KR20200140953A - Spraying device of autonomous driving type unmanned control vehicle - Google Patents

Abstract

The present invention relates to an injection device of an autonomous driving type unmanned pest control vehicle and, more specifically, to a device which is invented to inject agricultural chemicals or liquid chemicals by moving along a path remotely adjusted or programmed by itself using an unmanned pest control vehicle, and to monitor the injection from a distance, the device comprising: a vehicle main body part that carries pest control liquid chemicals and functions as a moving means; an injection part that is formed on the rear of a vehicle and configured to inject the pest control liquid chemicals; a control part that is configured to perform control of vehicle movement, control of injection of liquid chemicals and the like; and a monitoring part that is capable of checking autonomous movement and liquid chemical injection from a distance. According to the present invention, it is possible to prevent safety accidents such as agricultural chemical poisoning, overturning accidents and the like of a worker in advance by robotizing laborious and hard agricultural chemical control or liquid chemical injection operations. In particular, the injection part is configured to selectively or simultaneously inject liquid chemicals upwards, downwards, or laterally so as to increase utilization of the device and to remove injection of liquid chemicals in an unnecessary direction at the same time, thereby enabling efficient operation. In addition, it is possible to expect reduction of labor force, reduction of working time, and the like.

Description

Spraying device of autonomous driving type unmanned control vehicle

The present invention relates to an injection device for an autonomous driving type unmanned control vehicle, and more particularly, a vehicle body part carrying a control chemical and serving as a moving means, an injection part configured at the rear of the vehicle and configured to spray the control chemical Using an unmanned control vehicle consisting of a control unit configured to control vehicle movement and control the injection of chemicals, and a monitoring unit that can check autonomous movement and injection of chemicals from a distance, remotely controlled or programmed paths are self-contained. As an unmanned robotic device invented to move to spray pesticides or chemicals and supervise them from a distance, in particular, the injection part is an autonomous driving type unmanned control system configured to selectively or simultaneously spray the injection of chemicals upward, downward, or sideways. It relates to a vehicle injection device.

As one of the methods of cultivation of agricultural crops currently being implemented, in order to protect the crops from pests and increase the marketability of the crops, a method of cultivating them by diluting various pesticides or nutrients with water and spraying them directly on the crops at appropriate times is generally used. It will be used, but looking at the conventional pesticide control method or chemical spray method, unlike in the past, various machines are used to increase efficiency in the control work. For example, unmanned agricultural helicopters and drones are used to control areas with open air, such as rice paddies and fields, and fruit control machines commonly used in orchards spray drugs in all directions, passing between fruit trees. Various machines in the world are helping people in various activities.

However, if you look closely at these activities, there are many disadvantages. Helicopters and drones with high control efficiency and rapid control have the advantage of penetrating between crops by adding a gas downward wind to the chemical liquid that is injected downwards, so they are particularly useful in paddy fields, but due to their structure, the chemical liquid in the opposite direction of lift, that is, downward It is only advantageous to spray a small amount of drugs in a large area due to restrictions on flying with a large amount of drugs.In addition, in the case of fruit trees, spraying the drug solution downward from the top of the fruit tree is practically It is easy to find the result that the chemical solution does not adhere well to the back of the leaves where the pests are hidden, and the chemical solution does not adhere well to the fruit because it is covered by the leaves, and the chemical solution does not evenly adhere to the lower part of the fruit. In addition, even if it is devised to spray the medicinal solution upward, it is very difficult with the current technology to safely fly between narrow trees under the tree.

On the other hand, fruit water control devices commonly used in orchards are capable of spraying chemicals in all directions, but are limited to equipment exclusively for fruit control, and manned fruit control devices often cause rollover accidents on slopes. Therefore, when the drug is sprayed at the edge of the spray area, there are side effects such as directly affecting the adjacent other crops. This may result in contrary to the Pesticide Acceptance Standard Enhancement System (PLS) implemented in 2019.

In addition, as the size and shape of crop trees are very diverse, orchards that cultivate tall fruit trees are difficult to enter the fruit tree control period, so farmers directly carry medicines and control them as in the past.

Various methods are also carried out in the range of application of drugs. In particular, in the case of herbicide application in orchards, spraying should be done only to the soil floor by minimizing the amount of chemicals scattered in order not to adversely affect the crop. In addition, since it is not suitable for the purpose, it cannot be used, and farmers are talking about difficulties in cultivating crops, such as spraying directly. In addition, there are a number of other equipments, but in some cases, the use is insignificant because it contains various inconveniences such as having to be attached and detached by changing the nozzle and the nozzle support.

In order to solve the above-described problems, the present invention includes a vehicle main body that is a means of transport with a control chemical, an injection unit configured at the rear of the vehicle to spray the control chemical, and a control of vehicle movement and a chemical injection command. The autonomous driving unmanned control vehicle in which each part is mutually combined is composed of a control unit configured to perform the operation and a monitoring unit that can check the location of the vehicle and the image of the camera photographed and transmitted from the vehicle in real time. By moving to a location and spraying chemicals, or automatically spraying pesticides or chemicals to a designated location by moving the programmed path by itself, it reduces the labor of the worker and shortens the working time. It can be free from exposed safety accidents, thereby reducing the burden of work, and the operator can monitor the work situation in real time from a distance, improving the accuracy of the work, and enabling an immediate response by easily recognizing unexpected situations from a distance. It is to provide an injection device for self-driving unmanned control vehicles that makes it possible.

In addition, the present invention is capable of transporting a relatively large amount of chemicals with little energy, unlike unmanned helicopters and drones that take the form of a vehicle and must fly with heavy drugs, and the drive unit configured in the main body is configured in a total wheel method. As a result, it is possible to stably move on uneven roads, and the skid steering rotation in which the vehicle is rotated by different rotational speeds of the left and right drive units by varying the rotational speed of the two independently driven motors has a smaller radius of rotation than that of a general steering device. There is another purpose that can be rotated in place even more effectively moving narrow passages.

