KR20210101965A - Unmanned robot for pest control to removing fog - Google Patents

Abstract

The present invention relates to an unmanned control robot capable of overcoming fog. The control robot includes: a location unit for determining the location of the robot; a sensor unit installed on the robot to detect robot's surroundings; a control unit that receives information from the sensor unit and controls the robot; a power unit that is provided with a battery in the robot to provide driving power; and a spraying unit mounted on the upper surface of the robot.

Description

Fog-overcoming unmanned control robot {UNMANNED ROBOT FOR PEST CONTROL TO REMOVING FOG}

The present invention relates to a fog-overcoming unmanned control robot, and more particularly, to a fog-overcoming unmanned control robot configured to be capable of unmanned operation by mounting a sensor on the control robot and capable of removing fog.

Recently, as robots that can replace human work have been developed, even in the agricultural field, tasks that have been performed by human hands are being changed to be performed by robots. In particular, pest control, which is an operation to prevent or relieve crops from pests and diseases, is also being replaced by unmanned control devices.

Conventionally, such unmanned control systems are fixed at a predetermined location and use a fixed type unmanned control system that converts fungicides and pesticides into ultra-fine particles and propagates them. Street crops had uncontrolled side effects.

Accordingly, a running-type pesticide that can be controlled with a remote control has been suggested as an alternative. However, in the case of a running-type pesticide, it has the advantage of uniformly controlling the pesticide while moving, while the operator observes the pesticide with the naked eye. Therefore, there is a problem that the operator cannot see other tasks when controlling the pesticide, and there is a risk of damage to the pesticide due to the carelessness of the operator during the control.

In order to solve the above problems, an object of the present invention is to provide a fog-overcoming type unmanned control robot that can uniformly control while moving, and can safely perform control on its own without a user's visual observation.

The fog-overcoming unmanned control robot according to the present invention for solving the above problems includes: a positioning unit for determining the position of the robot; a sensor unit installed on the robot to detect the robot's surroundings; a control unit for receiving information from the sensor unit and controlling the robot; It may include a power unit provided with a battery to the robot to provide driving power and an injection unit mounted on the upper surface of the robot.

In addition, the location unit, including a UWB tag provided in the control robot to transmit and receive a location signal and a UWB anchor installed in the facility to transmit and receive a location signal, it may be characterized in that it grasps the location of the control robot.

In addition, the location unit may be characterized in that it further comprises a movement inducer having a UWB target.

In addition, the sensor unit may include: a laser sensor mounted on the control robot to detect an obstacle while driving and irradiating infrared rays; a gyro sensor that measures the inclination and transmits the measured value to the control unit; It may include a bumper sensor mounted on the lower front and rear surfaces of the body portion and a flat-panel contact sensor mounted on the front and rear surfaces of the control robot.

In addition, the control robot may include a flow fan mounted on the front and rear surfaces of the control robot to remove fog and moisture, and to enable temperature control.

In addition, the power unit, interlocking with the control unit, further comprising an infrared sensor for detecting the charging stage installed in the facility, when the battery reaches a predetermined amount of power by operating the infrared sensor to detect the charging stage, It may be mounted on the charging stage to supply power to the battery.

In addition, the injection unit includes a chemical container filled with and stored chemical liquid and an injection device provided to spray the chemical liquid, wherein the injection device is formed to be rotatable upward, sideways, forward and rearward, traveling width It may include a spraying rod for adjusting the rotational direction of the spraying device according to the spraying range and a spraying nozzle formed at the tip of the spraying rod, through which the chemical is sprayed.

In addition, the injection rod may include an LED lamp that helps plant growth and an ultraviolet sterilization lamp capable of ultraviolet sterilization, and at least one of them may be installed. The fog-overcoming unmanned control robot can control while moving, so it has the effect of uniformly controlling cultivated crops.

