to be unmanned by using a program set in the micom or a wireless remote controller to perform necessary operations.

In particular, in the case of salt extraction work in a salt farm by installing a straw at the front of the main body, the operator directly enters the salt farm and pushes the straw to reduce the inconvenience of performing salt extraction work. Even in this case, it is possible to reduce the trouble of the worker traveling along the electric onion, thereby reducing the labor force and doubling the efficiency of the work.

In addition, the present invention connects a watering pipe instead of a straw in the front of the main body, fills the storage container mounted on one side of the main body, and then moves along the furrow of the paddy field and sprays water or chemicals into the seed seeded headland. By using the chemical injection means, the worker can solve the difficulty of spraying water or chemicals while carrying a heavy medicine container or sprayer.

In particular, the work tool applied to the present invention is made of a structure that can be moved up and down, so that even after the crop has grown to a certain height, the chemical solution can be directly sprayed onto the crop from the top of the crop, so it can be easily used even when controlling various pests caused by the crop during the growing season. It provides an advantage.

1 is an appearance state diagram according to an embodiment of an unmanned work device capable of remote control according to the present invention,
Figure 2 is an appearance state according to another embodiment of an unmanned work device capable of remote control according to the present invention,
Figure 3 is a main configuration block diagram of an unmanned work device capable of remote control according to the present invention,
4 and 5 is a state diagram of the unmanned operation device capable of remote control according to the present invention.

An unmanned operation device capable of remote control according to the present invention (hereinafter abbreviated as 'unmanned operation device') is a main body configured to be movable and a remote control command to receive a remote control command to control the main body to be unattended. The micom mounted on the main body, the surveillance camera mounted on the main body to detect obstacles during movement of the main body to detect obstacles during movement of the main body, and the micom mounted on the main body and the wireless remote controller of the remote place communicate wirelessly. A wireless communication module installed on the main body side to enable wireless control of the main body by enabling it, and a work tool mounted on one side of the main body and configured to move up and down to perform the work together with the movement of the main body and a worker It consists of a possible size and consists of a configuration including a wireless remote controller equipped with a wireless communication module for remotely controlling the micom provided in the main body to control the movement, speed and direction of the main body.

In addition, it is preferable that the movable wheel is configured in an infinite track type so that it can be used in various working areas, and a battery capable of charging and discharging is mounted to supply power for the operation of the main body and the microcomputer and work tools. It consists of a configuration further comprising a charge / discharge monitoring unit that monitors the discharge state of the battery and generates a warning signal when discharging below a reference voltage.

In addition, the surveillance camera installed on the main body photographs the surroundings of the main body in real time during operation so that the micom is transmitted, and the image information transmitted to the micom is displayed on the monitor of the wireless remote controller carried by the manager or operator at a remote location. It is configured so that the manager or worker can grasp the working environment of the main body easily.

The work tool is made of a replaceable structure so that the user can easily replace and use it according to the object to be worked. In one embodiment of the work tool applied to the present invention, the salt precipitated on the salt farm floor is collected when salt is collected from the salt farm. It can consist of a straw for harvesting.

In addition, as another embodiment of the work tool, it may be configured as a chemical spraying means for spraying water or chemicals on a paddy field in which crops or seeds are sown, and the chemical spraying means includes a sprinkling pipe for spraying water or chemicals, and a chemical solution The storage container is filled and seated on the top of the main body, a fluid supply hose for supplying water or chemicals from the storage container to the sprinkling pipe, and fixedly installed on the body side to adjust the height of the sprinkling pipe according to the size of the crop. It consists of a work tool operation means and a discharge pump for forcibly supplying water or chemicals filled in the storage container to the fluid supply hose.

In addition, the microcomputer installed on the main body side is configured to include a central control unit capable of receiving and controlling a control program of a remote controller and a set program for controlling each unit.

Hereinafter, embodiments of the unmanned working apparatus according to the present invention will be described with reference to the accompanying drawings.

In addition, in the detailed description of the present invention, descriptions of technical structures or functions that can be easily implemented by those skilled in the art using well-known techniques are omitted as much as possible and limited to the features of the present invention. .

Figure 1 shows the appearance of the unmanned working apparatus 100 according to an embodiment of the present invention.