In addition, the injection unit is configured to spray the chemical solution upward, downward, or to the side through the injection nozzle attached to the rotation supporter rotated according to the hinge rotation, so that the setting of the chemical solution injection direction suitable for each control case is possible. Convenience is emphasized as the rotation of the rotation supporter is configured to be easily set in one-touch form or automatically through the operation of the servo.In particular, in the case of upward injection, it is caused by rotating the propeller attached to the blowing motor. The structure is simple despite the fact that the chemical liquid sprayed from the nozzle through the strong wind can be sprayed very smoothly above a certain height in the upward direction, and pressure is applied to the sprayed chemical liquid through the wind so that the penetration between crops is excellent. Not only can it be smoothly active in the control work area where the existing control equipment has not been able to enter by making it possible to downsize, but also the left and right independent spraying units are configured to selectively or simultaneously spray the chemicals sprayed from the nozzles to the left and right. In addition to being able to block the injection of chemical liquids at the source, it is possible to spray the chemicals suitable for the control purpose and control method to increase the utilization of the equipment.The chemical liquid container formed on the upper part of the body is a large number of sizes that can be easily lifted by adults. There is another purpose to immediately replace the exhausted individual chemical container with an individual drug container prepared in advance as it can be configured with individual drug container.

In order to achieve the above object, the present invention includes a main body including a driving unit serving as a moving means carrying a control chemical, an injection unit configured to spray the control chemical, and wireless control and autonomous movement and injection of the chemical. In the injection device of an autonomous driving type unmanned control vehicle comprising a control unit configured to perform control, etc., and a monitoring unit capable of confirming that wireless control and autonomous movement are performed from a distance,

The main body includes a frame in the shape of a square box for accommodating the chemical solution container in which the control chemical is stored, and the bottom plate extends forward and rearward at the lower portion of the frame, so that the control unit is seated in the front side of the bottom plate and at the rear both sides of the bottom plate. The injection unit is provided with a plurality of injection units, the injection unit each includes a fixed nozzle and a rotating nozzle through which a chemical solution is injected, and a pump configured to be connected with a hose to apply pressure to the fixed nozzle and the rotating nozzle and supply the chemical solution by being connected to the chemical solution container Is included, and a circular pipe shape is configured to be extended so that the rear of the frame is assembled and connected through a pipe base and a pipe clamp at one end, and at the same time, a fixed supporter for binding and supporting the fixed nozzle is included. It is configured to be extended and supports a rotation nozzle at one end, and includes a rotation supporter constituting a hinge rotation with the other end of the fixed supporter at the other end, and for hinge rotation at a position where the fixed supporter and the rotation supporter contact It includes a fixing bracket and a rotating bracket, and a hinge pin that is hinged to the upper side of the fixing bracket and the upper side of the rotating bracket, and when the pump is driven, a chemical solution is sprayed from the fixed nozzle and the rotating nozzle, but is bound to the fixed supporter. The direction of the chemical liquid sprayed by the fixed nozzle is fixed, and the direction of the chemical liquid sprayed by the rotary nozzle attached to the rotary supporter is changed according to the hinge rotation of the rotary supporter to provide an injection device for an autonomous driving type unmanned control vehicle that is injected. do.

The injection device of the self-driving unmanned control vehicle constructed as described above increases the accuracy of the operation by moving itself through a remotely controlled or programmed path to spray pesticides or chemicals and monitor it in real time from a distance. Stable operation is possible because it can immediately cope with the situation. In addition, it is possible to prevent safety accidents such as pesticide poisoning and rollover accidents of workers in advance by robotizing the tasks that were previously performed by humans due to difficult access and conditions, and in particular, spraying of chemical liquids upward, downward, or Efficient operation is possible by reducing excessive consumption and unnecessary control of pesticides by increasing the utilization of the device through the injection unit configured to perform selective or simultaneous injection of the side, and at the same time removing unnecessary injection of chemicals. By minimizing this, it is advantageous for soil and water pollution, and in addition to this, it is possible to expect a reduction in labor and work hours of workers, and further advances in agricultural technology development.

1 is a perspective view showing a preferred form of an autonomous driving unmanned control vehicle injection device and a monitoring unit according to the present invention
Figure 2 is a perspective view showing a preferred form of the autonomous driving type unmanned control vehicle injection device according to the present invention
Figure 3 is an exploded perspective view showing a preferred form of the autonomous driving unmanned vehicle injection device according to the present invention
Figure 4 is a rear perspective view showing a preferred form of a driving unit configured in the main body of the unmanned control vehicle according to the present invention
5 is an exploded perspective view showing an independent configuration of a driving unit according to the present invention
6 is a perspective view showing a preferred form of a control unit configured in an unmanned control vehicle according to the present invention
Figure 7 is an exploded perspective view showing the interior of the control unit configured in the unmanned control vehicle according to the present invention
8 is a schematic diagram illustrating a preferred configuration of an autonomous driving unmanned control vehicle injection device according to the present invention
9 is a rear perspective view showing a preferred form of an injection unit configured in an injection device of an autonomous driving type unmanned control vehicle according to the present invention
10 is an exploded perspective view showing a detailed structure of an injection unit according to the present invention
11 is a front view showing an example of a preferred operation of the injection unit according to the present invention
12 is an exploded perspective view showing an independent configuration of an injection unit according to the present invention
13 is a rear view showing a preferred embodiment of the injection unit according to the present invention
14 is a perspective view showing a preferred form of an injection unit including a servo according to the present invention
15 is a perspective view showing the configuration of an individual chemical container included in the main body according to the present invention
16 is a perspective view showing a preferred form of a monitoring unit configured in the injection device for an autonomous driving unmanned control vehicle according to the present invention

The present invention relates to an injection device of an autonomous driving type unmanned control vehicle, and is configured to selectively or simultaneously spray the injection of the chemical liquid upward, downward, or sideways, thereby increasing the utilization of the device and simultaneously spraying the chemical liquid in an unnecessary direction. It relates to an injection device of an autonomous driving type unmanned control vehicle that can be removed to enable efficient operation and, in addition, to reduce labor and work hours.

