KR20230086217A - Self-driving rice husks spraying robot - Google Patents

Abstract

The present invention relates to a self-driving rice hull dispensing robot, wherein a driving camera that photographs and recognizes the surroundings transmits a signal to a mobile cart, so that the mobile cart automatically moves in an autonomous driving manner to bypass surrounding obstacles, objects, or animals, , The transfer device of the rice hull spreading device receives rice hull from the rice hull storage tank and moves it in the direction of the discharge device, and as this discharge device rotates, it automatically scatters the rice hull to the outside through the rear end of the transfer device.
According to the present invention, the moving path of the mobile cart is set with a driving camera signal that captures and recognizes the surrounding situation, so that the mobile cart automatically travels in an autonomous driving method, and by this autonomous driving method, surrounding obstacles, objects, or animals are removed. By recognizing it, there is no fear of colliding the mobile cart with obstacles, objects or animals, and the rice hulls stored in the rice hull storage tank of the rice hull spreading device are automatically scattered on the soil or ground through the transfer device and discharge device, and the rice hulls are evenly distributed. It is automatically scattered so that it is distributed, so there is no need for workers to frequently check the condition of the scattered rice hulls.

Description

Self-driving rice husks spraying robot}

The present invention relates to a rice hull spreading robot, and more particularly, a device for photographing and recognizing surrounding conditions in the driving direction with a driving camera, determining the moving direction of a mobile cart, and transferring rice hull stored in a rice hull storage tank of a rice hull spreading device. Through this, it is transferred to the rear end of the transfer device opposite to the moving cart, and the rice hull is supplied to the rotating discharging device, and the discharging device is rotated to disperse and discharge the rice hull to be scattered to the rear end of the transferring device, making the moving cart autonomous It relates to an autonomous driving type rice hull spraying robot that automatically sprays rice hulls while operating in a driving manner.

In general, in breeding farms such as farms that breed animals, in order to treat poultry manure, a moisture regulator such as sawdust, rice husk, coconut by-products, etc. is laid at a certain thickness, and the moisture regulator and microorganisms are occasionally additionally sprayed and stirred while breeding poultry. Then, the manure, sawdust, rice husk, etc. are mixed and fermented to compost or feed.

Proper moisture content promotes ideal fermentation of the rice hull and manure mixture, creates a hygienic environment for poultry, and is constantly performed as an indispensable management task to obtain high-quality duck down used in winter clothing.

However, conventional transportation and spraying operations of such a moisture regulator are generally performed cumbersomely by manpower using conventional agricultural tools such as wheelbarrows, shovels, and rubber rakes, so there is a disadvantage in that manpower and expenses cannot be reduced.

Patent Document 1 shows a conventional rice hull spreader. Referring to this, a frame to which moving wheels are attached, a hollow top with an open top, provided on one side of the frame, and a loading and receiving plate formed therein, and the lower end thereof A storage hopper in which an aeration nozzle is formed, one end located directly above the aeration nozzle, and the other end connected to the blower, a suction pipe for sucking rice husk located in the aeration nozzle in the storage hopper, installed on the outer surface of the suction pipe, supplied to the suction pipe It is composed of a flow control valve that controls the suction amount of rice hull, and an extension hose that is connected to a blower and discharges the rice hull sucked into the blower to the outside.

Here, when the rice husk bags are seated on the storage plate of the storage hopper and the rice husks are crushed, the rice hulls are filled in the storage hopper and the rice hulls are stored in the storage hopper. Accordingly, the rice hulls flow in the direction of the aeration nozzle, and the aeration nozzle The chaff is located within.

At this time, when the blower is driven to form a suction pressure in the suction pipe, the air contained in the aeration nozzle is supplied in the direction of the blower through the suction pipe, and then discharged to the outside through an extension hose connected to the blower.

Here, when it is desired to control the suction amount of the rice hull supplied to the suction pipe, the amount of rice hull discharged to the extension hose through the blower is adjusted by adjusting the flow control valve to adjust the amount of rice hull suction sucked into the suction pipe. At this time, the extension hose It is to disperse and discharge the rice hull toward the surroundings while holding it.

