KR20200092262A - Cowhouse control robot with unmanned autonomous driving and fixed combination - Google Patents

Abstract

The present invention relates to an unmanned autonomous or fixed cowhouse control robot which performs unnamed autonomous driving for foot-and-mouth disease virus prevention and disease control of a space, is configured to perform disinfection of a space and control a large-scale livestock house, and is also fixable. The cowhouse control robot comprises: a control liquid spray unit which is provided in a base housing formed of a SUS plate to have an anticorrosion function; and a robot driving unit which is provided at the lower end of the control liquid spray unit, and allows the cowhouse control robot to perform line tracing autonomous driving. The control liquid spray unit comprises: a constantly-operating spray unit which operates constantly to perform disinfection; and a particularly-operating spray unit which operates and performs disinfection only when foot-and-mouth disease occurs. The robot driving unit comprises an outrigger which supports and fixes the robot driving unit by applying pressure onto the ground, so that the cowhouse control robot can also be used in a fixed state.

Description

{Cowhouse control robot with unmanned autonomous driving and fixed combination}

The present invention relates to a USA control robot, and more specifically, to perform an unmanned autonomous driving for blocking and controlling a foot and mouth disease virus, is configured to control space disinfection and large-scale housing, and can be used in combination with a fixed type. It relates to a driving and fixed combined use control robot.

Foot and mouth disease, a type 1 livestock epidemic that occurs in animals with two hoofs such as cows, pigs, goats, and sheep, has a morbidity rate of 100%, and especially young pigs have a mortality rate of 5 to 55%. Foot and mouth disease is a viral disease, and there is no cure, and it is best to prevent foot and mouth disease virus from entering the farm through blocking prevention (external vehicle and person access control, sterilization inside and outside the house, etc.).

The symptoms of foot and mouth disease are characterized by the formation of blisters on the mouth and hooves along with high fever. In the case of cattle, inflammation and ulcers occur when blisters develop on the tongue or gums. In particular, drooling with foam is the main symptom of cattle.

The foot-and-mouth disease virus is highly contagious and spreads rapidly through air, vehicles, and people, so it kills and buries all cows that have come in contact with the infected cow.

In Korea, after the foot and mouth disease occurred in 1934, it occurred in 2000, 64 years later, and suffered great damage. In particular, in 2010, foot and mouth disease spread across the country, killing about 3.4 million livestock, causing more than 3 trillion won of economic damage, and is still a highly likely disease.

Currently, there are no measures to deal with foot-and-mouth disease except direct disinfection and control.

In particular, foot-and-mouth disease that is easily spread by air or by people entering or leaving the farm should avoid human contact as much as possible, and only constant control can prevent the spread.

In the case of the existing AI outbreak, Korea killed 25 million (as of Dec. 27, 2016), but in Japan only 2 million (as of Dec. 22, 2016).

This is to prevent AI from being prevented with minimal damage when infection occurs through regular control.

In other words, Japan is the result of consistent efforts to control against infections.

However, in the case of Korea, infection and disinfection should be carried out at all times only after infection has occurred. In order to prevent the spread of AI and foot-and-mouth disease that are spreading in the future, it is absolutely necessary to always control them, and for this, the need to develop a control disinfection robot is desperate.

In order to solve the above problems, the present invention is to settle the Usa as a primary use among livestock farms, autonomous driving in the indoor space of Usa unattended, and conduct large-scale barn quarantine through space prevention to protect the safe Usa from foot and mouth disease. In particular, the object of the present invention is to provide an unmanned autonomous driving and fixed combined use control robot that can be used in various ways in addition to the right-hander.

An unmanned autonomous driving and fixed combined use control agent according to an embodiment of the present invention for solving the above problems is made of a SUS plate in the control agent and is provided with a control solution injection part provided in a base housing having a corrosion prevention function, It is provided at the bottom of the control liquid injection unit includes a robot driving unit configured to autonomously drive the tracing robot in line tracing, wherein the control liquid injection unit operates at all times and operates only at the time of occurrence of a constant injection unit and a foot-and-mouth disease to disinfect. When the relief is performed, the robot driving part may include the outrigger for supporting and fixing the robot driving part by applying pressure to the ground, and the robot control part robot may be fixedly used.

Here, the always-injection unit is formed so that the angle, height and position can be adjusted bellows nozzle for spraying the control solution; A plurality of constant nozzles provided on both sides of the bellows nozzle center and spraying the control solution; It includes an always-on solution tank for storing the control solution connected to the bellows nozzle and an always-on nozzle and an always-on compressor that is connected to the always-on solution tank and compresses air, and the always-on compressor compresses air and stores it in the always-on solution tank It can be sprayed by moving the preservative solution to the bellows nozzle and the constant nozzle.

Adjusting the angle, height and position of the bellows nozzle, the moving plate is inserted into the inclined surface of the control liquid injection portion is provided with a space to move to the left / right side; Laegi words formed on the top and bottom of the moving plate; A pinion gear meshed with the lazy gear; A driving motor driving the pinion gear and fixed to one side of the right-hand control robot; It is inserted in the center of the moving plate and moved in the front/rear direction by the operation of the cylinder and the piston rod that are configured at the rear, and is coupled to the height adjustment member and the bellows nozzle to which the bellows nozzle is coupled, and a rotating motor is embedded on both sides. It may be made to include an angle adjustment plate to which the motor housing is mounted.

In addition, the USA control robot further includes a dilution tank capable of diluting the control solution with water in a dilution ratio, and the dilution tank includes: a control solution space portion accommodating the control solution; A water space part accommodating water for diluting the control solution; A control solution injection port connected to the control solution space to inject the control solution; A water injection port connected to the water space to inject the water; First and second capacity scales provided on the outer wall of the control solution space part and the water space part; It includes an opening/closing part for sending the diluted control solution and a stirring induction part for inducing a stirring action inside the dilution tank so that the dilution proceeds quickly and evenly, and it is possible to inject the diluted control solution in connection with the constant solution tank.