Referring to the injection device of the self-driving unmanned control vehicle according to the present invention based on the bars shown in Figs. 1 to 16, first, as shown in Fig. 1, the injection device of the self-driving unmanned control vehicle according to the present invention will be described. The main body part (B) including a driving part (D) serving as a moving means with a chemical solution loaded, an injection part (S) configured to spray a control chemical solution, wireless control, autonomous movement, and injection control of the chemical solution, etc. It consists of a control unit (C) that is configured to be configured to, and a monitoring unit (M) that can confirm that wireless control and autonomous movement are performed from a distance.

As can be seen from FIGS. 1 and 15, the injection device of the self-driving unmanned control vehicle according to the present invention is an unmanned remote control device in which a person does not board or directly manipulate the equipment to perform a mission. Therefore, in order to operate and control the vehicle from a distance, the controller 400 and the PC 410, which are control means to be described later, are configured, and the unmanned control vehicle operated by the control means is moved and controlled according to the transmitted radio signal. Perform the mission.

As shown in Figs. 2 and 3, the main body B is configured so that the control unit C and the injection unit S are combined and positioned to perform the control mission of the unmanned control vehicle. The control unit C and the injection unit S configured in front and rear of the upper body part B are seated and fixed through a frame 110 configured to serve as a skeleton of an unmanned control vehicle.

The upper frame 110 is composed of a frame 110 in the form of a square box accommodating the chemical liquid container 130 in which the control chemical is stored, and the bottom plate 111 is extended to the front and rear sides of the frame 110 , The control unit C is seated toward the front side of the bottom plate 111 and a plurality of injection units S are provided at both rear sides of the bottom plate 111. An example showing the frame 110 in the present invention is composed of an assembly structure of an aluminum profile, but the same of a square pipe or other material under the condition that it withstands the load of the chemical liquid container 130 and does not cause distortion or deformation in performing the mission. It can be said that the configuration of the form is also safe.

In addition, the main body portion (B) is configured to include a driving portion (D) for driving the wheel 120, which is a moving means of the unmanned control vehicle. As shown in FIGS. 2, 3, and 4, the unmanned control vehicle constitutes four wheels 120 in contact with the floor and removes the frame lower cover 140 of the unmanned control vehicle in the form of a vehicle, and looks inside. , A main shaft 170 that is fixedly coupled to one wheel 120 at one end to rotate together, and a fixed position at the opposite end of the wheel 120 based on the main shaft 170 to transmit rotational power to the main shaft 170 The double sprocket 161 or the counter sprocket 160 is configured, and the rotating main shaft 170 is fastened together with the bearing 150 configured to achieve smooth rotation even with both the body and the chemical load, and the upper side of the frame bottom It is fixed to, and is configured so that the horizontal movement of the frame 110 through the wheel 120 that is rotated by receiving power from the double sprocket 161 or the counter sprocket 160, the bearing 150 With the included unit bearing 150, it is preferable to configure two or more bearings 150 such that the rotation axis of the main shaft 170 forms the center.

In addition, as shown in Fig. 4, the four wheels 120 have the shape of a total wheel that is driven to rotate by receiving each power, and is configured to smoothly move even in an uneven or curved zone. Looking in more detail through, the drive unit (D) is characterized in that it is composed of two independent operation structures left and right, the reduction motor 190 configured to be combined with the reducer to generate the driving power of the wheel 120 and output an appropriate RPM The power generated from the reduction motor 190 is output to the drive sprocket 162 located on the output shaft, and is connected to the double sprocket 161 and the chain 163 coupled to the front main shaft 170 based on the front of the main body (B). It is configured to be coupled to transmit power, and the double sprocket 161 coupled to the front spindle 170 and the counter sprocket 160 coupled to the rear spindle 170 are also independently coupled through the chain 163, All of the driving sprocket 162 is connected to the power of the reduction motor 190 is configured to be transmitted to both the front and rear wheels 120.

In addition, the double sprocket 161 attached to the front main shaft 170 is connected to the driving sprocket 162 and the counter sprocket 160 attached to the rear main shaft 170 and the chain 163 are connected in two rows so as to be possible at the same time. It is preferable to consist of a double sprocket 161 combined with the teeth of the drive sprocket 162 and the gear ratio of the double sprocket 161 can be composed of an acceleration/deceleration ratio depending on the rotational speed of the wheel 120, but double sprocket The gear ratio of the 161 and the counter sprocket 160 is necessarily configured to have the same gear ratio to achieve synchronous rotation of the front and rear wheels 120.

In addition, the chain 163 fastened to the double sprocket 161 and the counter sprocket 160 is loosely fastened in some cases depending on the position of the front and rear main shaft 170, and the bearing 150 is contained for smooth fastening, so that friction The idle sprocket 180 is configured to be minimized, and the idle sprocket 180 is configured to move up and down through a long hole configured in the idle sprocket supporter 181 that is attached to the center of the rear surface of the frame 110. 180) through the loosely fastened chain 163 is pressed down and is fixedly coupled by a fastener to maintain an appropriate tension.

In addition, the driving unit D configured as an independent operation structure as described above is composed of two driving units D in the same configuration in a form that is symmetrical left and right with respect to the front of the vehicle, and the driven left and right wheels 120 By varying the rotation of the vehicle, the operator performs the desired rotational movement of the vehicle.

For example, when the left reduction motor 190 and the right reduction motor 190 rotate at the same RPM, the rotation of the left and right wheels 120 is the same, so that the unmanned control vehicle moves forward or backward, and the left and right reduction motors When 190 rotates at different RPMs, the skid steering rotation is performed according to the difference in the rotation speed of the left and right wheels 120, and in some cases, the pivot is performed by changing the rotation direction of the left and right wheels 120. -turn) to emphasize the agility of the unmanned control vehicle.

In addition, as shown in Figs. 4 and 6, the reduction motor 190 is included in the control unit C and is seated inside the outer case 210, and is connected to the drive sprocket 162 of the output shaft of the reduction motor 190 The chain 163 is coupled to the double sprocket 161 under the frame 110 through the case groove 164 and is configured to be driven without interference between parts.