However, Patent Document 1 as described above has the inconvenience of requiring the operator to hold the handle and adjust the moving direction of the frame from time to time in a state where the rice husk is stored in the storage hopper, and the operator's field of view is not found in animal carcasses, obstacles or The frame may collide with an object, causing breakage or damage to the device. In the process of driving the frame while holding the handle, the operator frequently checks the surrounding environment and then directly grips the extension hose to remove chaff around the area. There is the inconvenience of having to spray directly, and the driving of the moving frame and the rice hull spraying using an extension hose are carried out at the same time, or two people perform the work in a team, increasing the number of unnecessary workers, resulting in a decrease in work efficiency. At the same time, there is a problem that the reliability of the product is lowered.

KR 20-0278917 Y1

The present invention is to solve the above-described problems, and an object of the present invention is to provide a moving cart formed with moving wheels, and to move a rice hull storage tank and rice hull supplied from the rice hull storage tank to the top of the moving cart. It has a rice hull spreading device including a conveying device and a discharging device that receives and scatters the rice hulls transported by the conveying device. By transmitting a signal to the bogie, the mobile cart automatically moves in an autonomous driving manner to bypass surrounding obstacles, objects, or animals, and the transfer device of the rice hull spreading device receives the rice hull from the rice hull storage tank and moves it in the direction of the discharge device. To provide an autonomous driving type rice hull distributing robot that automatically scatters rice hull to the outside through the rear end of the transfer device while the discharging device is rotated.

In order to achieve the object of the present invention as described above, an autonomous driving rice hull spreading robot according to the present invention includes a mobile cart having moving wheels on both sides; A rice hull spreading device installed on the upper part of the mobile cart, storing rice hull therein, and scattering the rice hull to the rear end opposite to the running direction of the mobile cart through the lower end thereof; In the self-driving type rice hull spreading robot composed of a driving camera fixedly installed on the front of the rice hull spreading device and photographing and recognizing surrounding conditions in the traveling direction of the mobile cart to determine the moving direction of the mobile cart, The spraying device has a hollow shape with open top and bottom, and a rice hull storage tank for storing rice hull therein; a transfer device installed at the lower end of the rice hull storage tank, allowing the rice hull stored in the rice hull storage tank to be seated on the upper surface thereof, and moving the rice hull while circulating in a direction opposite to the running direction of the moving cart; It is characterized in that it consists of; a discharging device installed at the rear end of the conveying device, receiving rice hulls transported by the conveying device, and rotating to scatter the rice hulls to the outside through the rear end of the conveying device.

In the self-driving rice hull distributing robot according to the present invention, the mobile cart is connected and installed at the rear end, and is rotated to plow the soil so that the rice hull scattered on the surface of the soil enters the ground. Further formation of a rotary stirring device characterized by one.

In the self-driving rice hull spreading robot according to the present invention, the rotary agitator has a hollow shape with an open bottom, and includes a housing connected to and installed at the rear end of the mobile cart; A plurality of rotary blades formed in the housing spaced apart at predetermined intervals along the longitudinal direction, exposed to the lower portion of the housing, and driven to rotate while penetrating into the soil while plowing the soil and stirring the soil and rice hulls; A third driving motor installed on one side of the housing, connected to the rotary blade, and rotating the rotary blade.

In the self-driving rice hull spreading robot according to the present invention, the conveying device of the rice hull spreading device includes: a chain sprocket installed facing each other in front and rear and circulating; a first driving motor connected to one of the chain sprockets and rotationally driving the chain sprocket; It is installed to connect between the chain sprockets, and is formed on the upper surface of a plurality of flat irons spaced apart at predetermined intervals to guide the movement of rice hulls, and a transfer plate that is circulated by the chain sprocket to move the rice hulls. to be characterized

In the self-driving rice hull spreading robot according to the present invention, the discharging device of the rice hull spreading device is installed at the rear end of the conveying device in an upper and lower narrow structure, and receives the rice hull transferred by the conveying device and moves the rice hull downward. a hopper for gathering and dropping; It is rotatably installed at the bottom of the hopper, and a plurality of blades spaced apart at predetermined intervals in an annular shape are formed on the upper surface, and the upper surface is supplied with rice hulls falling down the hopper, and while being rotated, the blades push the rice hulls out , a rotary spreader forcing the rice hull to be discharged to the rear end of the transfer device; It is fixed to one side of the hopper, the lower end is connected to the rotary spreader, and the second drive motor rotates the rotary spreader in a forward or reverse direction.

In the self-driving rice hull distributing robot according to the present invention, the chaff dispersing device receives the driving camera signal from the front of the rice hull storage tank, grasps the carcass of an animal located on a driving route, and moves the animal carcass. It is characterized by further forming a robot arm.

