KR20230036806A - Unmanned pesticide spraying system using double-loop method guide wire - Google Patents

Abstract

The present invention relates to a system for efficiently spraying pesticides while an unmanned pesticide spraying vehicle moves along a guide wire installed on the ground. In particular, in addition to the spray guide wire, a return guide wire, a return guide wire, and a junction box are provided to quickly return and repeat to have a maximum travel distance when replenishing pesticides.

Description

Unmanned pesticide spraying system using double-loop method guide wire}

The present invention relates to a system for efficiently spraying pesticides while an unmanned pesticide spraying vehicle moves along a low-frequency or high-frequency guide line installed on the ground, and more particularly, to a system for controlling the movement distance to be shortened as much as possible when replenishing pesticides. .

Recently, rapid dissemination and technological development of small electric trains are in progress, and it is a reality that rapid development of the corresponding technology is required according to the needs of various industrial fields requiring such technology. In particular, in the case of farming and fishing villages due to population aging, there is an urgent need for high-performance, high-tech equipment for farming due to the rapid change in the working environment and the access of various changes and advanced technologies that consider the convenience and practicality of tools and devices necessary for this.

Due to the recent aging of the agricultural population, it is urgently necessary to improve agricultural farming methods, technological approaches and grafting of scientific farming, and technological advancement of various farming equipment to prepare for aging. However, if the provided equipment or devices are technically complicated to use and difficult to operate, practicality is poor, so the introduction of technology into autonomous driving and learning artificial intelligence is being deployed.

It is a reality that such technology introduction and commercialization are first applied to logistics movement and service electric mobility and commercialized.

Therefore, in the present invention, it is intended to electrify various engine-type mobile utility carts (electronic vehicles) for farming, which have practical difficulties, to enable the introduction of farming technology that utilizes greener energy in the farming environment. Electric mobility is being applied to SS (Speed Sprayer), which is necessary for spraying pesticides, which is the most dangerous and needs to prioritize the safety of the elderly, farming women, and farming beginners. It is necessary to adapt to the farming field to be able to It is intended to solve these technical problems and to improve and invent the technology necessary to facilitate orchard farming.

Patent Registration No. 10-1987828 (Announcement: September 30, 2019)

Electric mobility as described above is widely used in existing logistics, but when applied directly to farming sites, there are many technically difficult parts. What is difficult to do is that in the case of a pesticide sprayer, the tank of pesticide cannot be infinitely large during spraying, so there is a situation in which pesticide supplementation is required during spraying. It is a very dangerous work as it often leads to accidents of pesticide poisoning in the course of supplementary work.

In order to solve this problem, the present invention memorizes and stores work location information and automatically turns to the starting point by a pre-programmed regression method to replenish pesticides when it is necessary to replenish pesticides during spraying by unmanned driving with a guide line. When this is completed, it automatically searches for the location stored as the final spraying point according to the CPU program and returns to continue the pesticide spraying operation, thereby providing technology that can enable unmanned operation as much as possible during pesticide spraying and farming work. The purpose.

The present invention for achieving the above object is to install a guide line along the passage of the spraying vehicle to the pesticide spraying target, and to detect the guide line on the bottom of the spraying vehicle to guide the movement of the vehicle. .

In particular, the guide line is a zigzag-type spraying guide line that can move between fruit trees as efficiently as possible from the departure/arrival station, and a nearby spray guide line to return to the station after finally completing pesticide spraying on fruit trees Construct a regression guide line installed as close as possible to the positions where the direction changes in the curved shape, and configure a junction box between the scatter guide line that is close to the return guide line to move along the scatter guide line. It is characterized in that it is configured to be able to change the direction of moving to the return guide line through the spraying vehicle junction box.

In addition, the present invention is characterized in that a recursive guide line connected to the scatter guide line is added as a junction box at a position closest to the position where the scatter guide line changes direction at a position opposite to the return guide line.