6 shows a preferred form of the control unit (C) located on the front part of the body part (B) described above, in particular, the control unit (C) is composed mainly of electronic devices, parts from chemicals and dust sprayed during operation To protect the electronic device from short circuit and malfunction, and for stable operation, a hexahedral-shaped inner empty outer case 210 is configured, and the components of the control unit C are mounted therein.

The outer case 210 is divided into a side case 211, a front case 212, and a rotating case 213 for user convenience, and is preferably made of a SUS material having strong corrosion resistance.

In addition, the rotating case 213 is configured to have a hinge at the lower end, and is fixedly coupled to the upper end of the front case 212 to operate as a casement, so that the inside of the outer case 210 can be easily opened, and the rotating case 213 By placing the vertical ears 215 in the direction parallel to the side case 211 on both sides of the upper end, the latch of the toggle clamp 214 configured in the side case 211 is positioned and rotated by the locking motion of the toggle clamp 214 and the latch The case 213 is configured to be fixed in close contact with the upper portion of the side case 211.

On the other hand, the wireless operation and control of the unmanned control vehicle and autonomous driving are performed by the control unit (C). Referring to Figs. 7 and 8, first, radio control of the unmanned control vehicle is a commonly used radio control (RC). ), and a remote controller 400 for transmitting a signal and a receiver 260 for receiving a signal are configured for this purpose.

In general, the RC system controls components through PWM (Pulse Width Modulation) control, and performs independent operation by assigning components to each channel.

For example, the reduction motor 190 configured in the drive unit D includes an ESC (Electronic Speed Controls) 191 connected to the reduction motor 190, and the PWM signal sent from the manipulator 400 is a receiver Through 260, the ESC 191 is reached, and the ESC 191 reads the PWM signal and drives the deceleration motor 190 at a speed and direction matching the signal, which is the controller 400 and the receiver ( It is allocated to one channel of 260) and exchanges signals independently from other components.

Like the above-described method, the blower motor 310 and ESC 312, pump 330 and ESC 333, and servo 340 to be described later are allocated to each channel in the same manner as above and are independently operated by the operator. It is structured so that in-motion and control take place.

In addition, a GPS 240 configured to calculate a user's current location by receiving signals from the receiver 260, each ESC, and a GPS satellite for autonomous driving of an unmanned control vehicle, and a controller 290 connected thereto Is composed.

The controller 290 is programmable based on an Arduino, and is equipped with an independent operating system, and is a processor module including an acceleration sensor, a gyroscope, a direction sensor, and a barometer for detecting changes in physical quantities and external factors. It is a device configured to process information and calculate and process the information input from each sensor.

In addition, for smooth reception of satellite signals, the current position of the unmanned control vehicle is calculated through coordinate information transmitted from the GPS 240 that is exposed to the top of the outer case 210 of the control unit C, and is programmed in advance. In order to autonomously travel on the moving path, it is configured to command a PWM signal to the ESC and each component with the calculated result value by collecting information of each sensor, and the ESC 191 receiving the PWM signal from the controller 290 Accordingly, by driving the deceleration motor 190, autonomous driving, the additional operation pump 330, and the blower motor 310 are driven in an optimal path commanded by the controller 290.

In addition, the controller 290 is configured to be connected to the receiver 260 and the data link module 270 to integrally process signals transmitted from the remote controller 400 and the PC 410, so that the operator directly manipulates the controller 400 It is possible to operate through or selectively drive an autonomous driving operation executed from the controller 400 and the PC 410.

On the other hand, the controller 290 constituting the autonomous driving is the same as that generally understood by those of ordinary skill in the technical field to which the present invention belongs, and the description or detailed operation of the specific circuit unnecessarily obviates the gist of the present invention. Further detailed description will be omitted since it may be blurred.

In addition, the injection device of the autonomous driving type unmanned control vehicle is configured with a monitoring unit (M) so that the location of the unmanned control vehicle and the image sent by the unmanned control vehicle can be checked in real time from a distance.

As shown in FIGS. 7, 8 and 16, a data link module 270 connected to the controller 290 and a data link module 270 connected to the PC 410 of the monitoring unit M are configured, respectively. The location of the unmanned control vehicle calculated by the controller through the GCS (Ground Control System) installed in the PC 410 by connecting and configuring the data link modules to enable mutual wireless data exchange is displayed on the map of the PC 410 in real time. By displaying at, it is configured to immediately check the location of the unmanned control vehicle even from a distance, and through the above GCS, it is possible to program the controller 290, set a driving route, and perform autonomous driving.

In addition, as shown in FIGS. 6 and 7, the camera 220 located in the central front portion of the control unit C is configured in the front center of the front case 212 to open a hole disconnected from the outside by a window made of a transparent material such as glass. Through a real-time image of the front portion of the unmanned control vehicle is configured to provide an image, and the image transmitter 221 connected to the camera 220 is configured to wirelessly transmit the captured image information.

In addition, the image receiver 222 configured in the monitoring unit M transmits the image information received from the image transmitter 221 to the PC 410 including a monitor or an image input device, so that the image of the front of the unmanned control vehicle is real-time. It is configured so that the operator can check it, so it can immediately respond to various situations in a remote work environment and improve the accuracy of the work.

The data link module 270, the image transmitter 221, and the receiver 260 are mounted and fixed inside the outer case 210 of the control unit C, and only each antenna is exposed to the outside of the outer case 210. It is preferable that it is configured to smoothly transmit and receive wireless signals while protecting each device from sprayed chemicals and dust.

In addition, since the unmanned control vehicle operated by a wireless remote control is operated out of the immediate control distance of the operator, it is natural that a safety device to prevent unpleasant things in advance must be provided.

To this end, an emergency stop 250 that can be recognized by an ordinary technician is configured on the upper part of the control unit C, and the emergency stop 250 connected first from the battery 280 presses a button who recognizes an emergency situation. As a result, power is cut off from the battery 280 and all functions are immediately stopped, so that it is possible to cope with an emergency situation.

