KR20230071278A - Tilt control injection device using actuator - Google Patents

Abstract

According to one embodiment of the present specification, in a spraying device using a jet fan motor, the spraying unit includes a moving unit for moving the spraying device, a spraying unit coupled to the moving unit, and a control unit for controlling the moving unit and the spraying unit. , A first injection unit and a second injection unit for receiving and spraying liquid from a storage tank provided in the moving unit, and including a support unit for supporting the jetting unit, and the support unit includes a fixed support unit fixed to the jetting unit and a part of the moving unit, respectively. And located in front of the fixed support, it may include a height adjuster for adjusting the spray height and spray angle.

Description

Tilt control injection device using an actuator {TILT CONTROL INJECTION DEVICE USING ACTUATOR}

The present invention relates to an injection device utilizing an actuator. More specifically, the present invention relates to a device that couples an injection unit for dispensing drugs or the like to a mobile body by utilizing a jet fan motor and controls the injection unit through an actuator.

The ratio of pest control operations on paddy fields, fields, and crops using agricultural drones and unmanned helicopters is increasing. However, agricultural drones and unmanned helicopters may have limitations in performing pest control operations on houses or fruit trees with limited flight. In addition, since the control work is performed based on flight, there may be limitations in performing control work in a small area or in detail. Therefore, in many cases, control work is performed by manpower in houses or fruit trees, and automated control work devices are required. In view of the above points, below, a spraying device for improving storage or work efficiency will be described.

Korean Patent Publication No. 10-2021-0054894 A

The present specification relates to a tilt control injection device using an actuator.

The present specification relates to a device for controlling an angle of an injection unit by utilizing an actuator of an injection unit coupled to a moving body.

The present specification relates to a device for improving injection efficiency by controlling an angle and a direction of an injection device in an injection device equipped with a jet fan motor.

The present specification relates to a device for improving injection efficiency by recognizing surroundings in an injection device equipped with a jet fan motor.

The present specification relates to an apparatus for controlling an injection amount by using a plurality of injection units in an injection device equipped with a jet fan motor.

According to one embodiment of the present specification, in a spraying device using a jet fan motor, the spraying unit includes a moving unit for moving the spraying device, a spraying unit coupled to the moving unit, and a control unit for controlling the moving unit and the spraying unit. , A first injection unit and a second injection unit for receiving and spraying liquid from a storage tank provided in the moving unit, and including a support unit for supporting the jetting unit, and the support unit includes a fixed support unit fixed to the jetting unit and a part of the moving unit, respectively. And located in front of the fixed support, it may include a height adjuster for adjusting the spray height and spray angle.

In addition, according to one embodiment of the present specification, the height adjuster may include an actuator, and the control unit may determine the spray height and spray angle by adjusting the height adjuster based on the actuator.

In addition, according to one embodiment of the present specification, the support unit further includes a rotation unit for determining the left and right directions of the spray unit, and the control unit determines the left and right directions of the spray unit based on the rotation unit to adjust the up, down, left, and right directions of the spray unit. You can control it.

In addition, according to one embodiment of the present specification, the injection unit is installed on the moving unit or is coupled to the moving unit in a form that can be attached to or detached from the moving unit. When each part is installed in a fixed form and the spraying part is detachably attached to the moving part, the fixed support part may be installed in a fixed form to the spraying part and detachably attached to the moving part.

In addition, according to one embodiment of the present specification, the injector further includes at least one of a communication unit for communicating with an external device, a sensing unit for sensing surrounding crop information, and a location tracking unit for tracking the position of the injector. can do.

In addition, according to an embodiment of the present specification, the sensing unit further includes at least one or more of a camera, a temperature sensor, and a humidity sensor, and the injector obtains image information and crop-related information through the sensing unit, and image information and Spray height and spray angle can be determined based on crop-related information.

In addition, according to one embodiment of the present specification, the injector further acquires external information through the communication unit and further acquires the location information of the injector through the location tracking unit, but the injection height and injection angle are external information and location information. can be determined based on

In addition, according to one embodiment of the present specification, the injection unit further comprises a lake for delivering liquid from the storage tank of the moving unit, and a drug receiver for receiving the liquid through the lake, but the first injection unit is connected to the drug receiver and discharges the liquid. The second injection unit may be disposed behind the first injection unit and generate wind through the first injection unit to improve injection output.

The present specification may provide a tilt control injection device using an actuator.

The present specification may provide a device for controlling an angle of an injection unit by utilizing an actuator of an injection unit coupled to a moving body.

The present specification may provide a device for controlling an injection amount by using a plurality of injection units in an injection device equipped with a jet fan motor.

The present specification may provide a device for improving injection efficiency by controlling an angle and a direction of an injection device having a jet fan motor.

The present specification may provide a device for improving injection efficiency by recognizing surroundings in a jet fan motor-equipped jetting device.

The problem to be solved in the specification is not limited to the above, and can be extended to various matters that can be derived by the embodiments of the invention described below.