According to the above solution, the present invention returns to the station at the shortest distance possible through the junction box and the return guide line when a shortage of pesticide is detected during the spraying operation, and after replenishing the pesticide, the work is stopped again through the spray guide line, the junction box, and the return guide line. It will recur to the position it was in.

According to the present invention as described above, the spraying vehicle is capable of smooth and stable autonomous driving and unmanned spraying by the low-frequency or high-frequency induction wire and the induction wire detection sensor, and if the pesticide is insufficient during the spraying operation, it is immediately detected and the operation is stopped. Since the spraying work is continued by moving the distance shortened as much as possible to achieve return and recursion, there is an effect that efficient work is possible while shortening the time for the pesticide spraying work using the unmanned spraying vehicle as much as possible.

1 is a conceptual diagram of the spraying system of the present invention
Figure 2 is an explanatory diagram of the moving path of the spraying vehicle by the spraying system of the present invention
Figure 3 is a front exemplary view of the spraying vehicle of the present invention
4 is a plane exemplary view of the spraying vehicle of the present invention
5 is an operating flow chart of the present invention

Hereinafter, the configuration of the present invention will be described in detail, and this configuration description is based on an embodiment for implementing the present invention, and it is not intended to limit the technical idea pursued by the present invention to the form of the embodiment described in this document. No, it should be understood to include various modifications, equivalents and/or alternatives of the embodiments of the present invention.

In addition, even if the operational effects according to the configuration of the present invention are not explicitly described and described while describing the embodiments of the present invention, it is natural that the effects predictable by the corresponding configuration should also be recognized.

'형으로 구성하였고, 브라켓(50)의 상면 중앙에 회동중심부(52)를 구성한 후 양측 브라켓(50)을 연결하는 연결프레임(53)의 양단을 브라켓(50)의 회동중심부(52)에 설치하였다.Looking first at the spraying vehicle 1 of the present invention, when configuring the bracket 50 supporting the wheel 1-1, it supports the inside and outside of the hub shaft 51 and wraps the upper part of the wheel 1-1. '

It is configured in a 'type, and after configuring the pivoting center 52 at the center of the upper surface of the bracket 50, both ends of the connection frame 53 connecting the brackets 50 on both sides are installed at the pivoting center 52 of the bracket 50. did

In addition, one side of each bracket 50 is protruded to provide an operating connection portion 54, and then the steering arms 55 for rotation are connected to each other.

An operating device for rotating the wheel is configured in the upper center of the connecting frame 53, and a worm wheel 60 is installed in a form that rotates in the horizontal direction with the center standing vertically, and a motor 61 is installed in the worm wheel 60 A worm gear 62 driven by was interlockingly installed. When the motor 61 is driven, the worm wheel 60 rotates in a reduced state by a reduction ratio between the worm gear 62 and the worm wheel 60.

After the steering angle plate 70 is installed on the central axis 60-1 of the worm wheel 60 so that rotation is made about the same center as the central axis 60-1, the bracket 50 is attached to the other end of the steering angle plate 70 The steering arm 55 connected to the operating connection part 54 of was connected to each. Therefore, the steering angle plate 70 is rotated left and right by the rotation of the worm wheel 60, and accordingly, the wheel 2-2 supported by the bracket 50 by the steering arm 55 is configured to rotate.

In the spraying system of the present invention, a low-frequency or high-frequency guide line 10 is installed along the passage through which the spraying vehicle 1 will move in the spraying target area such as an orchard, but unlike the conventional distribution method, it is about 20 to 30 cm or more from the ground It must be buried deep into the ground.

When burying the induction wire 10, it is buried with a material that does not damage the coating of the wire.

A guide wire detection sensor 5 is installed on the bottom of the spray vehicle 1 so that the spray vehicle 1 detects the guide wire 10 while driving so as not to deviate from the guide wire.