In addition, the range finder 230 configured at both ends of the front lower part of the front case 212 calculates the time obtained by measuring the reciprocating phase difference of the near-infrared modulated wave returning from hitting the object by emitting light to measure the distance to the object. By configuring the device, that is, LIDAR, the distance to the object located in the direction in which the unmanned control vehicle is traveling is recognized and provided to the controller 290, and the controller 290 is used until the preset distance condition value with the object is released. It is configured to command the vehicle to stop, and it is configured to avoid obstacles and return to the designated path based on the movement angle, acceleration, and travel time values of the pre-programmed unmanned control vehicle, so that it can perform more safely and smoothly. You will be able to.

On the other hand, the above-described components are all operated by electric energy, and as shown in FIG. 7 to operate the components, batteries 280 are configured on both sides inside the outer case 210 of the control unit C. .

As shown in FIG. 8, the battery 280 is configured to provide electrical energy by being connected to the devices, and according to the voltage required by each device through a power distributor 281 and a transformer 282, if necessary. It supplies energy, and the battery 280 is composed of a rechargeable battery 280, is composed of a single or a plurality of parallel connections, and is configured to be easily separated using a fixing tool such as Velcro, and charged in advance. The battery 280 can be immediately replaced and used, and is configured to enable continuous operation according to the spare battery 280 provided.

On the other hand, the injection unit (S) in which the chemical solution of the unmanned control vehicle is sprayed is configured on the rear surface of the unmanned control vehicle as shown in FIG. 9.

The injection unit (S) is composed of a fixed nozzle (301) and a rotating nozzle (300) in which the chemical is sprayed in the form of a spray, first based on the fixed supporter 315 to which the fixed nozzle 301 is positioned and fixed. To explain, the fixed supporter 315 is configured to be extended in a circular pipe shape to perform the role of an arm, and at one end, the L configured for assembly with the rear side of the frame 110 of the main body B A pipe clamp 314 is configured to fasten and fix the pipe base 317 in the form of the pipe base 317 and the fixing supporter 315 and the upper pipe base 317 to each other, and the pipe clamp 314 and the pipe base 317 are bolt nuts. The fixed supporters 315 fastened by are fixed to both ends of the rear ends of the frame 110 through the pipe base 317, and the fixed supporters 315 are extended to both sides of the frame 110. do.

As shown in Fig. 10, the other side of the fixing supporter 315 is a rotation supporter 316, which will be described later, and a fixing bracket 326 configured to implement a rotational operation by a hinge action, and the fixing bracket 326 Is configured with a hinged concave part on the upper side of the square body, and a raised part inserted into the inner diameter of the fixed supporter 315 on one side of the square body, and the fixed supporter 315 is embossed from the other end of the fixed supporter 315 to the inner diameter The rotation supporter 316, which is configured to be inserted and assembled, and is extended in the form of a circular pipe of the same shape as the fixed supporter 315, constitutes a rotation bracket 325 at one end that contacts the fixed supporter 315 And the rotation bracket 325 is composed of a raised hinge portion on the upper side of the square body, and, like the fixed bracket 326, constitutes an embossed portion inserted into the inner diameter of the rotation supporter 316, so that the both sides of the rotation supporter 316 are rotated supporters ( It is configured to be assembled by being inserted into the inner diameter from one end of 316).

In addition, the fixed bracket 326 and the upper side of the rotation bracket 325 are coupled to each other, and the hinge pin 341 is inserted and fastened to the rotation bracket in the axial rotation direction of the hinge pin 341. As 325 rotates, the rotation supporter 316 is configured to rotate, and the hinge pin 341 is fixed with a rotation bracket 325 and a tanning bolt to rotate without departure. Accordingly, the rotation supporter 316 is folded to one side through the hinge rotation of the rotation bracket 325 based on the fixed supporter 315 fixed to the rear of the main body part (B) frame 110.

Meanwhile, a fan-shaped guide plate 320 that is assembled and fastened with a fixing hole formed on the side of the body of the fixing bracket 326 is configured on both sides of the fixing bracket 326. The guide plate 320 is configured to play a role of guiding the rotation of the rotation supporter 316 and a fixing function of the rotation supporter 316, and the hinge rotation of the rotation bracket 325 to the center of the guide plate 320 A trajectory groove 323 in the shape of an arc matching the rotation trajectory is configured, and a hole to be assembled with a fixing hole on the side of the fixing bracket 326 is configured as one end point, and is fixedly fixed to both sides of the fixing bracket 326 body.

In addition, a ∩-shaped arch groove 328 is formed under the body of the rotation bracket 325, and the horizontal extension part 321a of the stopper 321 to be described later is seated and guided according to the shape of the arch groove 328 It is configured to move up and down, and a T-shaped stopper 321 is configured to fix the rotating supporter 316 that is rotated, the stopper 321 having a pin-shaped horizontal extension part 321a and the horizontal Consisting of a protrusion 321b protruding downward from the center of the extension 321a, the trajectory groove 323 at both ends of the horizontal extension 321a of the stopper 321 seated in the arch groove 328 and A stopper groove 327 into which the thickness of the guide plate 320 is freely inserted into the matching position is formed.

A plurality of set grooves 329 configured at specific positions along the trajectory groove 323 of the guide plate 320 are composed of a semicircular hole in a vertical direction in which the stopper 321 moves, so that the arch groove 328 After the horizontal extension part 321a of the seated stopper 321 is rotated along the trajectory groove 323, it is positioned in the set groove 329 of the guide plate 320 to vertically move the stopper 321. The stopper groove 327 is inserted and coupled to the set groove 329 to fix the rotation bracket 325 so that the hinge rotation is positioned.

In addition, a screw is formed at the tip of the protrusion 321b of the stopper 321, and a circular pressing hole 324 positioned at the lower end of the protrusion 321b is provided, and a tab is formed in the center of the pressing hole 324 And, the screw of the stopper 321 and configured to be bonded to each other, but the compression spring 322 to the protrusion 321b together with a washer (322a) configured to be flatly seated in the horizontal portion of the lower surface of the arch groove 328 Inserted sequentially and configured by binding the screw of the stopper 321 and the tab of the pressing hole 324 to each other, and the pressing hole 324 has an outer diameter larger than the outer diameter of the spring 322 so that the spring 322 It is preferable to be configured so as not to deviate.