In addition, the stirring induction unit may induce the stirring action inside the dilution tank by circulating the flow of water accommodated inside the water space.

In addition, the bellows nozzle and the constant nozzle is provided with a filter in the control solution moving pipe which is the position where the constant solution tank is connected, further comprising a filter regeneration unit for regenerating the filter, the filter regeneration unit, for regenerating the filter A water tank accommodating water; An injection pipe extending from the water tank and having an end installed in front of the filter; An injection pump installed in the injection pipe to pump the water contained in the water tank to the end of the injection pipe; A drain pipe branched from the control liquid moving pipe around the filter and extended to a water tank; A drain control valve installed in the drain pipe; It may include a filtration filter installed in the upper portion of the water tank and a backflow prevention valve provided in the control solution moving pipe in a position adjacent to the permanent solution tank.

In addition, the unmanned autonomous driving and fixed combined use control agent robot further includes a temperature control unit for controlling the temperature of the always-on solution tank, and the temperature control unit is formed on the outside or inside of the always-on solution tank and heat transfer material flows through it. absence; A protection member formed outside the heat transfer member; A heat transfer material supply unit formed on the heat transfer member to supply a heat transfer material to the heat transfer member; A heat transfer material discharge part formed on a lower side of the heat transfer member to discharge hot heat transfer material; The pump may further include a connection pipe circulating the heat transfer material discharged to the heat transfer material discharge unit to the heat transfer material supply unit, and a heat exchange unit provided in the connection pipe to exchange heat of heat transfer material flowing through the connection pipe.

In addition, the unmanned autonomous driving and fixed combined use control agent robot is installed to reflect the solar heat in the direction of the control liquid injection portion, and may further include a reflector capable of rotation and position adjustment.

The unmanned autonomous driving and fixed-type combined use control robot according to an embodiment of the present invention is capable of autonomous driving using line tracing, and space sterilization is possible using a double nozzle structure and a compression injection system, so that foot and mouth disease virus is external air Through this, it is possible to block the invasion of the Usa or the propagation of air in the Ugun.

In addition, the unmanned autonomous driving robot according to an embodiment of the present invention and the fixed combined use control robot can be used as a fixed type, so it can be installed at the entrance to a village or a local area to carry out quarantine for entrance and exit, so it is highly usable.

In addition, the unmanned autonomous driving robot according to an embodiment of the present invention and the fixed combined use control agent robot may be manufactured with a corrosion-resistant base to prevent the robot from being corroded with a control solution.

In addition, the unmanned autonomous driving and fixed-type combined use control robot according to an embodiment of the present invention can control a large-scale housing by constructing a large-capacity ultrasonic vibration element.

In addition, the unmanned autonomous driving robot according to an embodiment of the present invention and a fixed type combined use control robot constitute a control liquid tank in which a space for injecting the control liquid and water is separated, and the control liquid can be easily diluted at a dilution ratio. A one-touch valve is provided in the liquid tank to make it easy to deposit the control liquid tank in the robot.

In addition, the unmanned autonomous driving robot according to an embodiment of the present invention and the fixed combined use control agent can set the control efficacy of the control solution to an optimal temperature, and in particular, prevent the freezing of the control solution due to low temperatures such as winter.

1 is a perspective view showing an unmanned autonomous driving and fixed combined use control robot according to an embodiment of the present invention.
Figure 2 is a cross-sectional view showing the unmanned autonomous driving and fixed combined use control robot according to an embodiment of the present invention by removing the outrigger.
Figure 3 is a rear view showing the unmanned autonomous driving and fixed combined use control robot according to an embodiment of the present invention from the rear.
Figure 4 is a perspective view showing an example of the position, height, angle adjustment configuration of the bellows nozzle of the present invention.
5 is a rear perspective view of FIG. 4 as viewed from the opposite side.
Figure 6 is a cross-sectional perspective view as viewed from the side by cutting the center of Figure 4;
7 is a schematic view showing a control solution injection unit installed with a filter regeneration unit according to an embodiment of the present invention.
8 is a cross-sectional view showing a state in which a dilution tank is attached to an unmanned autonomous running and fixed combined use control robot according to an embodiment of the present invention.
Figure 9 is a schematic diagram showing a control solution injection unit is provided with a temperature control unit according to an embodiment of the present invention.
10 is a cross-sectional view showing an unmanned autonomous driving and fixed combined use control robot according to another embodiment of the present invention.
11 is a front view of an unmanned autonomous driving and fixed combined use control robot according to an embodiment of the present invention in which a reflector is installed.

Hereinafter, the description of the present invention with reference to the drawings is not limited to a specific embodiment, and various transformations may be applied and various embodiments may be provided. In addition, it should be understood that the contents described below include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention.

In the following description, terms such as first and second are terms used to describe various components, and are not limited in meaning to themselves, and are used only to distinguish one component from other components.

The same reference numerals used throughout this specification denote the same components.

The singular expression used in the present invention includes the plural expression unless the context clearly indicates otherwise. In addition, terms such as “include”, “have” or “have” described below are intended to designate the existence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification. It should be interpreted and understood to not preclude the existence or addition possibility of one or more other features, numbers, steps, actions, components, parts or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 11.

1 is a perspective view showing an unmanned autonomous driving and fixed combined use control robot according to an embodiment of the present invention, and FIG. 2 is a cross-sectional view showing an unmanned autonomous driving and fixed combined combined use control robot according to an embodiment of the present invention , Figure 3 is a rear view showing the unmanned autonomous driving and fixed combined use control robot according to an embodiment of the present invention from the rear.