1 is a diagram illustrating an example of an operating environment of a system according to an embodiment of the present specification.
2 is a block diagram illustrating an internal configuration of a computing device 200 according to an embodiment of the present specification.
3A is a diagram showing a moving body for injecting a drug according to an embodiment of the present specification.
3B is a diagram showing a moving body for injecting a drug according to an embodiment of the present specification.
Figure 4a is a view showing a spraying device coupled to the spraying unit to the moving body in one embodiment of the present specification.
Figure 4b is a view showing a spraying device coupled to the spraying unit to the moving body in one embodiment of the present specification.
5A is a view showing an injection unit according to an embodiment of the present specification.
Figure 5b is a view showing the internal structure of the injection unit in one embodiment of the present specification.
5C is a view showing an injection unit according to an embodiment of the present specification.
5d is a plan view of an injection unit according to an embodiment of the present specification.
Figure 5e is a view showing a side view of the injection unit in one embodiment of the present specification.
Figure 5f is a view showing a bottom view of the injection unit in one embodiment of the present specification.
Figure 5g is a view showing a front view of the injection unit in one embodiment of the present specification.
5H is a view showing a rear view of an injection unit according to an embodiment of the present specification.
6A is a view showing an injection unit according to an embodiment of the present specification.
6B is a view showing an injection unit according to an embodiment of the present specification.
6C is a diagram illustrating a method of controlling an injection unit according to an embodiment of the present specification.
7A is a diagram illustrating a method of controlling a height of an injection unit according to an embodiment of the present specification.
7B is a diagram illustrating a method of controlling a height of an injection unit according to an embodiment of the present specification.
8 is a diagram illustrating a method of adjusting the number of injection units according to an embodiment of the present specification.
9 is a view showing the structure of an injector according to an embodiment of the present specification.
10 is a diagram illustrating a method of controlling an injection device based on external information according to an embodiment of the present specification.
Figure 11a is a view showing a method of controlling the injection unit of the injection device in one embodiment of the present specification.
Figure 11b is a view showing a method for controlling the injection unit of the injection device in one embodiment of the present specification.
Figure 11c is a view showing a method for controlling the injection unit of the injection device in one embodiment of the present specification.
Figure 12a is a view showing a method for controlling the injection device in one embodiment of the present specification.
Figure 12b is a view showing a method for controlling the injection device in one embodiment of the present specification.

In describing the embodiments of the present specification, if it is determined that a detailed description of a known configuration or function may obscure the gist of the embodiment of the present specification, the detailed description thereof will be omitted. And, in the drawings, parts not related to the description of the embodiments of the present specification are omitted, and similar reference numerals are attached to similar parts.

In the embodiments of the present specification, when a component is said to be "connected", "coupled" or "connected" with another component, this is not only a direct connection relationship, but also an indirect connection between which another component exists. It may also include a causal connection. In addition, when a component "includes" or "has" another component, this means that it may further include another component without excluding other components unless otherwise stated. .

In the embodiments of the present specification, terms such as first and second are used only for the purpose of distinguishing one component from another, and do not limit the order or importance of components unless otherwise specified. don't Therefore, within the scope of the embodiments herein, a first component in an embodiment may be referred to as a second component in another embodiment, and similarly, a second component in an embodiment may be referred to as a first component in another embodiment. can also be called

In the embodiments of the present specification, components that are distinguished from each other are intended to clearly describe each characteristic, and do not necessarily mean that the components are separated. That is, a plurality of components may be integrated to form a single hardware or software unit, or a single component may be distributed to form a plurality of hardware or software units. Therefore, even if not mentioned separately, such an integrated or distributed embodiment is also included in the scope of the embodiments of the present specification.

In this specification, a network may be a concept including both wired and wireless networks. In this case, the network may refer to a communication network through which data exchange between devices, systems, and devices may be performed, and is not limited to a specific network.

The embodiments described herein may have aspects that are entirely hardware, part hardware and part software, or entirely software. In this specification, “unit”, “apparatus” or “system” refers to computer-related entities such as hardware, a combination of hardware and software, or software. For example, in this specification, a unit, module, device, or system, etc., refers to a running process, processor, object, executable file, thread of execution, program, and/or computer. (computer), but is not limited thereto. For example, both an application running on a computer and a computer may correspond to parts, modules, devices, or systems of the present specification.

In addition, in the present specification, a device may be a fixed device such as a PC or a home appliance having a display function, as well as a mobile device such as a smart phone, a tablet PC, a wearable device, and a head mounted display (HMD). Also, as an example, the device may be an in-vehicle cluster or an Internet of Things (IoT) device. That is, in this specification, a device may refer to devices capable of operating an application, and is not limited to a specific type. In the following, for convenience of description, a device in which an application operates is referred to as a device.

In this specification, the communication method of the network is not limited, and connections between components may not be connected in the same network method. The network may include not only a communication method using a communication network (eg, a mobile communication network, wired Internet, wireless Internet, broadcasting network, satellite network, etc.), but also short-distance wireless communication between devices. For example, a network may include objects and all communication methods that objects may network, and is not limited to wired communication, wireless communication, 3G, 4G, 5G, or other methods. For example, a wired and/or network may include Local Area Network (LAN), Metropolitan Area Network (MAN), Global System for Mobile Network (GSM), Enhanced Data GSM Environment (EDGE), High Speed Downlink Packet Access (HSDPA), Wideband Code Division Multiple Access (W-CDMA), Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Bluetooth, Zigbee, Wi-Fi, Voice over VoIP Internet Protocol), LTE Advanced, IEEE802.16m, WirelessMAN-Advanced, HSPA+, 3GPP Long Term Evolution (LTE), Mobile WiMAX (IEEE 802.16e), UMB (formerly EV-DO Rev. C), Flash-OFDM, iBurst and It may refer to a communication network using one or more communication methods selected from the group consisting of MBWA (IEEE 802.20) systems, HIPERMAN, Beam-Division Multiple Access (BDMA), Wi-MAX (World Interoperability for Microwave Access), and ultrasonic communication. However, it is not limited thereto.