In addition, since the fog-overcoming unmanned control robot according to an embodiment of the present invention is autonomous, direct observation by the user is unnecessary, so that the user can perform other tasks while working, thereby improving work efficiency there is

The fog-overcoming unmanned control robot according to an embodiment of the present invention can control while moving, so that it can control cultivated crops uniformly.

In addition, since the fog-overcoming unmanned control robot according to an embodiment of the present invention is autonomous, direct observation by the user is unnecessary, so that the user can perform other tasks while working, thereby improving work efficiency there is

In addition, by removing the fog generated during control with a flow fan, there is an effect that can be controlled more efficiently.

1 is a front perspective view showing the state of the fog-overcoming unmanned control robot according to an embodiment of the present invention.
Figure 2 is a rear perspective view showing the state of the fog-overcoming unmanned control robot according to an embodiment of the present invention.
Figure 3 is a perspective view showing the state of the fog-overcoming unmanned control robot according to an embodiment of the present invention.
4 is an exemplary view of the location of the fog-overcoming type unmanned control robot according to the embodiment of the present invention.
Figure 5 (a) is a projection view from the front of the rail-type detachable part of the fog-overcoming unmanned control robot according to an embodiment of the present invention, (b) is a projection view from the side of the fixing and battery detachment operation using the rail-type detachable part .
6 (a) and (b) are diagrams illustrating the configuration of a rotating part provided to rotate the spray rod of the fog-overcoming unmanned control robot according to an embodiment of the present invention.
7 (a) to (c) are perspective views showing the movement of the spray rod of the fog-overcoming type unmanned control robot according to an embodiment of the present invention.
8 (a) to (c) are exemplary views illustrating a spraying method through a spray pipe diameter control device of the fog-overcoming unmanned control robot according to an embodiment of the present invention.
9 is a system configuration diagram of a fog-overcoming unmanned control robot according to an embodiment of the present invention.
Figure 10 (a), (b) is an exemplary view showing the movement of the rear housing of the fog-overcoming unmanned control robot according to an embodiment of the present invention.

Hereinafter, the description of the present invention with reference to the drawings is not limited to specific embodiments, and various modifications may be made and various embodiments may be provided. In addition, it should be understood that the contents described below include all conversions, 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, meanings are not limited thereto, and are used only for the purpose of distinguishing one component from other components.

Like reference numbers used throughout this specification refer to like elements.

As used herein, the singular expression includes the plural expression unless the context clearly dictates otherwise. In addition, terms such as "comprises", "comprising" 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 construed as not precluding the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings 1 to 10.

1 is a front perspective view showing the appearance of the fog-overcoming unmanned control robot according to an embodiment of the present invention, and FIG. 2 is a rear perspective view showing the appearance of the fog-overcoming unmanned control robot according to an embodiment of the present invention; 3 is a perspective view showing the state of the fog-overcoming unmanned control robot according to an embodiment of the present invention, and FIG. 4 is an exemplary view of the location of the fog-overcoming unmanned control robot according to the embodiment of the present invention. (a) is a projection view from the front of the rail-type detachable part of the fog-overcoming unmanned control robot according to an embodiment of the present invention, (b) is a projection view from the side of the fixing and battery detachment operation using the rail-type detachable part, 6 (a) and (b) are exemplary views of the configuration of a rotating part provided to rotate the spray rod of the fog overcoming type unmanned control robot according to an embodiment of the present invention, and FIGS. 7 (a) to (c) is a perspective view showing the movement of the spray rod of the fog-overcoming unmanned control robot according to an embodiment of the present invention, and FIGS. It is an exemplary view showing a spraying method through a pipe diameter control device, and FIG. 9 is a system configuration diagram of a fog-overcoming unmanned control robot according to an embodiment of the present invention, and FIGS. 10 (a) and (b) are It is an exemplary view showing the movement of the rear housing of the fog-overcoming unmanned control robot according to the embodiment

First, referring to FIGS. 1 to 3 , the fog-overcoming unmanned control robot 1 according to an embodiment of the present invention is a control robot that autonomously drives an agricultural facility and sprays a chemical to perform a control operation, and a position unit 10 ), a sensor unit 20 , a control unit 30 , a power unit 40 , and an injection unit 50 .