Therefore, the spring 322 inserted into the protrusion 321b of the stopper 321 between the pressing hole 324 of the stopper 321 and the lower surface of the arch groove 328 is the stopper groove 327 The plate 320 is inserted into the set groove 329 and is configured to continuously pull the fixed stopper 321 to prevent separation and to maintain binding even in external shocks, and as shown in FIG. By pressing 324, the stopper 321 is easily detached from the set groove 329 and is configured to rotate along the trajectory groove 323 of the guide plate 320, and the set groove 329 consisting of a plurality of The positions of are configured at positions that match the directions of the chemical liquid injected from the rotation nozzle 300 to be described later, that is, upward, lateral, and downward directions, so that the specific direction of the rotation supporter 316 that is hinged can be easily and accurately set. It is configured to be set, and can be configured in a specific location according to the purpose.

For reference, the rotation supporter 316 and the components associated therewith were described based on the form in which the fixed supporter 315 and the rotational supporter 316 are unfolded in a straight line.

On the other hand, as shown in Figure 12, the injection unit (S) is composed of a plurality of nozzles through which the chemical is sprayed. Each nozzle is composed of the same nozzle, but the rotating nozzle 300 and the fixed nozzle 301 according to the configured position. Classified.

The rotating nozzle 300 and the fixed nozzle 301 include a nozzle tip configured to spray a chemical liquid under the body and a fixing cap for fixing the nozzle tip, and a fitting that is fastened to the chemical liquid hose on one side of the body The upper part is composed of a circular clamp fastening part that is fixed and fixed with a circular pipe.

Each of the fixed nozzles 301 and rotation nozzles 300 are located in the fixed supporter 315 and the rotary supporter 316, and the fixed nozzle 301 in charge of spraying the chemical solution downward from the injection unit S is circular. A nozzle tip is fastened downward to one side of the circular pipe extension part of the fixed supporter 315 through a clamp attachment part, and the rotating nozzle 300 in charge of spraying the chemical solution upward, lateral or downward is the rotation supporter ( It is configured by being fastened with the rotation supporter 316 in the same direction as the fixing nozzle 301 through a circular clamp fastening part at the opposite end where the rotation bracket 325 is located in the circular pipe extension part of 316).

In addition, the pump 330 configured to supply the chemical liquid to the nozzle by sucking the chemical liquid stored in the chemical liquid container 130 and applying pressure, the chemical liquid sprayed from the fixed nozzle 301 and the rotating nozzle 300 is sprayed. It is composed of a pump 330 that outputs an output of a predetermined pressure or more to be sprayed, and is connected to an ESC 333 that drives the pump 330, as shown in FIG. 8, and the ESC 333 is a controller 290 and It is connected and configured to operate according to a PWM signal that is manipulated or automatically commanded by the manipulator 400.

For reference, as shown in FIG. 4, the pump 330 is configured to be positioned to the left and right in the upper direction below the frame 110 together with the pump base, but has a structure connected to the nozzle and the chemical liquid container 130. It is depicted in an exploded view as shown in FIG. 12 for better understanding.

In addition, the pump 330 is configured to be connected through the fitting of the fixed nozzle 301, the fitting of the rotating nozzle 300, and the discharge port at the lower end of the chemical liquid container 130 and a chemical liquid hose, and the rotary nozzle 300 is the pump The chemical liquid discharged from 330 is directly connected to the discharge port on one side of the two-way fitting 331 configured to be divided and supplied in two, and the fixed nozzle 301 supplies the chemical solution to the other discharge port of the two-way fitting 331 It is connected through the hand valve 332 configured to control the cutoff and the rotary nozzle 300 single injection or both the rotary nozzle 300 and the fixed nozzle 301 through the opening and closing operation of the hand valve 332. It is configured so that it is divided according to the will of the operator, and selective injection of the chemical solution is made.

In addition, a pipe clamp 314 coupled to the rotary supporter 316 is formed on both sides of the circular clamp attachment portions of the rotary nozzle 300 attached to the rotary supporter 316, and a motor is placed above the pipe clamp 314. It constitutes the base 313, and is directly connected to the motor shaft of the blower motor 310 and the blower motor 310 mounted on the motor base 313 in the same vertical line with the rotation nozzle 300 to generate power. A propeller 311 that is transmitted and rotated is configured, and the wind generated by the rotation of the propeller 311 is supplied in the same direction in which the rotating nozzle 300 is sprayed, and the range of the chemical liquid injected from the rotating nozzle 300 It is configured to improve, and the sprayed chemical liquid has the effect of excellent penetration by applying wind pressure.

In addition, as shown in FIG. 8, the blower motor 310 is connected to the ESC 312 driving the blower motor 310, and the ESC 312 is connected to the controller 290 to provide the manipulator 400 It is configured to operate according to a PWM signal that is manipulated or automatically commanded, and the injection unit (S) having an independent operation as described above is symmetrical to the left and right with respect to the front of the body unit (B) as shown in FIG. In the same configuration, two injection parts (S) are configured on both sides of the rear side of the body part (B), and each component is assigned to an independent channel and is configured to perform single or both operation, so that the chemical is sprayed in the direction desired by the operator. Is configured to be made.

Therefore, looking at Figure 13 implemented by combining the above-described configuration, the chemical liquid sprayed through the two injection units (S) composed of the rear part of the moving unmanned control vehicle is sprayed downward or rotated according to the operator's operation. It is sprayed in the upward direction together with the propeller 311 to be sprayed in the left or right direction and both are sprayed to prevent unnecessary spraying of chemicals, as well as meeting the control purpose and control method according to the characteristics of the crop. It is configured to be able to spray the chemical solution.

In addition, in the present invention, the distance between the rotating nozzle 300 and the fixed nozzle 301 is configured at a position calculated so that there is no margin for downward spraying, and an additional nozzle may be configured in some cases, and each rotating nozzle 300 ) And the fixing nozzle 301 are sprayed in various shapes and angles according to the embedded nozzle tip, and the fixing cap can be removed and replaced with a suitable nozzle tip.