Components described in various embodiments do not necessarily mean essential components, and some may be optional components. Accordingly, embodiments composed of a subset of components described in the embodiments are also included in the scope of the embodiments of the present specification. In addition, embodiments including other components in addition to the components described in various embodiments are also included in the scope of the embodiments of the present specification.

Hereinafter, with reference to the drawings, look at the embodiments of the present specification in detail.

1 is a diagram showing an example of an operating environment of a system according to an embodiment of the present specification. Referring to FIG. 1 , one or more user devices 110 - 1 and 110 - 2 and one or more servers 120 , 130 and 140 are connected through a network 1 . 1 is an example for explanation of the invention, and the number of user devices or servers is not limited as shown in FIG. 1 .

One or more user devices 110-1 and 110-2 may be fixed terminals implemented as computer systems or mobile terminals. The one or more user devices 110-1 and 110-2 may be, for example, a smart phone, a mobile phone, a navigation device, a computer, a laptop computer, a digital broadcast terminal, a personal digital assistant (PDA), and a portable multimedia player (PMP). , tablet PC, game console, wearable device, internet of things (IoT) device, virtual reality (VR) device, augmented reality (AR) device, and the like. As an example, in embodiments user device 110 is one of a variety of physical computer systems capable of communicating with other servers 120 - 140 over network 1 using substantially wireless or wired communication schemes. can mean

Each server may be implemented as a computer device or a plurality of computer devices that communicate with one or more user devices 110-1 and 110-2 through the network 1 to provide commands, codes, files, contents, services, and the like. there is. For example, the server may be a system that provides each service to one or more user devices 110-1 and 110-2 connected through the network 1. As a more specific example, the server provides a service (for example, information provision, etc.) for which the application is intended through an application as a computer program installed and driven in one or more user devices 110-1 and 110-2. (110-1, 110-2). As another example, the server may distribute a file for installing and running the above-described application to one or more user devices 110-1 and 110-2, receive user input information, and provide a corresponding service.

Figure 2 is a block diagram for explaining the internal configuration of the computing device 200 in one embodiment of the present specification. This computing device 200 may be applied to one or more user devices 110-1 and 110-2 or servers 120-140 described above with reference to FIG. 1, and each device and server may add some components or By being configured except for, it may have the same or similar internal configuration.

Referring to FIG. 2 , a computing device 200 may include a memory 210 , a processor 220 , a communication module 230 and a transceiver 240 . The memory 210 is a non-temporary computer-readable recording medium, and is a non-perishable large-capacity memory such as RAM (random access memory), ROM (read only memory), disk drive, SSD (solid state drive), flash memory, and the like. A permanent mass storage device may be included. Here, a non-perishable mass storage device such as a ROM, SSD, flash memory, disk drive, etc. may be included in the above-described device or server as a separate permanent storage device distinct from the memory 210 . In addition, the memory 210 stores an operating system and at least one program code (for example, a browser installed and driven on the user device 110 or a code for an application installed on the user device 110 to provide a specific service). It can be. These software components may be loaded from a computer-readable recording medium separate from the memory 210 . The separate computer-readable recording medium may include a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD/CD-ROM drive, and a memory card.

In another embodiment, software components may be loaded into the memory 210 through the communication module 230 rather than a computer-readable recording medium. For example, at least one program is a computer program installed by files provided by developers or a file distribution system (eg, the above-described server) that distributes installation files of applications through the network 1 (eg, a server). It may be loaded into the memory 210 based on the above-described application).

The processor 220 may be configured to process commands of a computer program by performing basic arithmetic, logic, and input/output operations. Instructions may be provided to processor 220 by memory 210 or communication module 230 . For example, processor 220 may be configured to execute received instructions according to program codes stored in a recording device such as memory 210 .

The communication module 230 may provide a function for the user device 110 and the servers 120 to 140 to communicate with each other through the network 1, and the device 110 and/or the servers 120 to 140, respectively. A function for communicating with other electronic devices may be provided.

The transceiver 240 may be a means for interface with an external input/output device (not shown). For example, the external input device may include devices such as a keyboard, mouse, microphone, and camera, and the external output device may include devices such as a display, a speaker, and a haptic feedback device.

As another example, the transceiver 240 may be a means for interface with a device in which functions for input and output are integrated into one, such as a touch screen.

Also, in other embodiments, the computing device 200 may include more components than those of FIG. 2 depending on the nature of the device to which it is applied. For example, when the computing device 200 is applied to the user device 110, it is implemented to include at least some of the above-described input/output devices, or a transceiver, a Global Positioning System (GPS) module, a camera, various sensors, It may further include other components such as databases and the like. As a more specific example, when the user device is a smartphone, various devices such as an acceleration sensor, a gyro sensor, a camera module, various physical buttons, buttons using a touch panel, input/output ports, and a vibrator for vibration are generally included in the smartphone. It may be implemented to include more components.