The location unit 10 may determine the location of the control robot 1 in real time using UWB wireless technology, and may include a UWB tag 11 and a UWB anchor 12 .

Here, UWB (Ultra-Wideband) wireless technology is a new wireless technology that is applied to communications and radar using a very wide frequency band of several GHz or more in baseband without using a wireless carrier. By using the same very low spectral power density, it is a wireless technology that can share frequencies with existing communication systems without mutual interference.

The UWB tag 11 is provided in the control robot 1 to transmit and receive location signals, and the UWB anchor 12 installed in the facility receives the location signal and the location of the control robot 1 equipped with the UWB tag 11 can figure out

A plurality of UWB anchors 12 are installed in the facility, receive a position signal from the UWB tag 11, determine the position of the control robot 1 equipped with the UWB tag 11, and transmit the position signal to the control unit 30 can be sent to

At this time, the UWB anchor 12 is most preferably installed in a facility to be overlapped at intervals of 40 to 60 m in determining the position of the control robot 1, but is not limited thereto.

Referring to FIG. 4 , the location unit 10 of the fog overcoming type unmanned control robot according to the embodiment of the present invention may further include a moving inlet unit 13 .

The movement inlet unit 13 includes a UWB target (not shown) and transmits a movement signal to the control unit 30 through the UWB target, and the control robot 1 receiving the movement signal through the control unit 30 operates at regular intervals. It can be made to move along the moving inlet 13 while maintaining the.

Accordingly, the moving inlet 13 can perform the control operation while moving the control robot 1 in a direction desired by the user more safely.

The sensor unit 20 is installed in the control robot 1 and is for detecting surrounding areas, recognizing obstacles and dangers so that the control robot 1 can safely travel, a laser sensor 21, a gyro sensor 22, It may include a bumper sensor 23 and a flat-panel contact sensor 24 .

The laser sensor 21 is mounted on the control robot 1 and irradiates a laser to detect obstacles in the vicinity while driving. Also, the laser sensor 21 may transmit obstacle information to the controller 30 . In this case, the laser sensor 21 may be replaced with one of an infrared sensor, an ultrasonic sensor, and an infrared camera, but is not limited thereto.

This is to enable the control robot 1 to avoid surrounding obstacles. That is, when a surrounding object is detected from the laser sensor 21 installed in the control robot 1 , the laser sensor 21 transmits obstacle information to the control unit 30 , and the control unit 30 controls the motor to change the direction of the wheel. Avoidance control (not shown) can be executed. Through this, the control robot 1 can execute the control operation more safely.

The gyro sensor 22 is mounted on the control robot 1, measures the inclination, transmits the inclination information to the controller 30, and can maintain its own balance even in an atypical environment. This is for the control robot 1 to maintain its own balance even in an uneven and atypical environment. At this time, the gyro sensor 22 is formed to sense three axes, and accordingly, the control unit 30 detects the amount of change in the pitch, roll, and yaw angles. By correcting the angular velocity with respect to the amount of change in , the shaking (vibration) of the control robot 1 can be alleviated.

The bumper sensor 23 is mounted on the lower portion of the front and rear of the control robot 1 , and when it collides with an obstacle, it is possible to alleviate the impact of the control robot 1 .

In addition, when the bumper sensor 23 collides with an obstacle, the reverse travel is performed in the opposite direction, thereby enabling safer driving.

The flat-panel contact sensor 24 is formed in a flat-panel shape on the front and rear surfaces of the control robot 1, so that it can recognize obstacles in contact while walking through the mist generated by spraying during control.