The unmanned work apparatus 100 according to an embodiment of the present invention shown in FIG. 1 is an example of a work tool 30 installed in front of the main body 10 to be used when extracting salt from a salt farm. ) Is installed to show an embodiment used for salt extraction.

As shown in FIG. 1, the unmanned work apparatus 100 of the present invention is a main body 10 for performing necessary work while being moved through a remote control, and a wireless remote controller for remotely controlling the main body 10 ( 60).

The main body 10 is configured to be driven by being supplied with power from a battery (not shown) mounted inside the main body 10 with moving wheels 15 and 16 installed on both sides, and of the moving wheels 15 and 16. It is configured to be moved back and forth and change direction of the main body 10 according to the rotation direction.

Although not shown in the drawing, a driving motor (not shown) for controlling the driving of both moving wheels 15 and 16 is installed inside or below the main body for driving the moving wheels 15 and 16, and the moving wheels are installed. The moving speed and the rotating direction of the moving wheel are controlled according to the rotational speed and the rotational direction of the driving motor installed to drive the (15, 16) independently.

In addition, the work tool 30 installed in front of one side of the main body 10 is made of a detachable structure so that the user can use it by replacing it with another work tool according to the work content.

The work tool 30 shown in one embodiment of FIG. 1 shows a state in which a straw 31 used for salt extraction in a salt farm is installed.

The push rod 31 is configured to have a predetermined length in the left and right directions so as to facilitate collecting the salt precipitated on the bottom of the salt farm, and is configured to have a predetermined height to push out the salt accumulated in front of the push rod 31.

The work tool 30, the push rod 31 is fixed to the support 38, the support 38 is fixed to the work tool operation means 40 connected to the main body 10 side work tool operation means 40 It is configured to be able to adjust the height up and down or before and after.

That is, the distance between the main body side is adjusted by the front and rear expansion and contraction cylinders 44, one end of which is hinged to the main body side, and the up and down lifting cylinders are provided on the outer surface of the front and rear expansion and contraction cylinders 44. (42) is connected to the up and down expansion and contraction cylinder 44 is vertically raised and lowered to the vertical expansion and contraction of the vertical lifting cylinder (42) is configured to be able to adjust the height of the work tool according to the type of work object or work tool.

The working tool operation means 40 is preferably composed of an electric cylinder that is operated by receiving power from a battery mounted on the body.

In addition, a monitoring camera 20 is installed on the outer surface of the main body 10 to monitor that there are obstacles on the moving path of the main body. It is configured to facilitate work management by allowing the captured image to be transmitted to the monitor.

That is, the image photographed by the surveillance camera 20 is transmitted to the user's wireless remote controller 60 via a microcomputer built in the main body and is provided to the user through the monitor 65 provided in the wireless remote controller 60. , The user is configured to control the movement of the main body 10 or the work tool 30 while looking at the monitor 65 provided in the wireless remote controller 60 at a remote location.

In addition, on one side of the main body 10, an operation panel 18 for direct movement of the main body or control of a work tool in the field is additionally configured, so that the wireless remote controller 60 is not directly used in an emergency or in a specific situation. It is preferably configured to be able to control the body.

In addition, the upper surface of the main body 10 is provided with a work tool installation stand 17 for installing a work tool necessary for the purpose of use of a work device on the upper part of the body, so that work tools necessary for work can be mounted or mounted. do.

On the other hand, the wireless remote controller 60 for remotely controlling the main body 10 includes a speed control unit 61 for controlling the transfer speed of the main body 10, a direction control unit 62 for controlling the movement direction of the main body, A power control unit 63 for controlling the power of the main body, a return control unit 64 for returning the working or finished body to its original position, and a monitor for displaying an image captured by a surveillance camera provided on the main body side (65), a work tool control unit (66) for controlling a work tool provided in the main body so as to perform necessary work, and a failure display unit for generating a fault signal in the event of a malfunction or failure in the device of the main body ( 68), and a wireless communication module 67 for transmitting and receiving information to and from the main body side microcomputer.

2 shows another embodiment in which different types of work tools 30 are installed in the unmanned work apparatus 100 according to the embodiment of the present invention.