1 to 3, the unmanned autonomous driving robot according to an embodiment of the present invention may include a base housing 1, a control solution injection unit 100, and a robot driving unit 200.

Specifically, the base housing 1 is made of SUS plate and can function as a corrosion inhibitor. Since the robot may cause corrosion due to the control solution, it is preferable to manufacture the base housing 1 with an SUS plate to prevent this, but since it is only an embodiment of the present invention, it is made of a material that does not corrode the control solution. The base housing 1 can be manufactured.

Also, the base housing 1 may be equipped with a fan 2 therein. This is to withstand the temperature and humidity problems, it is possible to prevent condensation by mounting the fan (2) inside.

The base housing 1 may include a control solution injection unit 100 and a robot driving unit 200.

The control liquid injection unit 100 is provided on the upper side of the base housing, and may be formed to be inclined from the front to the top on a square, but since it is only an embodiment of the present invention, it may be formed in various shapes.

The control liquid injection unit 100 may include an always-injection unit 110 and an injection-injection unit 120 for relief.

The always-injection unit 110 may operate at all times to disinfect by spraying a control solution. In addition, if water is used instead of the control solution, it can also act as a humidifier. The control solution may be harmless to the human body.

The constant injection unit 110 may include a bellows nozzle 111, a constant nozzle 112, a constant solution tank 113, a constant compressor 114, and an ultrasonic vibration element 115.

Bellows nozzle 111 is located on the inclined surface of the control liquid injection unit 100 may spray the control liquid. The bellows nozzle 111 can be sprayed in a supercritical manner, and the angle, height and position can be adjusted. An example of adjusting the position, height, and angle of the bellows nozzle 111 will be described later with reference to FIGS. 4 to 6.

The nozzle 112 is always provided with a plurality of bellows nozzles 111 on both sides of the center and can spray the control solution. Since the constant nozzle 112 is a spray nozzle of 30 to 50 μ, it can be sprayed in a particle size of 30 to 50 μ.

In addition, the bellows nozzle 111 and the constant nozzle 112 may be a two-fluid nozzle structure.

This configuration of the bellows nozzle 111 and the constant nozzle 112 can overcome the difficulty of space ejection, which is a limitation of the existing first-class nozzles, so as to realize the entire injection of space. In addition, with this configuration, it is possible to prevent an object in the space from getting wet when spraying the control solution.

In addition, a filter 117 may be provided in the control solution moving pipe 116, which is a position where the bellows nozzle 111 and the constant nozzle 112 and the constant solution tank 113 are connected. The size of the filter 117 and the nozzle diameter is that the sludge is generated when a certain amount of time has elapsed in the solution tank, and the shape of the nozzle blocked by the sludge can be prevented.

Also, the filter 117 may be regenerated by the filter regeneration unit 400. Various methods may be applied to the filter regeneration unit 400, but preferably, the filter may be regenerated by spraying water. An example of the filter regeneration unit 400 will be described later with reference to FIG. 7.

The permanent solution tank 113 is connected through the bellows nozzle 111 and the constant nozzle 112 and the control solution transfer pipe 116 and can store the control solution. The always-on solution tank 113 may be connected to the always-on compressor 114.

The constant compressor 114 is connected to the constant solution tank 113 and compresses air to move the control solution to the bellows nozzle 111 and the constant nozzle. The always-on compressor 114 compresses air so that the control solution stored in the always-on solution tank 113 is moved to the bellows nozzle 111 and the always-nozzle 112 to be sprayed.

The ultrasonic vibration element 115 may allow the spray length and range to be widened when spraying the control solution. The ultrasonic vibration may be performed by the ultrasonic element 115. Accordingly, it can be used for large-scale houses.

The salvage injection unit 120 may include a salvage nozzle 121, a salvage solution tank 122, a salvage compressor 123, and an ultrasonic vibration element 124.

In the case of relief, a plurality of nozzles 121 are provided on one side of the ejection part 120 during relief, and the control solution may be sprayed. In the relief, since the nozzle 121 is 15 to 20 μ, it can be sprayed in a particle size of 15 to 20 μ.

Further, the relief nozzle 121 may be a two-fluid nozzle structure.

This relief configuration of the nozzle 121 can overcome the difficulty of space ejection, which is a limitation of the existing first-class nozzles, so that the entire space can be ejected. In addition, with this configuration, it is possible to prevent an object in the space from getting wet when spraying the control solution.

In addition, a filter (not shown) may be provided at a position where the nozzle 121 and the solution tank 122 are connected at the time of relief. The effect of this configuration is the same as the always-injection unit 110.

In addition, this configuration can be economical because it can produce the same disinfecting effect with the existing control solution 1/10 amount.

In the case of remediation, the solution tank 122 may be connected to the nozzle 121 when remedy and store the control solution. The solution tank 122 may be connected to the compressor 123 at the time of relief.

The remedy compressor 123 is connected to the solution tank 122 when remedy and compresses air to move the control solution to the nozzle when remedy. When relieving, the compressor 123 may compress air to cause the repellent solution stored in the solution tank 122 to be repelled by moving to the nozzle 121 when relieving.

The ultrasonic vibration element 124 may allow the spray length and range to be widened when spraying the control solution. The ultrasonic vibration may be performed by the vibration element 124. Accordingly, it can be used for large-scale houses.

In addition, the configuration of the always-injecting part 110 and the injecting part 120 in case of relief may be provided with two compressors to divide and control the disinfection in the case of regular disinfection and relief. It can be used efficiently by spraying the control solution appropriately without excessively by operating only the always-injection part 110 at all times, and in the case of relief, it is effective to disinfect by operating both the always-injection part 110 and the extinguishing part 120 Can increase.