In addition, when the flat-panel contact sensor 24 recognizes an obstacle, the obstacle information may be transmitted to the control unit 30 , and only the opposite sensor and motor that do not recognize the obstacle may be driven.

Accordingly, the sensor and the motor on the side of the obstacle are not driven, and the accuracy of the running of the control robot 1 can be improved.

In addition, the flat-type contact sensor 24 may be adjustable in length in the front-rear direction. Accordingly, the flat-panel contact sensor 24 can be used more efficiently by adjusting the length according to the situation.

The control unit 30 may receive information from the sensor unit 20 to control the control robot 1 .

Also, the control unit 30 may receive information from the sensor unit 20 and provide the information to the terminal 80 .

In addition, the control unit 30 receives a position signal from the position unit 10 to determine the position of the control robot 1 , and receives a movement signal from the position unit 10 to control the movement of the control robot 1 . can

In addition, the controller 30 may receive a movement signal from the terminal 80 to control the movement of the control robot 1 .

The power unit 40 may provide driving power to drive a motor (not shown). For this purpose, a battery 41 may be provided, and the battery may be built-in so that it can be charged from the outside.

In this case, the motor may be interlocked with the control unit 30 to be driven by the control unit 30 . In addition, the motor is not limited to any specific motor, and may be applied to various motors such as a DC motor or a BLDC motor. When the motor is provided as a BLDC motor, it has advantages of high durability and low noise.

On the other hand, the motor may form a CW/CCW, PWM circuit, and the like so that the control unit 30 can control the rotation and speed in both directions.

The battery 41 may apply power to the motor.

Here, referring to FIG. 5 , the battery 41 is formed in a 'C' shape and is disposed opposite to each other on both sides of the rail 410 , the movable body 420 moving along the rail 410 , and the movable body 420 is fixed. It is mounted on the rail-type detachable part 400 composed of a guide part 430 for detachment and detachment of the battery 41 and slides while moving, so that battery replacement can be easily performed.

Specifically, a coupling part 421 is provided on the movable body 420 moving along the rail 410 , and a coupling part 440 that can be coupled corresponding to the coupling part 421 is provided at the lower end of the battery 41 . can protrude. In addition, the coupling part 421 has an elastic spring 422 connected to the lower end thereof, and a fixed body 423 may be provided at the other end of the elastic spring 422 , and the fixed body 423 is the movable body 420 under the lower end. can be protruded into In addition, a predetermined flat length is formed at the lower end of the movable body 420 between the rails 410 on both sides, and a fixing part 431 for forming a plurality of fixing grooves 431a at regular intervals, and an extension length from the fixing part 431 A guide part 430 including an inclined part 432 which is formed but gradually increasing, and a detachable part 433 extending from the inclined part 432 and forming a predetermined flat length may be provided.

Looking at the fixing method of the mobile body 420 and the detachment of the battery 41 through the structure as described above, when the mobile body 420 to which the battery 41 is coupled moves along the rail 410, the The elastic spring 422 and the fixing body 423 provided on the lower side move along the length of the guide part 430. When the fixing body 423 is positioned as the low fixing part 431, it is lifted by its own weight. It is formed and moved to reach the top 431 , and when it reaches the fixing groove 431a , the fixing body 423 is drawn into the fixing groove 431a to limit the movement of the movable body 420 . Thereafter, when moving to the detachable part 433 for detachment of the battery 41, the fixed body 423 gradually rises along the inclined part 432 and pushes the coupler 421 upward, and the detachable part having the maximum height. When reaching 433, the coupler 421 protrudes to the top of the movable body 420 and pushes the battery 41 upward, and the coupler 421 and the coupler 440, which are the engaging parts, are exposed to the outside. The battery 41 can be removed.

The rail-type detachable part 400 is not easily detached because it is difficult for the mobile body 420 to move to the position up to the detachable part 433 when the battery 41 is located at the fixed part 431 length. , during detachment, only a certain force acts and when pulled toward the operator, it automatically protrudes upward to facilitate detachment.