The embodiment shown in FIG. 2 consists of a configuration in which the chemical spraying means 32 is installed as a work tool 30 for spraying water or chemicals onto a crop in front of the main body 10.

The chemical injection means 32 is formed in a hollow shape so that both right and left ends are closed and a plurality of through holes 34 are formed at regular intervals at an outer periphery to spray the fluid supplied to the outside to be provided in front of the main body ( 38) a sprinkler pipe (33) of a predetermined length installed at the tip, and a storage container (35) configured to have an internal space that can be filled with a certain amount of fluid and detachably installed on the upper part of the main body (10), A fluid supply hose 36 that is installed between the storage container 35 and the sprinkler tube 33 to supply the fluid stored in the storage container 35 to the sprinkler tube 33, and the control of the wireless remote controller 60 It consists of a configuration including a discharge pump 37 installed inside the storage container 35 to force the fluid filled in the storage container 35 to the fluid supply hose 36 according to the signal.

The sprinkler pipe 33 has both right and left ends closed, and a plurality of through holes 34 formed on the outer periphery thereof is further provided with an injection nozzle to increase the spray strength or spray distance of the fluid.

In addition, the storage container 35, in which water or chemical liquid is stored, is configured to check the filling amount of the fluid filled therein by forming a graduation on the outer surface, and the water level sensor 35a is located inside the storage container 35. It is preferably configured so that a warning signal can be sent so that water or chemicals can be replenished to the remote manager if the water level is lower than the reference level.

The storage container 35 is seated on the work tool installation table 17 provided on the upper surface of the main body 10, is fixedly installed, and is configured to be detachable if necessary.

In addition, the fluid supply hose 36 is connected between the storage container 35 and the sprinkling pipe 33 and serves to supply water-soluble contents stored in the storage container 35 to the sprinkling pipe while the water supply pipe 33 When it is moved up and down, it is made of a configuration in which a certain length is wound on the winding reel 39 installed on the body side so that it can be unwound or wound.

In addition, the fluid supply hose 36 is connected to the discharge pump 37 installed inside or outside of the storage container 35 to sprinkle the fluid stored in the storage container according to the operation of the discharge pump 37 (33) It is configured to supply, the discharge pump 37 is configured to be remotely controlled operation under the control of the microcomputer receiving the control command of the wireless remote controller.

And, the sprinkler pipe 33 is sprayed with water or chemicals in a state spaced apart from the ground by a work tool operation means 40 installed between the support 38 and the body 10 according to the size of the crop. It becomes possible.

3 is a block diagram showing the configuration of the micom and the wireless remote controller 60 installed in the main body of the unmanned working apparatus 100 according to the embodiment of the present invention described above.

As shown in FIG. 3, the microcomputer 50 embedded in the main body 10 has a memory unit 51 in which a set program is stored, a collection and processing of various data for controlling the main unit, and commands of the wireless remote controller. Accordingly, a central control unit 52 is provided to enable control of each unit.

In addition, the micom 50 includes a bi-wheel drive control unit 52 for controlling movement and square of the main body, and an image data processing unit 53 for processing data received from a surveillance camera installed in the main body 10. And, a work tool control unit 55 for controlling the work of the work tool to perform the work as a whole is provided.

In addition, the microcomputer 50 controls the driving of the battery charge / discharge monitoring unit 56 for monitoring charge / discharge of the battery supplying power to each unit, and the discharge pump () installed inside the storage container for discharge of fluid. The discharge pump control unit 57, and a storage container monitoring unit 58 for receiving a signal from the water level sensor installed inside the storage container to monitor the storage state or the filling / shortage state of the fluid filled in the storage container, A wireless communication module that transmits data from the micom 50 to a remote server or a user's wireless remote controller and receives signals from the wireless remote controller to control each part through the micom ( 59) is made of a provided configuration.

Since the wireless remote controller 60 configured to enable the transmission and reception of information by wireless communication with the microcomputer 50 provided on the main body 10 side is the same as the configuration described in the above-described embodiment, The description is omitted.

The working state of collecting salt in the salt farm is shown in FIG. 4 by installing a straw as a work tool of the unmanned working apparatus according to the present invention having such a configuration.