In addition, the guide line 10 configures the spray guide line 10-1 in a zigzag shape that can move between fruit trees as efficiently as possible from the station 20, which is the departure / destination, and finally sprays pesticides on fruit trees After completion, a return guide line 10-2 for returning to the station 20 is provided. The return guide line 10-2 causes the nearby scattering guide line 10-1 to change direction in a curved shape. It is installed as close as possible to the locations, and the return guide line (10-3) is installed at a position as close as possible to the position where the scatter guide line (10-1) changes direction at the opposite position of the return guide line (10-2). install

A junction box 30 is formed between the distribution guide line 10-1 that is close to the regression guide line 10-2 and the return guide line 10-3 as described above, and the scatter guide line 10-1 ) It is configured so that the spraying vehicle 1 moving along the junction box 30 can change direction to move to the return guide line 10-2 or the return guide line 10-3.

In addition, a water level sensor (3) is installed in the pesticide container (2) of the spraying vehicle (1) to detect the pesticide level in the pesticide container (2) and transmit it to the microcomputer (4). (41) is configured to transmit a signal to stop spraying according to the signal sent by the microcomputer 4 of the spraying vehicle 1 to the microcomputer 4 of the spraying vehicle 1, and the junction box 30 immediately as close as possible is operated to control the spray vehicle 1 to return to the station 20 by changing the direction to the return guide line 10-2 or the return guide line 10-3, and after returning, the pesticide at the station 20 When replenishment is finished, control is performed to return through the shortest possible distance through the junction box 30 closest to the station 20 again.

In addition, the present invention detects the state of the guide wire 10 of the unmanned autonomous driving train using the guide wire 10, and automatically operates the disconnection detection function to convey the disconnection situation to the distributing vehicle 1 for safe operation transmits signals wirelessly.

To detect disconnection of the induction line 10, the induction line controller 40 transmits a low frequency to the loop circuit so that the microcomputer 41 recognizes whether a constant frequency is always detected at the beginning and end of the loop line through high-speed A/D. and let it judge. In addition, a constant weak current flows so that the microcomputer 41 recognizes through A/D whether or not it is detected at the end of the loop.

The operation of the present invention as described above will be looked at according to the order of operation.

In the spraying vehicle 1 of the present invention, when necessary during the spraying operation, the worm gear 62 rotates by driving the motor 61 and the worm wheel 60 engaged therewith rotates.

When the steering angle plate 70 rotates in the same direction along with the rotation of the worm wheel 60, the steering arms 55 on both sides connected to the steering angle plate 70 push or pull the operating connection part 54 of the bracket 50 to move the bracket. (50) is rotated based on the rotation center (52), and eventually the direction of the wheel (1-1) is changed.

As described above, due to the operation of the worm wheel and worm gear method, the shape of the wheel twisting due to the terrain is prevented, and since the steering is achieved at the upper center of the wheel, the space required for steering the wheel can be minimized, and the height between the ground and the steering device is high, It is possible to drive without being affected by

In the station 20, the unmanned spraying operation starts in a state in which the pesticide container 2 of the spraying vehicle 1 is filled with pesticide. When the microcomputer 41 of the guide line controller 40 transmits an operation start signal to the microcomputer 4 of the spray vehicle 1, the spray vehicle 1 starts spraying while moving along the guide line 10.

If the lack of pesticide is not detected until the spraying is completed, the spraying guide line 10-1 is all driven, and then returns to the station 20 along the return guide line 10-2 to end the spraying operation.

However, when the water level sensor (3) in the pesticide container (2) detects a lack of pesticide during spraying, the micom (4) immediately stops the operation of the spraying vehicle (1) and transmits the current location information to the induction wire controller (40). do.

The micom 41 of the induction line controller 40 determines the junction box 30 connected to the return induction line 10-2 at the shortest distance based on the delivered location information, transmits an operation signal, and spreads the vehicle ( 1) moves along the spray guide line 10-1 in a state where the spraying is stopped, then switches to the direction of the return guide line 10-2 through the junction box 30 where the guide line controller 40 operates Return to station 20.