The robot driving unit 200 includes a moving unit 210, a control unit 220, a switch 230, a battery module 240, a monitor unit 250, an ultrasonic sensor 260, a brush 270, and an outrigger 280 It may include.

The moving unit 210 is provided on the lower side inside the robot driving unit 200 to perform line tracing autonomous driving. The moving part 210 may include a wheel 211, a motor module 212, and a tracking module 213.

The wheel 211 may be mounted to be rotatable on both sides of the lower side of the robot driving unit 200. The wheel 211 rotates to move the unmanned autonomous driving robot.

The motor module 212 may drive a wheel. The wheel 211 may be rotated by the operation of the motor module 212. The motor module 212 may be a control board of a 180W class BLDC motor equipped with an electromagnetic brake and a low gear ratio (20:1 or more). Through the motor module 212, a low-noise driving body can be implemented in the barn to reduce environmental stress to beef cattle and ensure stable driving of the robot. In particular, it is possible to control more stably by implementing PWM control that eliminates delays or rattling when driving with the camera module.

The tracking module 213 may have a line in the barn and control the wheel 211 to move along the line. The tracking module 213 may allow the control robot to autonomously drive in an unattended state.

In addition, the moving unit 210 may be provided with an auxiliary wheel 214 on the lower side of the robot driving unit 200. The auxiliary wheel 214 may assist the balance and movement of the wheel 210 of the moving unit 210. In addition, it can help to withstand the weight gain when injecting the control solution of the USA control robot.

The control unit 220 may control the operation of the USA control robot and wirelessly communicate with the device. The control unit 220 may control the bellows nozzle 111 of the USA control robot, the compressor 123 at all times, and the rescue module, the motor module 212, and the trekking module 213. In addition, the controller 220 may remotely control the movement, spraying, and the like of the USA control robot in the device by wirelessly connecting to the device.

Accordingly, it is possible to proactively block the influx of livestock disease pathogens and the spread in the herds by minimizing human labor and minimizing human entry into the cows.

The switch 230 is provided on the outer wall of the robot driving unit 200 to turn on/off the right-side control robot. The switch 230 may be in the form of a key or E/W switch, but it is not limited since it is only an embodiment of the present invention.

The battery module 240 is located inside the robot driving unit 200 and may be rechargeable. The battery module 240 may be connected to a power outlet provided at the rear of the robot driving unit, and a charging station and a charging outlet 241 may be connected to be charged by having a charging station within the bar, but this is only an embodiment of the present invention. , Any charging method to which power is connected can be used.

Further, the battery module 240 may send a signal to the control unit 220 before discharging the battery to automatically return to the charging station by the control unit 220 to be charged. At this time, the controller 220 may wirelessly connect to the charging station so that the USA control robot can go to the charging station.

In addition, the USA control robot may include a monitor unit 250, an ultrasonic sensor 260, and a brush 270 in the robot driving unit 200.

The monitor unit 250 may enable remote monitoring. The monitor unit 250 may be controlled by the control unit 220, and may provide a real-time image taken in the house to the wirelessly connected device. In addition, it is possible to monitor the movement of cattle in the barn.

Accordingly, clinical observation is possible through real-time images and rapid disease response can be established. In addition, it is possible to establish a rapid response system, such as dispatch of on-site quarantine officers, through real-time video sharing on the farm through a consensus between livestock and livestock quarantine agencies and rapid analysis of disease expert opinions.

The ultrasonic sensor 260 may be provided in the robot driving unit 200 and may measure body temperature for each small individual in the house.

The brush 270 is provided at the bottom of the front of the USA control robot, and can remove obstacles and dust, dirt, straw, cow dung, and the like in the front.

By removing the obstacles in front of the brush 270, the USA control robot can travel without a wheel jam or malfunction.

The outrigger 280 may be extended by hydraulic or pneumatic pressure and apply pressure to the ground to support and fix the robot driving unit 200. Through the outrigger 280, the USA control robot according to an embodiment of the present invention can be used as a fixed type capable of performing range spraying while being fixed in a certain place as well as unmanned driving.

When the USA control robot is used as a fixed type, if intensive disinfection is required for a specific place or a specific part, it can be used in various ways, such as disinfection of entrance and exit at a village or local entrance, etc. Due to the characteristics of the quarantine, when foot-and-mouth disease occurs in a village or area near Usa, it is possible to reach the quarantine site more quickly, and after it reaches the quarantine site, it can be fixed immediately to prevent it. It has the advantage that it can increase the efficiency of quarantine because it can keep the golden time that can minimize damage.

In addition, the outrigger 280 is illustrated as being extended from the side in the drawing for ease of understanding, but is not limited thereto, and may be installed at the rear or the front and may be extended to the front/rear, and expanded by hydraulic or pneumatic pressure. It is also formed to enable rotation in the lateral direction, but it is also possible to adjust the support fixing position.

4 is a perspective view showing an example of the position, height, and angle adjustment of the bellows nozzle of the present invention, FIG. 5 is a rear perspective view of FIG. 4 as viewed from the opposite side, and FIG. 6 is cut away from the center of FIG. 4 and viewed from the side It is a sectional perspective view.

4 to 6, the bellows nozzle 111 may be adjusted in position, height and angle as described above. To this end, the bellows nozzle 111 may include a moving plate 300 for positioning, a ratchet gear 301, a pinion gear 302, a driving motor 303, and a height adjusting member for height adjustment 310, a cylinder 311, a piston rod 312, may include a guide member 313, and may include an angle adjusting plate 320, a rotating motor 321, a motor housing 322 for angle adjustment Can.