On the other hand, although the fixing and detachment method has been described using the elastic spring 422 for easy understanding, the elastic spring 422 is substantially formed to be embedded in the spring housing (not shown) and is formed by the spring housing (not shown). can be maintained. Accordingly, the fixing force of the fixing body 423 can be exerted.

In addition, in the case of the rail 410, a plurality of balls (not shown) may protrude inward to form rolling friction upon contact with the movable body 420, and in the case of the ball (not shown), it is preferable that only a portion protrudes. .

In addition, the power unit 40 may further include an infrared sensor that interworks with the control unit 30 and searches the charging stage 70 installed in the facility.

Here, the charging stage 70 is a rechargeable battery capable of automatically charging the battery 41 , and when the control robot 1 is mounted, it may be formed to automatically charge the battery 41 wirelessly. At this time, the charging stage 70 may be formed to induce electromagnetic and charge the battery 41 of the control robot 1 in a magnetic induction method.

To this end, it is preferable that the control robot 1 and the charging stage 70 each have an electromagnetic induction coil so as to proceed with the magnetic induction method.

In addition, the charging stage 70 may be provided with an infrared sensor (not shown) to transmit and receive a signal using the infrared sensor of the control robot 1 and a predetermined frequency.

That is, the control robot 1 determines the charging stage 70 by exchanging a signal with the infrared sensor installed in the charging stage 70 at a predetermined frequency of the infrared sensor, and the controller 30 receives the signal according to the signal and charging The battery may be charged by moving it to the stage 70 .

The control robot 1 can always radiate a predetermined frequency through an infrared sensor when driven. At this time, the infrared sensor may detect the charging stage 70 through the infrared sensor of the charging stage (70).

In more detail, the infrared sensor of the charging stage may have a structure in which a predetermined frequency emitted from the infrared sensor of the control robot 1 is sensed and the predetermined frequency is radiated back to the control robot 1 .

In addition, the charging method can be implemented only when the infrared sensor 550 and the charging stage 70 that are further included in the smart control robot are configured on the worksheet.

The injection unit 50 is formed on the upper end of the control robot 1 to inject a chemical solution, and may include a chemical solution container 51 , a spray rod 53 , a spray nozzle 54 , and a pump 55 . .

The drug container 51 may contain the drug, the injection rod 53 may be connected to the drug container 51 to form a straight length, and the pump 55 dispenses the drug of the drug container 51 . It may be installed inside or outside the control robot 1 so as to pump with the rod 53 , and the injection unit battery (not shown) may supply power for driving the pump 55 .

Here, the drug includes both a control solution for preventing pests and pests, and water or nutrient solution for supplying nutrients to cultivated plants or livestock, and the control solution, water or nutrient solution is pumped ( 55) During operation, it can be sprayed to the outside through a plurality of spray nozzles 54 provided along the length of the spray rod 53, and in the case of a plurality of spray nozzles 54, hydraulic spray nozzles to form a wide spray range can be provided with However, the present invention is not necessarily limited and may be provided as a two-fluid jet nozzle, and may be provided only at the end of the jet rod 53 as shown in the drawing.

In addition, the injection rod 53 is formed so as to be rotatable upward, sideways, forward and rearward, and can be rotated according to the traveling width and the injection range, for example, as shown in FIG. 53) is a rotation part consisting of a vertical rotation part 560 formed to rotate 360˚ to the left / right, and a horizontal rotation part 561 coupled to the end of the vertical rotation part 560 to rotate 180˚ up / down It can be rotated by being coupled to (56).

As another example, as shown in (b) of Figure 6, the injection rod 53 is coupled to rotate along the axis of the rotation motor 570, which is installed horizontally from the side, and the rotation motor 570, A rotational gear 571, a rotational bracket 573 axially coupled to a driven gear 572 that is engaged with the rotational gear 571 and rotates forward or backward, and a rotational part 574 formed on one side of the rotational bracket 573 ) connected to the rotating unit 57 including the injector coupling unit 575 that rotates upward and downward according to the rotational operation of the rotating unit 574 can be rotated.