For example, in the following, a jetting device 400 in which a moving body and a jetting unit having a jet fan motor are coupled will be described. For example, the spraying device 400 may be a device that operates based on a moving body (or moving unit) and a control unit 430 that controls the spraying unit. Also, as an example, the injector may be a device that communicates with the outside based on FIGS. 1 and 2 and performs a software operation. As an example, the computing device 200 of FIG. 2 may be a jetting device 400 described below. That is, the injector 400 may be a device for controlling a hardware configuration as well as a device for controlling a software configuration. That is, the injection device 400 may include a hardware configuration described below and a software configuration described in FIGS. 1 and 2, and may not be limited to specific embodiments. However, in the following, for convenience of description, the hardware configuration of the injector 400 is mainly described, but may not be limited thereto.

3A and 3B are diagrams illustrating a moving body for injecting a drug according to an embodiment of the specification. Referring to FIGS. 3A and 3B , an injection device 400 for injecting a drug based on a moving body may be provided. Here, the spraying device 400 may include a moving unit for moving paddy fields, fields, and areas equipped with crops, a storage tank for storing drugs or moisture, and a spraying unit for spraying drugs or moisture. At this time, as an example, referring to FIG. 3A , the injection unit may be fixed in a specific direction, and the drug or water may be sprayed through the injection unit while the moving unit moves. In addition, referring to FIG. 3B , the spraying unit is fixed in a specific direction, and the moving unit may spray the drug or water through the spraying unit while moving.

However, in FIGS. 3A and 3B, the injection unit may inject the drug or moisture only in a fixed direction in a fixed form to the moving unit, and thus, there may be limitations in performing an effective control operation.

In view of the above points, the spraying device 400 may include a moving unit (or moving body) and a spraying unit utilizing an additional jet fan motor, and through this, an efficient control operation may be performed. As a specific example, FIGS. 4A and 4B are diagrams illustrating a spraying device 400 in which a spraying unit is coupled to a moving body (moving unit) according to an embodiment of the present specification. For example, referring to FIG. 4A , the injection device 400 may include a moving unit 410. At this time, the moving unit 410 may include a motor in charge of movement and a storage tank equipped with drugs or water. Here, as an example, the moving unit 410 may be a device capable of charging. As a specific example, the moving unit 410 may be a device including a battery, and movement power may be provided based on battery charging. For example, battery charging may be performed wirelessly or wired, and is not limited to a specific form. In addition, as an example, the injector 400 may be a device designed to enable unmanned control work, and may be automatically moved to a charging facility through GPS or the like, and may not be limited to a specific form. Also, as an example, the moving unit 410 may include a storage tank, and the storage tank may store drugs or water. Also, as an example, the moving parts of the moving unit 410 may be manufactured in the form of wheels and chains. As a specific example, the injector 400 may move mainly to an area with a lot of soil or a lot of water because it moves to a paddy field, a field, or an area where crops are grown. Also, for example, in an area where crops are grown, a number of fallen leaves or other obstacles may exist. Considering the above environment, the movable part of the moving unit 410 may be in the form of a wheel or a chain, and through this, movement may be possible not only in a sandy area such as a field but also in an underwater form such as a rice field. In addition, since it is in the form of a chain, it can move smoothly even in crop growing areas with many obstacles, and is not limited to a specific shape.

Next, Figure 4b is a view showing the injection device 400 coupled to the injection unit to the moving body in one embodiment of the present specification. Referring to FIG. 4B , the spraying device 400 may include a spraying unit 420 as well as a moving unit 410 . At this time, the injection unit 420 may use a jet fan motor to inject the drug or water in a desired distance and direction, which will be described later. Here, as an example, the injection unit 420 may be installed with the moving unit 410 . As another example, the injection unit 420 may be detachable from the moving unit 410, and is not limited to a specific shape. In this case, for example, when the spraying part is installed on the moving part, the fixed support part of the spraying part may be installed on the spraying part and part of the moving part in a fixed form. On the other hand, when the injection unit is detachable from the movable unit, the fixed support unit may be installed in a fixed shape to the spray unit and detachably attached to the movable unit, which will be described later. Also, as an example, the control unit 430 of the spraying device 400 may control the moving unit 410 and the spraying unit 420, which will be described later.