Specifically, the moving plate 300 may be inserted into the inclined surface of the control solution injection unit 100 in which the bellows nozzle 111 is configured. At this time, as the moving plate 300 is inserted into the inclined surface of the control liquid injection unit 100, a space to move to the left/right side may be provided. That is, the position adjustment of the bellows nozzle 111 may mean a left/right position movement.

Raegi gear 301 may be formed on the top and bottom of the moving plate (300). This is a desirable form for balance, and if the balance can be maintained, the size 301 is not necessarily related to the upper/lower end of the moving plate 300. In addition, the pinion gear 302 driven by the driving motor 303 may be engaged with the size gear 301. Here, the driving motor 303 may be fixed to one side of the right-side control robot. That is, the pinion gear 302 rotated by the fixed drive motor 303 can move the meshing gear 301 engaged to one side and the other according to the rotational direction, and is combined with the gearing gear 301 The moving plate 300 may eventually move left/right.

The height adjustment member 310 may be inserted inside the moving plate 300, preferably in the center portion, and moved forward/backward. At this time, a cylinder 311 and a piston rod 312 for pushing and pulling to move the height adjusting member 310 back and forth may be configured at the rear of the height adjusting member 310. In addition, the piston rod 312 can be operated by a hydraulic or pneumatic piston in the cylinder 311, the end of the piston rod 312 is a'T' or'b' shaped guide member 313 extends By being combined or inserted into the height adjustment member 310, the piston rod 312 can be moved in the forward/backward direction without departing from the height adjustment member 310. Here, by adjusting the bellows nozzle 111 in front of the height adjustment member 310, the height adjustment of the bellows nozzle 111 is implemented.

The cylinder 311 and the piston rod 312 may be provided on the upper/lower side of the height adjustment member 310 for balanced operation, and may be fixed to one side of the right-hand control robot.

On the other hand, the height adjustment member 310 is preferably formed so as not to interfere with the operation of the moving plate 300, the rear of the height adjustment member 310, the piston rod 312 when the left / right movement of the moving plate 300 A guide groove 310a to pass through may be provided. The left/right movement radius of the bellows nozzle 111 may be determined according to the length of the moving space of the moving plate 300 formed on the guide groove 310a or the inclined surface of the control liquid injection unit 100.

The angle adjustment plate 320 may be coupled to the bellows nozzle 111 at a separation distance from the height adjustment member 310. In addition, a motor housing 322 having a rotating motor 321 may be mounted on both sides of the angle adjusting plate 320. Here, the rotating motor 321 may be configured to rotate the angle adjusting plate 320 by being axially connected to the angle adjusting plate 320. Through this, when the rotating motor 321 is operated, the angle of the bellows nozzle 111 can be adjusted while the angle adjusting plate 320 is rotated.

On the other hand, as illustrated in the drawings to help understanding, each configuration has been described as an example, but this is not necessarily limited as a preferred example, the position, height and angle adjustment of the bellows nozzle 111 is individually It may be made of.

For example, in order to implement only the position adjustment of the bellows nozzle 111 includes a moving plate 300, a large gear 301, a pinion gear 302, a driving motor 303, bellows nozzle on the moving plate 300 (111) is combined to adjust the position only.

In addition, in order to realize only the height adjustment of the bellows nozzle 111, the height adjustment member 310, the cylinder 311, the piston rod 312, the guide member 313 may be provided, and the height adjustment member 310 Due to the absence of the moving plate 300, it may be adjusted before and after in the central portion of the inclined surface of the control liquid injection unit 100.

In this way, the individual implementation of position, height and angle adjustment can be achieved by installing only in accordance with the surrounding environment while determining only the combined position of the bellows nozzle 111.

In addition, the decontamination solution moving pipe 116 connecting the bellows nozzle 111 and the always-on solution tank 113 is a flexible type pipe, that is, a hose, to be flexible by adjusting the position, height and angle of the bellows nozzle 111 It is preferably formed of a tube of the back.

7 is a schematic view showing a control solution injection unit installed with a filter regeneration unit according to an embodiment of the present invention.

Referring to FIG. 7, the filter regeneration unit 400 includes a water tank 410, an injection pipe 420, an injection pump 430, a drain pipe 440, a drain control valve 450, a filtration filter 460, and reverse flow A prevention valve 470 may be included.

Specifically, the water tank 410 accommodates water for regenerating the filter 117, and the injection pipe 420 extends from the water tank 410 so that an end may be installed in front of the filter 117. In addition, the injection pump 430 may be installed in the injection pipe 420 to pump water accommodated in the water tank 410 to the end of the injection pipe 420 to be injected into the filter 117.

In addition, the drain pipe 440 is branched from the decontamination liquid transfer pipe 116 to which the bellows nozzle 111 and the constant nozzle 112 and the constant solution tank 113 are connected, branched around the filter 117, and then the water tank 410 ), a drainage control valve 450 is installed in the drainage pipe 440 to open and close the drainage pipe 440.

In addition, a filtration filter 460 may be installed on the inside of the water tank 410, and a backflow prevention valve 470 may be installed on the control solution moving pipe 116 located at a position adjacent to the solution tank 113 at all times. .

Through this, the water injected from the injection pipe 420 collects sludge blocking the filter 117, and the water collecting the slurry is drained through the drain pipe 440 to move to the water tank 410, and the water tank In 410, the sludge is filtered by the filtration filter 460, and water used for dust collection can be reused for regeneration of the filter 117. Here, when the filter regeneration unit 400 is not used, the drainage pipe 440 may be closed by adjusting the drainage control valve 450 to prevent the control solution from flowing into the drainage pipe 440, and the backflow prevention valve 470 ), it is possible to prevent the sludge from always flowing back into the solution tank 113 when the filter 117 is regenerated.

8 is a cross-sectional view showing a state in which a dilution tank is attached to an unmanned autonomous driving and fixed combined use control agent robot according to an embodiment of the present invention.