However, the above structures are exemplary structures and are not limited thereto, and the rotating parts 56 and 57 are formed in various types of structures so that the injection rod 53 can be moved upwardly, laterally, forwardly and backwardly in various ways. It may be formed to be rotatable.

Referring to Figure 7, the injection rod 53 forming the above structure can form a wide length by rotating the injection rod 53 left / right in a driving environment to form a wide width, and a wall ( In a driving environment that forms a narrow width due to things such as W), it can be formed to pass a narrow width by rotating it forward/rearward. In addition, it may be rotated upward for further injection.

In addition, the injection rod 53 is provided in a multi-stage type so that not only rotation but also length adjustment is possible, so that rotation and length adjustment can be mixed and used according to the various driving environments and injection ranges of the control robot 10, and the injection rod 53 ) is provided along the length of the plurality of injection nozzles 54 are coupled to each other by a hinge, etc. are formed so that the angle can be adjusted, the injection position and range can be variously adjusted.

In addition, the injection rod 53 may be formed so that the position is variable by a position variable means (not shown) such as a cylinder. For example, a position variable end (not shown) such as a cylinder is provided at the coupling end of the injection rod 53 to change the position. In addition, when the rotating parts (56, 57) are provided, a position variable end (not shown) such as a cylinder may be provided at the lower end of the rotating parts (56, 57) to change the position of the injection rod (53).

At this time, referring to FIG. 8 , an injection tube diameter adjusting device 580 capable of adjusting the injection distance of the drug L of the injection rod 53 may be provided at the other end of the injection rod 53 . Specifically, the injection pipe diameter control device 580 is divided into a plurality of spaces 581a due to the plurality of spaced apart partition walls 581, and the control device body 582 fixed to the control robot 1 and the partition Each of the plurality of spaces includes a plurality of injection holes 583 that form a different diameter, and the injection rod 53 can perform injection while moving each internal space 581a of the fixed injection tube diameter adjusting device 580. have.

Here, since the diameter of the injection hole 583 is different depending on the space in which the injection rod 53 is positioned when performing injection, the injection distance of the drug (L) injected from the injection rod 53 is the same, but the injection distance can be formed differently. have. Specifically, a small diameter can be sprayed farther, and a large diameter can be sprayed closer.

On the other hand, in the case of the injection hole 583, it is preferable that the diameter becomes narrower from the outside to the inside direction, and the side surface of the adjusting device body 582 is straight as shown in FIG. 8 (a) or 8 (b). It may be formed, but it may also be formed in the form of an upper-gwang-lower narrow as shown in FIG. 8(c). This is based on when the injection rod 53 is rotated upwards, the higher the injection rod 53 is, the smaller the diameter of the injection port 583, and the smaller the space area in the adjusting device body 582, the farther it can be sent. , because the lower the position, the larger the diameter of the injection port 583, the larger the area within the control device body 582, so that it can be sent to the periphery.

It is possible to adjust the injection distance by adjusting the position of the injection rod 53 through the injection tube diameter control device 580.

In addition, the injection rod 53 may further include an LED lamp and an ultraviolet lamp.

The LED lamp (not shown) is a lamp that helps plant growth, and a plurality of LED lamps (not shown) can be mounted on the injection rod 53, and the ultraviolet lamp (not illustrated) kills harmful bacteria through sterilization, and the injection rod 53 A plurality may be formed in the longitudinal direction.

The control robot 1 according to an embodiment of the present invention may further include a flow fan 60 mounted on the front and rear surfaces of the control robot 1 to remove fog.

The flow fan 60 is capable of removing fog and moisture existing in the facility, and one or more may be mounted on the front and rear surfaces of the control robot 1, but is not limited thereto.