In the self-driving rice hull dispensing robot according to the present invention, the rice hull dispensing device further forms a chemical liquid container on the upper surface of the rice hull storage tank, and is formed to extend in a bar shape on the rear surface of the discharging device, with a predetermined interval on the rear surface. It is characterized in that a plurality of spaced apart nozzles are formed, and an injection device connected to the chemical liquid container and spraying chemicals to rice hulls scattered on the soil through the nozzles is further formed.

In the self-driving rice hull distributing robot according to the present invention, the driving camera includes: a video camera for identifying objects, obstacles, or animals by photographing the surroundings of the traveling direction of the mobile cart; a 3D camera for measuring the distance between the moving cart and objects, obstacles or animals by taking pictures of the surroundings of the moving cart; It is characterized in that it includes; a thermal imaging camera for determining whether the animal is alive or dead by taking a picture of the body temperature of the animal located around the running direction of the mobile cart.

According to the present invention, the moving path of the mobile cart is set with a driving camera signal that captures and recognizes the surrounding situation, so that the mobile cart automatically travels in an autonomous driving method, and by this autonomous driving method, surrounding obstacles, objects, or animals are removed. By recognizing it, there is no fear of colliding the mobile cart with obstacles, objects or animals, and the rice hulls stored in the rice hull storage tank of the rice hull spreading device are automatically scattered on the soil or ground through the transfer device and discharge device, and the rice hulls are evenly distributed. It is automatically scattered so that the operator does not have to check the condition of the scattered rice husk frequently. There are advantages to this improvement.

1 is a perspective view showing an autonomous driving rice hull spreading robot according to the present invention.
Figure 2 is a view of Figure 1 viewed from the rear.
Figure 3 is a perspective view showing the transfer device of the self-driving rice hull spreading robot according to the present invention.
Figure 4 is a perspective view showing the discharge device of the self-driving rice hull spreading robot according to the present invention.
Figure 5 is a perspective view showing the spraying device of the self-driving rice hull spreading robot according to the present invention.
6 is a schematic front view showing a driving camera of an autonomous driving rice hull spreading robot according to the present invention.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

1 to 6, the moving cart 100 forms moving wheels 101 on both sides.

The mobile cart 100 receives a signal from the driving camera 300 and moves by bypassing obstacles, objects, or animals located in the driving direction.

It is preferable that the mobile cart 100 receives a signal from the driving camera 300 and travels to a predetermined place in an autonomous driving manner.

The moving cart 100 is preferably formed of a caterpillar wheel and moves along the soil or ground.

The mobile cart 100 installs the rice hull spreading device 200 on its upper part, and moves the rice hull spreading device 200 in a predetermined direction.

The mobile cart 100 is installed connected to its rear end, and further forms a rotary agitator 110 that plows the soil while being rotated so that the rice husk scattered on the soil surface enters the ground.

The rotary agitator 110 enters the ground of the soil, and it is preferable to turn the soil so that the soil in the ground is exposed to the soil surface while being rotated.

The rotary stirrer 110 has a hollow shape with an open bottom, and is formed in a plurality of housings 111 connected to the rear end of the mobile cart 110 and spaced apart at predetermined intervals along the longitudinal direction in the housing 111, , The rotary blade 112 exposed to the lower part of the housing 111, which is driven to rotate and digs into the ground of the soil while plowing the soil and stirring the soil and rice husk, installed on one side of the housing 111, the rotary blade It is connected to (112) and consists of a third driving motor (113) that rotates the rotary blade (112).

The housing 111 covers the rotary blade 112 in a semicircular shape to prevent the soil bouncing upward by the rotary blade 112 from penetrating toward the rear end of the conveying device 220 .

The rotary blade 112 is preferably formed in the shape of a hook so as to dig into the ground of the soil and grind the soil.

The rotary blade 112 is rotated and driven by the third drive motor 113 to plow the soil.

The third drive motor 113 rotates by receiving an operation signal from an operation button (not shown), thereby rotationally driving the rotary blade 112 .

The rice hull spreading device 200 is installed on the upper part of the mobile cart 100, stores rice hull therein, and scatters the rice hull to the rear end opposite to the driving direction of the mobile cart 100 through the lower end thereof.

The rice hull spreading device 200 spreads rice hull on the floor or soil of farmhouses, so that the floor or soil is covered with rice hull.

The rice hull spreading device 200 scatters the rice hull so that the rice hull is dispersed in all directions at the rear end.