Referring to FIG. 8, the unmanned autonomous driving and fixed combined use control agent robot according to an embodiment of the present invention may further include a dilution tank 500.

The dilution tank 500 may be diluted by mixing the control solution with water in a dilution ratio. Any dilution tank 500 can easily dilute the control solution in proportion.

The dilution tank 500 includes a control solution space part 510, a water space part 520, a control solution inlet 530, a water inlet 540, first and second capacity scales 551, 552, and an opening/closing part 560. ) And a stirring induction part 570.

The control solution space unit 510 may accommodate the control solution. The control solution space part 510 may be partially opened at one side so that the control solution can be moved to the water space part 520. The dilution tank 500 may be provided on one side of the upper portion, but this is only an embodiment of the present invention, so it may be located anywhere inside the dilution tank 500.

The water space part 520 may accommodate water for diluting the control solution. The water space part 520 may occupy the overall portion of the dilution tank 500.

The control solution inlet 530 may be connected to the control solution space 510 to inject the control solution.

The water inlet 540 may be connected to the water space 520 to inject water.

The first and second capacity scales 551 and 552 may be provided on the outer walls of the control solution space part 510 and the water space part 520, respectively. It is possible to conveniently inject the control solution and water into a desired volume without metering when injecting the control solution space portion 510 and the water space portion 520 by the first and second dose scales 551 and 552.

The opening/closing part 560 may be injected with the diluted control solution connected to the solution tank 113 at all times.

The opening/closing part 560 may include an insertion tube 561 and an opening/closing stopper 562.

An injection port (not shown) or an injection tube 580 of the solution tank may be inserted into the insertion tube 561 at all times.

The opening/closing stopper 562 is provided at one end of the insertion tube 561, and when the dilution tank 500 is not in use, the insertion tube 561 is in a closed (closed) state, and when used, the injection port of the solution tank is always inserted into the insertion tube 561 ( (Not shown) or the injection tube 580 may be inserted (open).

As described above, the dilution tank 500 may be injected without the separate metering when the control solution is injected, and the control solution and water may be injected according to the dilution ratio. In addition, it is possible to directly inject the diluted control solution into the always-on solution tank 113 in connection with the always-on solution tank 113.

Meanwhile, the stirring induction unit 570 may induce the flow of water accommodated in the water space unit 520 to induce the stirring action in the dilution tank.

To this end, the stirring induction unit 570 is installed in the branch pipe 571 and the branch pipe 571 branched from one side of the water space portion 520 to extend to the top, and the water received in the water space portion 520 is branch pipe It may include a circulation pump 572 to circulate along (571).

Water accommodated in the interior of the water space portion 520 is circulated to flow out of the branch pipe 571 by the circulation pump 572 to flow back into the water space portion 520, and a part of the water for circulation is a water space portion When exiting 520, the water inside the water space 520 flows, and the control solution diluted with water spreads over the entire received water, so that the dilution can proceed more quickly and evenly.

Here, the branch pipe 571 may be provided with a heating wire 573 for heating the circulated water. Water circulating through the water space portion 520 by the heating wire 573 can form a control solution at an optimum temperature for optimal control efficiency, and can be used without freezing in winter.

In addition, the dilution tank 500 may include an injection tube 580, a valve 581, a vertical ball top 582, and a connecting rod 583.

One side of the injection tube 580 may be inserted into the opening/closing portion 560, and the other side may be connected to the solution tank 113 at all times. The injection tube 580 may move the diluted control solution of the dilution tank 500 to the solution tank 113 at all times.

The valve 581 can control the movement of the diluted control solution in the injection tube 580. Opening and closing of the valve 581 may be controlled by a vertical ball top 582.

The vertical ball top 582 may control the opening and closing of the valve 581 according to the height of the control solution of the solution tank 113 at all times. In the vertical ball top 582, the control solution of the permanent solution tank is reduced, and when the height is lowered, the valve is opened (opened) by descending downward, and the diluted control solution is injected to increase the control solution height of the permanent solution tank 113. The valve may be closed (closed) by rising and rising upward.

The connecting rod 583 may connect the vertical ball top 582 and the injection pipe 580. The connecting rod 583 may connect the vertical ball top 582 and the injection pipe 580 to control the opening and closing of the valve 581 located in the injection pipe 580 by the movement of the vertical ball top 582.

9 is a schematic diagram showing a control solution injection unit installed with a temperature control unit according to an embodiment of the present invention.

Referring to FIG. 9, the unmanned autonomous driving and fixed combined use control agent robot according to an embodiment of the present invention may further include a temperature control unit 600 for controlling the temperature of the solution tank 113 at all times. The control unit 600 includes a heat transfer member 610, a protection member 620, a heat transfer material supply unit 630, a heat transfer material discharge unit 640, a connector 650, a pump 660, and a heat exchange unit 670 can do.

Specifically, the heat transfer member 610 may be formed on the outer or inner side of the solution tank 113 at all times. A heat transfer material may flow in the heat transfer member 610.

Here, the heat transfer material is a material that always cools or heats to control the temperature of the solution tank 113. Water, ammonia, freon, methyl chloride, etc. may be used as the heat transfer material. In addition, liquid helium, liquid hydrogen, and the like can be used.

When liquid and liquid hydrogen are used as the heat transfer material, 5 to 10 parts by weight of graphene oxide and 90 to 95 parts by weight of polydiallyldimethylammonium chloride and 100 parts by weight of distilled water are mixed on the inner circumferential surface of the heat transfer member 610 The coated solution may be coated to form a separate coating film for blocking heat transfer materials.