5A to 5H are diagrams illustrating an injection unit according to an embodiment of the present specification. For example, referring to FIG. 5A , the dispensing unit 420 may inject a drug or moisture. As a specific example, referring to FIG. 5B, the spraying unit 420 includes a first spraying unit 421, a medicine receiving unit 422, a lake 423, a height adjusting unit 424, a fixed support unit 425, and a jet fan. At least one of the motor 426, the blade 427, and the second injection unit 428 may be included. More specifically, the first injection unit 421 may be a portion from which the drug is injected in the injection unit 420 and may be configured as a compressor. At this time, a drug receiver 422 may be provided behind the first injection unit 421, and a hose 423 may be connected to the drug receiver 422. At this time, the lake 423 is connected to the storage tank of the moving unit 410 and may be a passage through which the drug or water moves, and the drug or water is stored in the storage tank through pressure based on the compressor of the first injection unit 421. It can be delivered to the drug receiver 422 through the lake 423. At this time, as an example, the end of the first injection unit 421 may be further provided with a mist generating unit. Also, as an example, an additional compressor may be provided at an end of the first injection unit 421 . As another example, a vortex generating unit may be included around the first injection unit 421 . At this time, the first injection unit 421 may control the injection form of the drug or water through the bar described above. For example, the first spraying unit 421 may spray the drug according to the mist generating unit based on the vortex generating unit in order to spray the drug widely and shallowly. As another example, when the drug needs to be injected far away through the first injection unit 421, the first injection unit 421 may increase the injection pressure through an additional compressor. For example, the above-described operation may be controlled through the controller 430 of the injection device 400, and is not limited to a specific embodiment. After that, the drug or water may be sprayed to the outside through the first spraying unit 421 . However, as an example, the first injection unit 421 injects the drug or water based on the compressor, but there may be a limit to the injection output. Also, as an example, the injection device 400 needs to sense the surroundings and control injection output for efficient injection based on the sensed information. Considering the above points, the injection unit may further include a jet fan motor 426 , a blade 427 , and a second injection unit 428 . In this case, the second injection unit 428 may be a jet fan and may operate based on the jet fan motor 426 . In addition, the blade 427 may generate wind through rotation based on the second spraying unit 428 and improve spraying output. That is, the injection unit 420 may include a first injection unit 421 for basic injection output and a second injection unit 428 using an additional jet fan motor for additional output, through which the injection device The output of 400 can be increased.

Also, as an example, the injection unit 420 may further include a height adjusting unit 424 and a fixed support unit 425 . For example, the height adjustment unit 424 and the fixed support unit 425 may be support units of the injection unit 420 . At this time, there is a need to adjust the spray angle, spray direction, and spray amount of the drug or water sprayed from the spray unit 420 . At this time, the position at which the drug or water is injected may be determined by the moving unit 410, but the angle at which the drug is injected at the position of the moving unit 410 is controlled through the height adjusting unit 424 and the fixed support unit 425. can That is, by adjusting the height of the height control unit 424, the height of the injection unit 420 through which the drug or water is injected can be controlled. Here, the control unit 430 of the spraying device 400 may control the height of the spraying unit 420 by controlling the above-described height adjusting unit 424 and the fixed support unit 425 based on the sensed information and external information. , which will be described later.

Here, as an example, the injection unit 420 may be in the form of the moving unit 410 installed or detachable from the moving unit, as described above. For example, when the spraying unit 420 is coupled to the moving unit 410 and installed, the fixed support 425 may be installed in a form fixed to the spraying unit 420 and a portion of the moving unit 410, respectively. On the other hand, when the spraying unit 420 is detachable from the moving unit 410, the fixed support 425 is fixed to the spraying unit, but may be detachable from the moving unit 410. That is, it may be bound to the moving part 410 through the fixed support part 425 of the spraying part 420, and is not limited to a specific embodiment.

As another example, the support (ie, the height adjusting unit 424 and the fixed support unit 425) of the spraying unit 420 described above may be rotatable. That is, the support part of the ejection part 420 may further include a rotating part (not shown) so that left and right adjustment is possible through rotation at the position of the moving part 410 as well as height. That is, the injection unit 420 may be capable of adjusting the horizontal direction as well as the vertical height, and the control unit 430 of the injection device 400 controls the left and right adjustment and the vertical adjustment of the spray unit 420 to adjust the desired angle and direction. Drugs or water can be sprayed.

Also, for example, referring to FIGS. 6A to 6C , a mesh-shaped shield 610 may be further included on the rear surface of the ejection unit 420 . For example, after the basic injection output is determined through the first injection unit 421 of the injection unit 420, the second injection unit 428 may be driven for additional injection output. In this case, the second jetting unit 428 may be driven based on the jet fan motor 426 and generate wind through the blades 427 to improve the output of the jetting unit 420 .

As a specific example, the injector 400 may further include a sensing unit capable of sensing surrounding crops, and the angle and spray amount of the injector 420 may be adjusted through the controller 430 based on the sensed information. . For example, the injector 400 may identify a target crop through a sensing unit and determine a spray amount and spray angle based on the state of the identified target crop. At this time, when there is a risk of damage to the target crop due to spraying (when withered or injured), the control unit 430 of the spraying device 400 adjusts the spraying amount weakly or the spraying angle and spraying amount so that the drug is sprayed around the crop. can be adjusted. As a specific example, when the injection output is small, the control unit 430 of the injection device 400 may drive only the first injection unit 421 and may not drive the second injection unit 428, but the above-described embodiment It may not be limited to.

As another example, when the target crop is an edible crop such as fruit, it is necessary to spray the drug so that the fruit does not reach the fruit, and the injector 400 controls the spray angle and amount of the spray unit so that the drug is applied to a specific area as described above. It can be sprayed only with In addition, as an example, the spraying device 400 may individually determine the expected harvest time of the target crop and control the spraying angle and spraying amount for each period, which will be described later.