In addition, FIG. 5 shows a state in which the chemical spraying means is configured as a work tool to spray the chemicals on the soil of the farmland.

4 and 5, the unmanned work apparatus according to the present invention allows an administrator or a user to perform basic work through movement and direction control of a work apparatus using a wireless remote controller at a remote location. Of course, depending on the type of work tools installed, spraying and spraying of chemicals can be performed by spraying chemicals or water on crops, thereby eliminating the inconvenience of the worker having to follow the working device to move or operate the working device. To reduce the labor force of workers.

10: main body 15,16: moving wheel
17: Work tool installation table 18: Operation panel
20: surveillance camera 25: transceiver
30: work tool
31: push rod 32: liquid injection means
33: water pipe 34: through hole
35: storage container 36: fluid supply hose
37: discharge pump 38: support
40: work tool operation means
42: up and down lifting cylinder 44: front and rear expansion cylinder
50: microcomputer
51: memory unit 52: central control unit
53: moving wheel control unit 54: image data processing unit
55: work tool control unit 56: charge and discharge monitoring unit
57: discharge pump control unit 58: storage container monitoring unit
59: wireless communication module
60: remote controller
61: speed control unit 62: direction control unit
63: power control unit 64: return control unit
65: monitor 66: work tool control unit
67: wireless communication module 68: fault display
100: working device

Claims (4)

The main body is provided with moving wheels on both sides to be movable by receiving power from the built-in battery;
A monitoring module provided with one or more cameras provided on the outside of the main body to photograph an area around the main body or sense an obstacle when the main body is moved;
A microcomputer equipped with a central control unit that receives and processes a wireless control command from a remote location, analyzes the information collected by the monitoring module, and controls the movement and direction change of the main body according to control of a set program;
A wireless communication module provided to receive a radio control command from a remote site and to transmit a signal processed by the micom to the remote site;
A working tool fixedly installed and detachably attached to a support installed in front of the main body so as to operate according to the signal transmitted from the microcomputer;
A work tool operation means having one end fixed to the support 38 and the other end connected to the main body side to operate the work tool within a predetermined range in the up-down or forward-backward direction, and operated by power supplied from the battery;
An unmanned remote control capable of being remotely controlled, comprising: a wireless remote controller equipped with an operation unit and a wireless communication module that can remotely control the movement and work tools of the main body while information is transmitted and received remotely with the micom. Working device. According to claim 1,
The work tool is in close contact with the floor surface, and the remote control unmanned work device is characterized in that it consists of a straw having a certain length and height to collect work objects on the floor. According to claim 1,
The work tool is composed of a chemical injection means,
The chemical injection means,
The right and left ends are sealed, and a plurality of through-holes are formed at regular intervals on the outer periphery to form a hollow so as to spray the water-soluble contents supplied therein to the outside.
Storage container is configured to have an internal space that can be filled with a certain amount of water-soluble content is installed detachably on the upper portion of the main body,
A fluid supply hose which is installed between the storage container and the sprinkler tube to supply water-soluble contents stored in the storage container to the sprinkler tube,
It is operated in accordance with the control signal of the remote controller, the discharge pump installed inside the storage container to forcibly discharge the water-soluble contents filled in the storage container into the fluid supply hose. Device. The method of claim 2 or 3,
The microcomputer,
A moving wheel driving control unit for controlling the movement and direction of the main body, an image data processing unit for processing data received from a surveillance camera installed in the main body, a working tool control unit for controlling the overall work of the working tool, and The battery charge / discharge monitoring unit monitors the charge / discharge of the battery, and transmits data to the remote server or the user's wireless remote controller for the work performed in the micom, and receives the signal transmitted from the wireless remote controller through the micom. A wireless communication module is provided to control each part,
The wireless remote controller,
A speed control unit for controlling the transfer speed of the main body, a direction control unit for controlling the movement direction of the main body, a power control unit for controlling the power of the main body, and a return control unit for returning the main body being worked or finished to the original position And, a monitor for displaying an image captured by a surveillance camera provided on the main body side, a work tool control unit to control the work tools provided on the main body to perform necessary tasks, and the transmission and reception of information to and from the main body side microcomputer Unmanned work device capable of remote control, characterized in that it consists of a configuration that includes a wireless communication module for.

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