The protection member 620 may be formed outside the heat transfer member 610. The protection member 620 may serve to maintain the temperature of the heat transfer material of the heat transfer member 610. The protection member 620 may prevent cold energy of the heat transfer material from escaping to the outside. The protective member 620 may include at least one of corco, felt, glass wool, asbestos, foam polystyrene, salt fiber board, stone wire, rock wire, diatomaceous earth, basic magnesium carbonate, carbon fiber, and zeolite.

In addition, the outer and inner surfaces of the protective member 620 may be coated with a waterproofing agent. The waterproofing agent may be selected from at least one selected from polyacrylic, polyurethane and polysilicon.

The heat transfer material supply unit 630 may be formed on the upper side of the heat transfer member 610. In addition, the heat transfer material supply unit 630 may be combined with the upper one side of the solution tank 113 at all times. The heat transfer material supply unit 630 may supply the heat transfer material to the heat transfer member 610.

The heat transfer material discharge unit 640 may be formed under the heat transfer member 610. In addition, the heat transfer material discharge unit 640 may be formed on the lower side of the solution tank 113 at all times. The heat transfer material discharge unit 640 is a place where the heat transfer material, which becomes hotter toward the bottom of the heat transfer member 610, is discharged.

The connection pipe 650 may circulate the heat transfer material discharged to the heat transfer material discharge unit 640 to the heat transfer material supply unit 630.

The pump 660 may be provided in the connector 650. Also, the pump 660 may be connected to the connection pipe 650. In addition, the pump 660 may control the pressure of the heat transfer material inside the connector 650.

The heat exchange unit 670 may be provided in the connection pipe 650. In addition, the heat exchange unit 670 may exchange heat of the heat transfer material flowing through the connection pipe 650. That is, cold heat can be exchanged for warm heat and cold heat for cold heat.

The above-described control unit 220 may be connected to the heat transfer material supply unit 630 and the pump 660. In addition, the control unit 200 may control on/off operations of the heat transfer material supply unit 630 and the pump 660.

When the permanent solution tank 113 is mechanically vibrated by the ultrasonic vibrating element 115, the temperature of the control solution may be elevated to about 30 to 60°C. If such high heat is generated and continued, the efficiency of the control solution may be lowered.

In order to prevent this phenomenon, the present invention may include a temperature control unit 600 to rapidly cool when the temperature of the control solution increases.

In addition, on the contrary, when the outside temperature is very low, the control solution may freeze, so heating should be avoided. To this end, the temperature control unit 600 may be provided with a heat exchanger 670 together to supply heat suitable for the control solution depending on the situation.

10 is a cross-sectional view showing an unmanned autonomous driving and fixed combined use control robot according to another embodiment of the present invention.

Referring to FIG. 10, the unmanned autonomous driving and fixed combined use control robot according to another embodiment of the present invention may include a speaker 700, a temperature sensor 710, an ammonia numerical sensor 720, and an emergency light 730. have.

The speaker 700 may output sound. The speaker 700 may be provided on one side of the robot driving unit 200, but since it is only another embodiment of the present invention, it may be provided anywhere in the base housing 1. The speaker 700 may also be a sound source playback module, and may play a sound source stored by the controller 220 or wirelessly connect to the device to output the sound of the device.

The temperature sensor 710 may measure the temperature of the house. The temperature sensor 710 may transmit the measured temperature of the house to the control unit 220, and the control unit 220 may transfer the received house temperature to the device.

The ammonia level sensor 720 may measure the ammonia level. The ammonia level sensor 720 may transmit the measured ammonia level to the control unit 220, and the control unit 220 may transfer the received ammonia level to the device.

The emergency light 730 may emit light according to an emergency state. The emergency light 730 may be composed of red, green, and yellow lights, but this is only another embodiment of the present invention, and thus may be composed of lights of various colors. Such an emergency light may indicate, for example, a failure of the USA control robot in the case of red light, no control solution in the case of green light, and a foot-and-mouth disease occurrence in case of yellow light.

11 is a front view of an unmanned autonomous driving and fixed combined use control robot according to an embodiment of the present invention in which a reflector is installed.

Referring to FIG. 11, a reflective plate 800 installed to reflect solar heat in the direction of the unmanned autonomous driving and fixed combined control liquid injection unit 100 according to an embodiment of the present invention may be further included.

The control liquid injection unit 100 that absorbs solar heat by the reflector 800 can prevent the control liquid from lowering below an appropriate temperature. In particular, in the winter, the control liquid is frozen to prevent the control efficiency from being lowered. Can.

Here, the reflector 800 is formed to be rotatable, and the position can be adjusted through the variable length portion 810.

As described in the above description, the unmanned autonomous driving robot of the present invention can be sterilized by space-free sterilization of the barn and the barn, and can be efficient because it can be sterilized by separating the regular and the rescue.

In addition, these unmanned autonomous driving and fixed combined use control robots can be used indoors, such as homes, hospitals, and elderly facilities.

In addition, it can be used for different functions by spraying water, EM, lactic acid bacteria, etc. instead of the control solution. At this time, the used nozzle can be simply replaced.

The embodiments of the present invention have been described with reference to the accompanying drawings, but a person having ordinary knowledge in the technical field to which the present invention pertains may be implemented in other specific forms without changing the technical spirit or essential features of the present invention. You will understand. Therefore, the above-described embodiment is illustrative in all respects and is not limiting.