As another example, FIGS. 7A and 7B are diagrams illustrating a method of controlling a height of an injection unit according to an embodiment of the present specification. For example, as described above, the control unit 430 of the injection device 400 needs to adjust the injection angle and injection amount. At this time, as an example, the spraying device 400 of FIGS. 3A and 3B may control the spraying angle because the spraying part is fixed, and may not perform efficient spraying. In addition, in FIGS. 3A and 3B, since the above-described second injection unit 428 is not provided, there may be a limit in adjusting the injection amount. For example, in consideration of the above, the injection unit 420 may include a height adjusting unit 424 and a fixed support unit 425 . At this time, the height adjusting unit 424 may control the height at which the injection unit 420 injects the drug in the form of a piston. For example, when the piston of the height adjusting unit 424 is reduced as shown in FIG. 7A , the drug sprayed by the spraying unit 420 may be sprayed to an area adjacent to the ground at a low angle. On the other hand, when the piston of the height adjuster 424 is stretched as shown in FIG. 7B , the drug injected by the injection unit 420 may be injected at a high angle to an area higher than the ground. Here, the above-described height adjusting unit 424 may be controlled through the control unit 430 of the injection device 400, and the control unit 430 uses the information obtained through the sensing unit or external information to control the height adjustment unit 424. ) can be controlled, which will be described later. As another example, the height adjusting unit 424 and the fixed support unit 425 of the injection unit 420 may be support units. At this time, as an example, the support may include a rotating part (not shown). Here, the rotation unit may be configured such that the injection unit 420 is rotatable around the support unit in a form coupled to the height adjusting unit 424 and the fixed support unit 425 . That is, the injection unit 420 may rotate left and right based on a support unit including a height adjusting unit 424 and a fixed support unit 425 . For example, the injector 400 may adjust the position while moving through the moving unit 410, but if the injector 400 is continuously moved and rotated, efficiency may decrease. Considering the above points, the injection unit may be able to adjust left and right as well as up and down. For example, left and right adjustment may also be controlled through the control unit 430 of the injector 400 . As a specific example, the control unit 430 of the injection device 400 may reflect the relative position of the moving unit 410 based on the information and external information acquired through the sensing unit and control the above-described rotating unit to perform left and right adjustment. And, it may not be limited to a specific embodiment.

As another example, the position of the hose 423 of the injection unit 420 may be set differently. More specifically, in FIG. 5B described above, the lake 423 may be located on the side, and may be connected to the storage tank from the side. At this time, for example, referring to FIG. 8 , the hose 810 of the spraying unit is not located on the side, and may pass through the rear surface of the spraying unit 420 and be connected to the storage tank. More specifically, the spraying unit 420 needs to control the spraying output, and needs to form an enclosed space for this purpose. For example, since the injection output may be proportional to the pressure, the injection unit 420 needs to be sealed so that the pressure of the injection unit 420 is high. Considering the above points, if the lake is located on the side, the ejection power may be weakened by the hole for the lake. On the other hand, if the lake 810 passes through the rear surface as in FIG. 8 , the hole for the lake 810 can be minimized, and through this, the injection output can be enhanced. Considering the above points, the lake 810 may be installed to pass through the rear surface rather than the side surface, and may not be limited to the above-described embodiment.

9 and 10 are views showing the structure of an injection device in one embodiment of the present specification. For example, referring to FIG. 9 , the injection device 400 includes a moving unit 410, a spraying unit 420, a control unit 430, a communication unit 440, a sensing unit 450, and a location tracking unit 460. At least any one or more may be included. At this time, as an example, the moving unit 410 may be a moving body as described above, which is as described above. In addition, the spraying unit 420 can also adjust the spraying angle and spraying amount as described above, as described above.

At this time, as an example, the control unit 430 may be configured to control the moving unit 410 and the spraying unit 420 described above. Also, as an example, the control unit 430 may further control the communication unit 440 , the sensing unit 450 and the location tracking unit 460 . Here, the communication unit 440 may be configured to perform communication with the outside based on the above-described FIGS. 1 and 2 . For example, the control unit 430 of the injection device 400 may be remotely controlled based on an external user or an external device through the communication unit 440. In addition, the control unit 430 of the injection device 400 may further obtain external information through the communication unit 440. That is, the communication unit 440 may be configured to transmit and receive signals to and from the outside.

Also, as an example, the sensing unit 450 may be configured to sense surrounding crops. For example, the sensing unit 450 may be a camera, a temperature sensor, a humidity sensor, and other components for sensing information, and is not limited to a specific form. That is, the sensing unit 450 may acquire crop information around the injector 400, and may transmit it to the control unit 430 of the injector 400. Also, as an example, the location tracking unit 460 may be a device for tracking the location of the injector 400 . For example, the location tracking unit 460 may be a GPS or other location tracking component, and is not limited to a specific form. As a specific example, the location tracker 460 may measure absolute location information based on longitude and latitude. As another example, the location tracker 460 may measure relative location information in consideration of the size and location of a rice paddy or field where pest control is performed, and is not limited to a specific form. The location tracking unit 460 may transmit the measured location information to the control unit 430 of the injector 400, and the control unit 430 may utilize the corresponding information.

As another example, referring to FIG. 10 , the injection device 400 may acquire external information 1010 through the communication unit 460 . Here, the external information 1010 may be information input by a user using the injection device 400 . Also, as an example, the external information 1010 may be information obtained from a server related to the injection device 400 . As another example, the external information 1010 may be information that is continuously learned through machine learning based on the server, and is not limited to the above-described embodiment. As a specific example, the external information 1010 may include operation time related information of the injector 400, crop type information, crop distribution information, area information, drug information, and other information. That is, information obtained by the injector 400 from the outside may be external information 1010, and is not limited to a specific form.