Meanwhile, as shown in FIG. 14, a servo 340 that performs the same function may be configured by replacing the guide plate 320 and the stopper 321.

The above servo 340 is a modularized device that includes a motor, a reduction gear, an encoder, and a driving circuit, and controls the motor with the position readout value of the encoder connected to the output shaft configured on one side of the body, and operates the motor according to the PWM signal. It is configured to drive rotational motion on the output shaft.

In addition, the hinge pin 341 of the rotation bracket 325 constitutes a raised protrusion through which rotational power is effectively transmitted to one end, and matches the protrusion of the hinge pin 341 at the end of the rotation output shaft of the servo 340. The servo 340 is configured so that the power of the servo 340 is transmitted to the hinge pin 341 by forming an intaglio groove and fastening it to each other, and a pipe clamp type that is connected to the fixed supporter 315 at both ends of the body of the servo 340 The fixing groove of the bracket A 342 and the fixing bracket 326 and the fixing groove of the body of the servo 340 are matched to form a servo fixing bracket B 343 that is configured to be fixed through the fastener. The servo 340 output shaft is fixed to be located on the same line, and the hinge pin 341 rotated together according to the rotation output of the servo 340 is configured to rotate together by being fixed with a rotation bracket 325 and a tanning bolt. It is configured so that the hinge rotation of the rotation supporter 316 is made the same.

In addition, the servo 340 is configured by connecting with the controller 290 to enable remote control from the manipulator 400 and the PC 410, and a stopping torque exceeding the thrust generated by the rotation of the propeller 311 It is configured with a vibration servo 340, it is preferable to be configured in a waterproof and dustproof type.

In addition, as shown in Figure 15, the chemical liquid container 130 is configured to be detachable by being configured on the upper body portion (B) is replaced with a plurality of individual liquid container 131 of a size that can be easily lifted by an adult It can be configured.

The individual chemical liquid container 131 has an upper injection port configured to contain a chemical liquid, a lower discharge port configured for discharging the chemical liquid, and a valve configured to be opened and closed by being connected to the discharge port, and each independently configured individual chemical liquid container 131 A plurality of) are lumped on the upper part of the main body (B) to be fixedly seated without shaking, and each individual chemical liquid container 131 is configured to be connected in parallel with the pump 330 through a chemical liquid hose.

Therefore, a worker who prepares the individual chemical liquid container 131 containing a plurality of chemical solutions in advance before the control operation should immediately replace and use the individual chemical liquid container 131 that has been exhausted during the control operation with the individual chemical liquid container 131 filled with the chemical liquid. It is constructed so that the effect of increasing the efficiency of the control work can be exerted.

C: control unit D: drive unit
B: main body S: spray
M: Monitoring unit
110: frame 111: bottom plate
120: wheels
130: chemical liquid container 131: individual chemical liquid container
140: frame lower cover 150: bearing
160: opponent sprocket 161: double sprocket
162: drive sprocket 163: chain
164: case groove
170: spindle 180: idle sprocket
181: idle sprocket supporter 190: reduction motor
191: ESC
210: outer case 211: side case
212: front case 213: rotating case
214: toggle clamp 215: vertical ear
220: camera 221: video transmitter
222: image receiver 230: range finder
240: GPS 250: emergency stop
260: receiver 270: data link module
280: battery 281: power distributor
282: transformer 290: controller
300: rotating nozzle 301: fixed nozzle
310: blower motor 311: propeller
312: ESC 313: Motor base
314: pipe clamp 315: fixed supporter
316: rotation supporter 317: pipe base
320: guide plate 321: stopper
321a: horizontal extension 321b: protrusion
322: spring 322a: washer
323: trajectory groove 324: pressing hole
325: rotation bracket 326: fixing bracket
327: stopper groove 328: arch groove
329: set groove 330: pump
331: 2-way fitting 332: hand valve
333: ESC 340: Servo
341: hinge pin 342: seobojeong bracket A
343: Seobogojeong bracket B 400: remote controller
410: PC

Claims (8)