Referring to FIG. 11 , the control robot 1 of the present invention may further include a housing 61 .

The housing 61 is formed on the front and rear surfaces of the control robot 1 so that the flow fan 60 can move back and forth, and is movable in the front and rear directions. can be mounted

Accordingly, it is possible to more efficiently drive the flow fan 60 through the movement of the housing suitable for weather conditions.

Although the embodiments of the present invention have been described above with reference to the accompanying drawings, those of ordinary skill in the art to which the present invention pertains can practice the present invention in other specific forms without changing the technical spirit or essential features of the present invention. you will be able to understand Accordingly, the embodiments described above are illustrative in all respects and not restrictive.

1: Smart control robot
10: position part
11: UWB tag
12: UWB anchor
13: Mobility man
20: sensor unit
21: laser sensor
22: gyro sensor
23: bumper sensor
24: flat-panel contact sensor
30: control unit
40: power unit
41: battery
400: rail type detachable part
410: rail
420: moving object
421: coupler
422: elastic spring
423: fixed body
430: guide unit
431: fixed part
431a: fixing groove
432: inclined part
433: detachable part
440: coupling part
50: injection unit
51: medicine container
53: injection rod
54: spray nozzle
55: pump
56: rotation unit
560: vertical rotation unit
561: horizontal rotation unit
57: rotation
570: rotation motor
571: rotation gear
572: driven gear
573: rotation bracket
574: rotating part
575: injector coupling unit
580: injection pipe diameter control device
581: bulkhead
581a: space
582: regulator body
583: nozzle
60: flow fan
61: housing
70: charging stage
80: terminal
W: wall
L: drug

Claims (8)

In the fog overcoming type unmanned control robot,
a position unit for determining the position of the robot;
a sensor unit installed on the robot to detect the robot's surroundings;
a control unit for receiving information from the sensor unit and controlling the robot;
a power unit provided with a battery to the robot to provide driving power; and
A fog-overcoming unmanned control robot including a spraying unit mounted on the upper surface of the robot.
The method of claim 1,
The location part,
A UWB tag provided in the control robot to transmit and receive a location signal, and
A fog-overcoming unmanned control robot, characterized in that it detects the location of the control robot, including a UWB anchor installed in a facility to transmit and receive position signals.
3. The method of claim 2,
The location part,
Fog overcoming unmanned control robot, characterized in that it further comprises a movement inducer having a UWB target.
The method of claim 1,
The sensor unit,
a laser sensor mounted on the control robot to detect obstacles while driving and irradiating infrared rays;
a gyro sensor that measures the inclination and transmits the measured value to the control unit;
Bumper sensors mounted on the lower front and rear of the body, and
A fog-overcoming unmanned control robot comprising a flat-panel contact sensor mounted on the front and rear surfaces of the control robot.
The method of claim 1,
The control robot is
A fog-overcoming unmanned control robot comprising a floating fan mounted on the front and rear surfaces of the control robot to remove fog and moisture, and to enable temperature control.
The method of claim 1,
The power unit,
Interlocking with the control unit, further comprising an infrared sensor for detecting a charging stage installed in the facility,
When the battery reaches a predetermined amount of power by operating the infrared sensor to detect the charging stage, the fog overcoming type unmanned control robot, characterized in that it is mounted on the charging stage to supply power to the battery.
The method of claim 1,
The spray unit,
A medicine container filled with chemical liquid and stored; and
Comprising a spraying device provided for spraying the chemical,
The injector is
A spray rod that is formed to be rotatable upward, lateral, front and rear, and adjusts the rotation direction of the spraying device according to the running width and spray range, and
Formed at the tip of the spray rod, the fog overcoming type unmanned control robot comprising a spray nozzle to which the chemical is sprayed.
8. The method of claim 7,
The spray rod is
LED lamps that help plant growth and
A fog-overcoming unmanned control robot that includes at least one of the UV lamps capable of UV sterilization.

Images