11a to 11c are diagrams illustrating a method of controlling an injection device according to an embodiment of the present specification. For example, the spraying device 400 operating based on the above-described FIG. 9 may control the spraying angle and the spraying amount. In more detail, referring to FIG. 11c, the injector 400 may sense the surrounding crops 1110 through the sensing unit 450 as shown in FIG. 11a. (S1110) At this time, as an example, the injector 400 ) may control the tilt injector based on the information about the surrounding crops 1110 acquired through the sensing unit 450 (S1120). At this time, as an example, the tilt injector is the injector 400 described above. The spraying angle may be adjusted based on the height adjusting unit 424 and the fixed support unit 425 of the furnace jetting unit 420 . As an example, the height adjusting unit 424 may be composed of the actuator described above, and the spray angle may be adjusted by controlling the height of the actuator (or piston) as shown in FIGS. 7A and 7B. Also, for example, the injector may control the spray height and angle of the injector 420 as described above (S1130). Then, the injector 400 based on the adjusted height and angle of the sprayer The drug may be injected. (S1140) At this time, for example, the injection device 400 may further control the injection amount. For example, the first injection unit 421 may be configured to receive and inject the drug through the lake 423 based on the compressor as described above. Then, the spraying device 400 may determine the spraying output of the second spraying unit 428 based on the determined spraying output of the first spraying unit 421 . That is, the total injection output may be determined through the injection power of the first injection unit 421 and the injection output of the second injection unit 428 . After that, the injection device 400 may determine an injection amount for dispensing the drug based on the first injection unit 421 and the second injection unit 428 .

Also, as an example, the injection unit 420 may control the left and right direction as well as the height and angle of the injection unit. As a specific example, the spraying unit 420 may further include a rotating unit as described above, and may change not only the height and angle of the spraying unit 420 but also the left and right directions, through which an efficient control operation may be performed. .

Also, as an example, the injection device 400 may control the injection unit 420 by further using other information. For example, the sensing unit 450 of the injector 400 may acquire various information related to the surrounding crops 1110 . The sensing unit 450 may acquire image information of the surrounding crops 1110 through a camera. Here, the control unit 430 of the injector 400 may acquire the type of surrounding crops and the development information of the surrounding crops based on the image information of the surrounding crops 111 . Also, as an example, the control unit 430 of the injector 400 may recognize relative positional information of surrounding crops 1110 based on the image information. As a specific example, referring to FIGS. 11A and 11B , the sensing unit 450 of the injector 400 may sense surrounding crops. At this time, when the height of the crop 1110 is high, as shown in FIG. 11a, the injector 400 may increase the spray height and spray angle by controlling the actuator of the height adjusting unit 424. On the other hand, when the height of the crop 1120 is low, as shown in FIG. 11B, the injector 400 may control the actuator of the height adjuster 424 to lower the spray height and spray angle.

In addition, as an example, the control unit 430 of the injector 400 may further obtain external information 1010 related to the surrounding crops 1110 based on the image information. In this case, the external information 1010 may include drug type information related to the surrounding crops 1110 . Also, as an example, the external information 1010 may further include information related to crop cultivation time. For example, the external information 1010 may include currently required drug type information and development information in relation to crop cultivation time. As another example, the external information 1010 may further include information on the area where the current crop is grown and information on distribution with other crops. As another example, the external information 1010 may be storage tank information filled by a user. For example, the storage tank information can be directly confirmed by measuring the weight of the injection device 400, and is not limited to the above-described embodiment.

That is, the control unit 430 of the injection device 400 may obtain image information through a camera, and obtain various external information 1010 based on the image information as described above. As another example, the injector 400 may further obtain location-related information based on the location tracking unit 460, which will be described later. Then, the injection device 400 may determine the injection angle and injection amount based on the information obtained as described above. For example, the spraying height and the spraying angle may be set to a value capable of obtaining an optimal control effect for each crop based on the above-described information. Also, as an example, the spray amount may be determined based on drug information and crop distribution information included in the storage tank as described above. That is, the spray amount can be adjusted so that the spray can be evenly sprayed over the entire area. As another example, the spraying angle may be determined based on information about a relative distance to the surrounding crops 1110 . In addition, as an example, the spraying may be sprayed in the form of mist or other various types as described above. At this time, the spray form may be determined in consideration of the type of crop or the developmental state of the crop. For example, it may be difficult to directly spray the drug on the crop based on the type of crop, and it may be considered that the crop is damaged. In addition, as an example, if the type of crop should be kept away from fruit or other drugs, the injection angle may be lowered so that the drug does not reach the fruit, but is not limited to the above-described embodiment.

As another example, the spraying angle may be determined based on the developmental state or state of the crop based on the image information. For example, if it is determined based on the image information that the development of crops is not good and that a large number of pests are distributed around them, the spray angle can be adjusted to the location where pests exist or the location of crops with poor development. Not limited. In addition, the injection device 400 may also adjust the injection angle based on the bar described above.