The main body part (B) including a driving unit (D) serving as a means for moving with a control chemical solution, an injection unit (S) configured to spray the control chemical solution, wireless control, autonomous movement, and injection control of the chemical solution, etc. In the injection device of an autonomous driving type unmanned control vehicle comprising a control unit (C) configured to perform and a monitoring unit (M) that can confirm that wireless control and autonomous movement are performed from a distance,
The body part (B) includes a frame 110 in the form of a square box accommodating the chemical solution container 130 in which the control chemical is stored, and the bottom plate 111 extends to the front and the rear under the frame 110 As a result, the control unit C is seated toward the front side of the bottom plate 111 and a plurality of injection units S are provided at both rear sides of the bottom plate 111,
The injection unit (S) includes a fixed nozzle (301) and a rotating nozzle (300) to which the chemical is injected, respectively,
A pump 330 connected with the chemical liquid container 130 to apply pressure to the fixed nozzle 301 and the rotating nozzle 300 and connected with a hose to supply the chemical liquid is included,
A fixed supporter that is configured to extend in the shape of a circular pipe and is connected to the rear of the frame 110 through the pipe base 317 and the pipe clamp 314 at one end, and at the same time, the fixing nozzle 301 is attached and supported. 315 is included,
The circular pipe shape is configured to be extended so that the rotary nozzle 300 is attached to and supported at one end, and a rotary supporter 316 constituting a hinge rotation with the other end of the fixed supporter 315 is included at the other end,
The fixing bracket 326 and the rotation bracket 325 for hinge rotation at the position where the fixing supporter 315 and the rotation supporter 316 abut, and the upper side of the fixing bracket 326 and the upper side of the rotation bracket 325 It includes a hinge pin 341 to be hinged,
When the pump 330 is driven, the chemical solution is injected from the fixed nozzle 301 and the rotating nozzle 300, but the direction of the chemical solution injected by the fixed nozzle 301 attached to the fixed supporter 315 is fixed. And, according to the hinge rotation of the rotation supporter 316, the direction of the chemical liquid sprayed by the rotation nozzle 300 attached to the rotation supporter 316 is changed and sprayed, the injection device of an autonomous driving type unmanned control vehicle . The method of claim 1,
Fixed brackets 326 provided on both rear sides of the bottom plate 111, respectively, formed in a fan shape positioned on both sides of the body, and a circular arc-shaped trajectory groove coinciding with the hinge rotational trajectory of the rotating bracket 325 at the center 323 is formed, a guide plate 320 in which a semi-circular set groove 329 positioned along the arc of the trajectory groove 323 is formed is configured,
The rotation bracket 325 is formed with an arch groove 328 consisting of a ∩-shaped groove at the bottom,
The center of the horizontal extension part 321a and the horizontal extension part 321a, which is seated in the arch groove 328 formed in the rotation bracket 325 and guided according to the shape of the arch groove 328 to enable vertical movement. A stopper 321 made of a protrusion 321b protruding downward is provided,
A stopper groove 327 in which the thickness of the guide plate 320 is freely inserted into a position coincident with the trajectory groove 323 at both ends of the horizontal extension portion 321a of the stopper 321 is configured,
After the horizontal extension portion 321a of the stopper 321 seated in the arch groove 328 is rotated along the trajectory groove 323, the stopper is positioned in the set groove 329 of the guide plate 320 The injection of an autonomous driving type unmanned control vehicle, characterized in that the stopper groove 327 is inserted and coupled to the set groove 329 by vertical movement of 321 to fix the rotation bracket 325 to position the hinge rotation. Device. The method of claim 2,
The stopper 321 forms a screw with the tip of the protrusion 321b,
A circular pressing hole 324 positioned at the lower end of the protruding portion 321b is provided, and the pressing hole 324 constitutes a tab in the center and is configured by binding to each other with a screw of the stopper 321,
A spring 322 and a washer 322a inserted into the protrusion 321b between the pressing hole 324 and the lower end surface of the arch groove 328 are configured, and the set groove ( The injection device of the autonomous driving type unmanned control vehicle, characterized in that the binding of the stopper groove (327) inserted in 329) is maintained. The method of claim 1,
The pump 330 is connected by including a two-way fitting 331 configured to divide and supply the discharged chemical liquid into two branches,
The rotating nozzle 300 is connected to one discharge port of the two-way fitting 331,
The fixed nozzle 301 includes a hand valve 332 for controlling supply and shut-off of the chemical solution, and is connected to the other outlet of the two-way fitting 331,
The injection device of the autonomous driving type unmanned control vehicle, characterized in that single injection of the rotating nozzle 300 or injection of both the rotating nozzle 300 and the fixed nozzle 301 is performed through an opening and closing operation of the hand valve 332. The method of claim 1,
Pipe clamps 314 fastened to the rotation supporter 316 are configured on both sides of the fastening portions of the rotation nozzle 300 that are fastened to the rotation supporter 316,
A motor base 313 is configured above the pipe clamp 314,
A blower motor 310 seated on the motor base 313 in the same vertical line with the rotation nozzle 300 and a propeller 311 rotated by receiving power from the blower motor 310 are configured,
An autonomous driving type, characterized in that the wind generated by the rotation of the propeller 311 is supplied in the same direction in which the rotation nozzle 300 is sprayed to improve the range of the chemical liquid sprayed from the rotation nozzle 300 The injection device of the unmanned control vehicle. The method of claim 1,
Including a servo 340 connected to the hinge pin 341,
The hinge pin 341 constitutes a raised protrusion through which rotational power is effectively transmitted to one end, and an intaglio groove matching the protrusion is formed at the end of the rotation output shaft of the servo 340,
Servo fixing bracket B (343) including a fixed supporter 315 at one end of the body of the servo 340 and a fixed support bracket A 342 that is attached to the other end of the body of the servo 340. ), and at the same time, the hinge pin 341 and the rotation output shaft of the servo 340 are coupled on the same line,
The hinge pin 341 is fixed with the rotation bracket 325 and the tanning bolt to rotate together,
Autonomous driving type unmanned, characterized in that the hinge rotation of the rotation supporter 316 connected to the rotation bracket 325 by the rotation output of the servo 340 driven according to the operation of the manipulator 400 is performed by wireless remote control The injection device of the control vehicle. The method according to any one of claims 1 to 6,
The injection units (S) provided on both rear sides of the bottom plate 111 respectively include the pumps 330 in which the left injection unit S and the right injection unit S are connected to the chemical liquid container 130. Contain independently,
The pump 330 of the left injection unit S and the right injection unit S, the blower motor 310, and the servo 340 are independently driven so that the left injection unit S or the right injection unit ( The injection device of the autonomous driving type unmanned control vehicle characterized by the single operation of S) and the operation of both injection units (S). The method of claim 1,
The control unit C mounted on the front side of the frame 110 includes an outer case 210 configured to block contamination from the outside, and a receiver 260 and a reduction motor for receiving wireless signals into the outer case 210. 190) and the ESC 191 driving the reduction motor 190, the ESC 312 driving the blower motor 310, the ESC 333 driving the pump 330, and autonomous driving control The controller 290 and the data link module 270 configured to exchange wireless data with the PC 410, and the outer case 210 are located in the central hole of the front case 212 to the front of the main body. A camera 220 that photographs and provides an image, an image transmitter 221 that wirelessly transmits an image of the camera 220, and a plurality of batteries 280 configured to provide electric energy to the control unit C. Includes, and controls the wireless operation of the main body part (B) and the injection part (S), injection of chemicals, and autonomous driving, including a GPS 240 that receives a signal transmitted from a GPS satellite above the outer case 210 And
The distance measurer 230, which is located at both ends of the front lower part of the front case 212 of the outer case 210 and configured to recognize the distance between the front part of the unmanned control vehicle and the obstacle, is a distance value detected by the distance measurer 230 Based on the controller 290 is configured to control the stop or avoidance of the unmanned control vehicle, and the range finder 230 is an injection device of an autonomous driving type unmanned control vehicle, characterized in that including limited to LIDAR.

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