After replenishing the pesticide at the station 20, the guide line controller 40 calculates a path for recursion in consideration of the location information where the work is stopped, and in the case of a location that does not need to go through the junction box 30, the spraying guide After moving along the line (10-1) to the position where the spraying was stopped without spraying, a command is transmitted to continue the remaining spraying work, and if the spraying stopped position is moved through the recursive guide line (10-3) If it is a short distance, a signal is transmitted to the junction box 30, which can move to the stop position in the shortest distance, so that the spraying vehicle 1 changes direction at the junction box 30 and moves to the position where the work is stopped Control to continue spraying.

Looking at an example of the control method of the guide line controller 40 for each position where the work is stopped, if the work is stopped due to a lack of pesticides at positions A and B in FIG. (30) Control to return to the station 20 after moving to the return induction line 10-2 through a, and in the case where the stop position is the C or D position, the station 20 through the junction box 30 b Return to , and if the stop position is the E or F position, it is controlled to return directly along the return induction line 10-2 without going through the junction box 30.

After replenishing the pesticide, when the spraying vehicle 1 recurs, it moves along the first spraying guide line 10-1, and if the stopped position is A, B, C, A through only the spray guide line 10-1 , B, control to move to the C position, and in the case where the stop position is the D, E position, after moving along the recursive induction line (10-3) through the junction box (30) c, the junction box (30) d again After returning to the spray guide line (10-1) through the control, it is controlled to move to D and E to the stop position, and when the stop position is F position, it is controlled to move to F position through junction box 30 c and e. is to do

By the method of controlling the movement of the spraying vehicle, it is possible to shorten the time because the maximum distance is moved when replenishing the pesticide.

1: Spray vehicle
2: pesticide container
3: water level sensor
4: microcomputer
10: guide wire
10-1: Spray guide line
10-2: regression line
10-3: Recursive Induction Line
20: station
30: junction box
40: induction wire controller
41: microcomputer
50: bracket
51: hub axis
52: rotation center
53: connection frame
54: operating connection
55: steering arm
60: Wormhorn
61: motor
62: worm gear
70: steering angle plate

Claims (4)

As an operating device for wheel steering, the spraying vehicle is equipped with a worm wheel 60 that rotates horizontally with the center standing vertically, and a worm gear 62 driven by a motor 61 is installed on the worm wheel 60 When the motor 61 is driven by interlocking installation, the worm wheel 60 rotates in a reduced state by the reduction ratio of the worm gear 62 and the worm wheel 60 to achieve steering,
A guide line 10 is installed along the passage through which the spraying vehicle 1 will move on the pesticide spraying target, and a guide line detection sensor is installed on the bottom of the spray vehicle to detect the guide line and guide the movement of the vehicle,
The guide line 10 is a zigzag shape that can move between fruit trees as efficiently as possible from the station 20, which is the departure/arrival point, and the spray guide line 10-1 and, finally, after completing the spraying of pesticides on the fruit trees In order to return to the station 20, the return guide line 10-2 is installed as close as possible to the positions where the nearby spray guide line 10-1 changes direction in a curved shape,
Between the distribution guide line 10-1 close to the return guide line 10-2, a junction box 30 is formed and the spray vehicle 1 moving along the spray guide line 10-1 is An unmanned pesticide spraying system using a double loop type guide line, characterized in that it is configured to be able to change direction by moving to the return guide line (10-2) through the junction box (30). According to claim 1,
At a location opposite to the return guide line (10-2), a return guide line (10-3) connected to the spray guide line as a junction box is added at a position as close as possible to the position where the scatter guide line (10-1) changes direction. Unmanned pesticide spraying system using a double loop method guide line, characterized in that. According to claim 1,
A water level sensor (3) is installed in the pesticide container (2) of the spraying vehicle (1) to detect the pesticide level in the pesticide container (2) so that the micom (4) transmits the lack of pesticide to the induction wire controller. An unmanned pesticide spraying system using a double loop method guide line. According to claim 1,
The guide line controller 40 transmits a signal to stop spraying to the microcomputer 4 of the spraying vehicle 1 according to the signal sent by the microcomputer 4 of the spraying vehicle 1, and immediately connects the junction box 30 ) Unmanned pesticide spraying system using a double loop type guide wire, characterized in that for manipulating.

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