When the spraying height and the spraying angle are determined through the above bar, the spraying device 400 may adjust the spraying height and the spraying angle using the above-described height adjusting unit 424 . Also, as an example, the injection device 400 may determine the injection output by controlling the first injection unit 421 and the second injection unit 428 based on the determined injection amount. At this time, if the jetting output is determined based on the compressor of the first jetting unit 421, the jetting output can be improved through the jet fan motor of the second jetting unit 428, and through this, based on the desired jetting angle and jetting amount, Drugs can be supplied to crops. As a specific example, when the distance between the surrounding crops 1110 and the injector 400 is long, the injector 400 can efficiently supply the drug to the surrounding crops by increasing the spraying height and spraying angle.

As another example, referring to FIG. 12A , the injection device 400 may obtain location information through the location tracking unit 460 and further utilize this to determine the injection height, injection angle, and injection amount. In more detail, the injector 400 may acquire relative positional information of the injector 400 in an area where crops are grown based on the position tracking unit 460 . Also, as an example, the injector 400 may further obtain area information of a region where crops are grown as external information 1010 . At this time, when the injection device 400 is at the A position 1210, the injection device 400 may increase the injection height and increase the injection angle so that the drug spreads far. For example, since the injector 400 is located in the middle of the crop growing area, it is necessary to increase the spray height and spray angle to supply the drug to distant crops.

On the other hand, when the injector 400 is located at the B position 1220 or the C position 1230, the injector 400 can control the spray angle so that the drug is sprayed only on specific crops around it, thereby providing efficient control. can make it work.

As another example, referring to FIG. 12B , the injector 400 acquires route information based on information acquired through the location tracking unit 460, and reflects the route information to determine the injection height, injection angle, and injection amount. can decide For example, at position A 1240, which is an initial point of the spraying device 400 based on route information, the spraying height and spraying angle may be reduced to prevent the drug from leaving the crop growing area. On the other hand, at the middle point B position 1250, the actuator of the height control unit 424 is adjusted to increase the injection height and the injection angle to spread the drug as far as possible to supply the drug to a wide area, Through this, the drug can be sprayed over a wide area. In addition, when the injector 400 is at the C position 1260, the injector 400 may control the injection angle to prevent the drug from being repeatedly injected, thereby performing an efficient control operation. there is.

The embodiments described above may be at least partially implemented as a computer program and recorded on a computer-readable recording medium. Computer-readable recording media on which programs for implementing the embodiments are recorded include all types of recording devices in which computer-readable data is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, and optical data storage devices. In addition, computer-readable recording media may be distributed in computer systems connected through a network, and computer-readable codes may be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing this embodiment can be easily understood by those skilled in the art to which this embodiment belongs.

The present specification reviewed above has been described with reference to the embodiments shown in the drawings, but this is only exemplary, and those skilled in the art will understand that various modifications and variations of the embodiments are possible therefrom. However, such modifications should be considered within the technical protection scope of the present specification. Therefore, the true technical protection scope of the present specification should be determined to include other implementations, other embodiments, and equivalents to the claims by the technical spirit of the appended claims.

Claims (8)

In the injection device using a jet fan motor,
a moving unit for moving the injector;
a spraying unit coupled to the moving unit; and
Including; a control unit for controlling the moving unit and the injection unit;
the injection part,
a first injection unit and a second injection unit receiving and spraying the liquid from the storage tank provided in the moving unit; and
Includes; a support for supporting the injection unit;
the support,
a fixed support portion fixed to the injection unit and a part of the moving unit, respectively; and
Located in front of the fixed support, the height adjusting unit for adjusting the spray height and spray angle; including, the spray device.
According to claim 1,
The height adjusting unit includes an actuator,
Wherein the control unit controls the height adjusting unit based on the actuator to determine the spraying height and the spraying angle.
According to claim 2,
The support unit further includes a rotation unit for determining the left and right direction of the injection unit,
Wherein the control unit controls the up, down, left and right directions of the spray unit by determining the left and right directions of the spray unit based on the rotation unit.
According to claim 1,
The injection unit is coupled to the moving unit in a form installed on the moving unit or detachable to the moving unit,
When the spraying part is installed in the moving part, the fixed support part is installed in a form fixed to the spraying part and a part of the moving part, respectively,
When the injection unit is detachable to the moving unit, the fixed support unit is installed in a fixed form to the jetting unit and is installed in a detachable manner to the moving unit.
According to claim 1,
The injector is
a communication unit that communicates with an external device;
a sensing unit for sensing surrounding crop information; and
At least one of the location tracking unit for tracking the position of the injector further comprising, the injector.
According to claim 5,
The sensing unit further includes at least one or more of a camera, a temperature sensor, and a humidity sensor,
The injector is
Image information and crop-related information are acquired through the sensing unit, and the spraying height and the spraying angle are determined based on the image information and the crop-related information.
According to claim 6,
The injector further acquires external information through the communication unit,
Further obtaining location information of the injector through the location tracking unit,
The jet height and the jet angle are determined by reflecting the external information and the location information.
According to claim 1,
the injection part
a lake for delivering the liquid from the storage tank of the moving unit;
A drug receiver receiving the liquid through the lake; further comprising,
The first injection unit is connected to the drug receiving unit, receives and injects the liquid,
The second injection unit is disposed on the rear surface of the first injection unit to generate wind with the first injection unit to improve the injection output.

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