1: Base housing 2: Fan
100: control solution spraying unit 110: always spraying unit
111: Bellows nozzle 112: Always nozzle
113: Always solution tank 114: Always compressor
115: ultrasonic vibration element 116: control solution transfer tube
117: filter 120: the spraying unit in the relief
121: relief nozzle 122: relief solution tank
123: relief compressor 124: ultrasonic vibration element
200: robot driving unit 210: moving unit
211: wheel 212: motor module
213: tracking module 214: auxiliary wheel
220: control unit 230: switch
240: battery module 241: charging outlet
250: monitor unit 260: ultrasonic sensor
270: Brush 280: Outrigger
300: moving plate 301: large size
302: pinion gear 303: drive motor
310: height adjustment member 310a: guide groove
311: cylinder 312: piston rod
313: guide member 320: angle adjustment plate
321: rotary motor 322: motor housing
400: filter regeneration unit 410: water tank
420: injection pipe 430: injection pump
440: drain pipe 450: drain control valve
460: filtration filter 470: backflow prevention valve
500: dilution tank 510: control solution space
520: water space 530: control solution inlet
540: water inlet 551: first capacity scale
552: second capacity scale 560: opening and closing
561: insertion tube 562: opening and closing stopper
570: stirring induction part 571: branch pipe
572: circulation pump 573: hot wire
580: injection pipe 581: valve
582: vertical ball tower 583: connecting rod
600: temperature control unit 610: heat transfer member
620: protective member 630: heat transfer material supply unit
640: heat transfer material discharge unit 650: connector
660: pump 670: heat exchanger
700: speaker 710: temperature sensor
720: Ammonia level sensor 730: Emergency light
800: reflector 810: length variable portion

Claims (8)

In the Usa control robot,
It includes a robot driving unit which is made of SUS plate and is provided in the base housing having a corrosion prevention function, and a robot driving unit provided at the bottom of the control liquid injection unit and configured to autonomously drive the tracing robot in line tracing.
The control liquid injection unit,
Constant spraying unit that operates at all times to disinfect and
It includes a spraying unit for remedy that operates only when foot and mouth disease occurs and disinfects.
The robot driving unit,
An unmanned autonomous driving and fixed combined use control robot, comprising an outrigger for supporting and fixing the robot driving unit by applying pressure to the ground, so that the control robot can also be used in a fixed manner.
According to claim 1,
The constant injection unit,
Bellows nozzle that is formed to be able to adjust the angle, height and position to spray the control solution;
A plurality of constant nozzles provided on both sides of the bellows nozzle center and spraying the control solution;
A constant solution tank for storing the control solution connected to the bellows nozzle and the constant nozzle and
It is connected to the constant-temperature solution tank and includes an always-on compressor for compressing air,
The constant pressure compressor is an unmanned autonomous driving and fixed combined use control robot characterized in that the air is compressed by moving the control solution stored in the constant solution tank to a bellows nozzle and a constant nozzle.
According to claim 2,
Adjusting the angle, height and position of the bellows nozzle,
A moving plate inserted into the inclined surface of the control liquid ejecting portion provided with a space to move to the left and right sides;
Laegi words formed on the top and bottom of the moving plate;
A pinion gear meshed with the lazy gear;
A driving motor driving the pinion gear and fixed to one side of the right-hand control robot;
It is inserted in the center of the moving plate and moved in the front/rear direction by the operation of the cylinder and the piston rod configured at the rear.
Unmanned autonomous driving and fixed combined use control robot with an angle control plate which is coupled to the bellows nozzle and includes a motor housing on which both sides are equipped with a rotating motor.
According to claim 2,
The dilution ratio further includes a dilution tank capable of diluting the control solution with water,
The dilution tank,
A control solution space portion accommodating the control solution;
A water space part accommodating water for diluting the control solution;
A control solution injection port connected to the control solution space to inject the control solution;
A water injection port connected to the water space to inject the water;
First and second capacity scales provided on the outer wall of the control solution space part and the water space part;
Opening and closing part to send out the diluted control solution and
Includes a stirring induction unit for inducing the stirring action inside the dilution tank so that the dilution proceeds quickly and evenly,
Unmanned autonomous driving and fixed combined use control robot, characterized by injecting a diluted control solution in connection with the constant solution tank.
The method of claim 4,
The stirring induction part,
An unmanned autonomous driving and fixed combined use control robot, characterized by inducing a stirring action inside the dilution tank by circulating the flow of water accommodated inside the water space.
According to claim 2,
A filter is provided in the control liquid moving pipe, which is the position where the bellows nozzle and the constant nozzle and the constant solution tank are connected,
Further comprising a filter regeneration unit capable of regenerating the filter,
The filter regeneration unit,
A water tank containing water for regenerating the filter;
An injection pipe extending from the water tank and having an end installed in front of the filter;
An injection pump installed in the injection pipe to pump the water contained in the water tank to the end of the injection pipe;
A drain pipe branched from the control liquid moving pipe around the filter and extended to a water tank;
A drain control valve installed in the drain pipe;
The filtration filter installed on the inside of the water tank and
An unmanned autonomous driving and fixed combined use control robot comprising a non-return valve provided in the control solution moving pipe located at a position adjacent to the permanent solution tank.
According to claim 2,
It further includes a temperature control unit for controlling the temperature of the solution tank at all times,
The temperature control unit,
A heat transfer member formed on the outer or inner side of the permanent solution tank and through which a heat transfer material flows;
A protection member formed outside the heat transfer member;
A heat transfer material supply unit formed on the heat transfer member to supply a heat transfer material to the heat transfer member;
A heat transfer material discharge part formed on a lower side of the heat transfer member to discharge hot heat transfer material;
A connecting pipe having a pump to circulate the heat transfer material discharged to the heat transfer material discharge part to the heat transfer material supply part, and
The unmanned autonomous driving and fixed combined use control robot further comprising a heat exchange unit provided in the connection pipe to exchange heat of the heat transfer material flowing through the connection pipe.
According to claim 1,
It is installed to reflect the solar heat in the direction of the control liquid injection, unmanned autonomous driving and fixed combined use control robot further comprising a reflector that can be rotated and positioned.

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