The rice hull spreading device 200 has a hollow shape with upper and lower parts open, and is installed at the bottom of the rice hull storage tank 210 and the rice hull storage tank 210 for storing rice hull therein, and the rice hull is installed on the upper surface thereof. The rice hull stored in the storage tank 210 is seated, and the transfer device 220 moves the rice hull while circulating in the direction opposite to the driving direction of the mobile cart 100, installed at the rear end of the transfer device 220. and a discharging device 230 that receives the rice husk transported by the conveying device 220 and is rotated to scatter the chaff to the outside through the rear end of the conveying device 220.

An upper portion of the rice hull storage tank 210 may be covered by a lid (not shown).

The rice hull storage tank 210 allows the rice hull to be seated on the transfer device 220 by passing the rice hull downward.

It is preferable that the driving camera 300 be installed on the front of the rice hull storage tank 210.

The rice hull spreading device 200 receives a signal from the driving camera 300 on the front of the rice hull storage tank 210, grabs the animal carcass located on the driving route, and moves the animal carcass robot arm 250 form more

The robot arm 250 preferably receives a signal from the thermal imaging camera 3030 of the driving camera 300 to grip and move the animal corpse.

Preferably, the robot arm 250 is formed of a scara 4-axis robot and grips the dead body of an animal.

The robot arm 250 grips the animal corpse and moves the animal corpse to a predetermined location so that the animal corpse is separated from the driving path.

The rice hull spreading device 200 further forms a liquid medicine container 260 on the upper surface of the rice hull storage tank 210.

Preferably, the liquid container 260 contains an antiseptic solution for disinfecting rice hulls scattered on the ground or soil therein.

The conveying device 220 moves the rice hulls stored in the rice hull storage tank 210 toward the discharging device 230 and supplies the chaff to the discharging device 230 .

The conveying device 220 of the rice hull spreading device 200 is connected to one of the chain sprocket 221 and the chain sprocket 221, which are installed facing each other in front and back, and circulate, and the chain sprocket 221 A first drive motor 222 for rotationally driving the sprocket 221, installed to connect between the chain sprocket 221, and a plurality of flat irons 223a formed on the upper surface at a predetermined interval to guide the movement of rice hulls It is composed of a transfer plate 223 that is circulated by the chain sprocket 221 to move the chaff.

The chain sprocket 221 is installed at each of the front and rear ends of the transfer device 220, and is installed in pairs symmetrically on both sides.

The chain sprocket 221 circulates and rotates the transfer plate 223 while being rotated.

The conveying plate 223 has a plate material shape having a loop structure, connects between the chain sprockets 221, and is rotated and circulated by the chain sprocket 221.

The transfer plate 223 pushes the rice hull toward the discharging device 230 by allowing the rice hull to be caught and seated on the flat iron 223a.

It is preferable that a plurality of flat irons 223a are formed on the upper surface of the transfer plate 223 at a predetermined interval to partition the upper surface of the transfer plate 223 .

The discharging device 230 receives the rice hull from the conveying device 220, and evenly disperses and discharges the rice hull so that the chaff spreads in all directions from the rear end of the conveying device 220.

The discharging device 230 of the rice hull spreading device 200 is installed at the rear end of the conveying device 220 in an upper and lower narrow structure, receives the rice hulls transported by the conveying device 220, and collects and drops the rice hulls downward. A hopper 231, rotatably installed at the lower end of the hopper 231, and forming a plurality of blades 232a spaced annularly on the upper surface thereof, falling downward of the hopper 231 on the upper surface thereof. A rotary spreader 232 that receives rice hull and pushes the rice hull with the blade 232a while being rotated to force the rice hull to be discharged to the rear end of the transfer device 220, fixed to one side of the hopper 231, Its lower end is connected to the rotary spreader 232 and is composed of a second drive motor 233 that rotates the rotary spreader 232 in a forward or reverse direction.

The hopper 231 receives rice hulls and collects and drops the rice hulls so that the rice hulls fall to the upper surface of the rotary spreader 232.

The hopper 231 is installed directly above the rotary spreader 232.

The rotary spreader 232 is formed in a circular plate shape, and it is preferable to form a blade 232a for pushing rice hulls on its upper surface.

The rotary spreader 232 is rotated at a predetermined speed by the second drive motor 233 to push the rice hull with the blade 232a, so that the rice hull is forcibly discharged to the rear of the transfer device 220.

The rotary spreader 232 pushes the rice husk with the blade 232a, so that the rice hull spreads in all directions and is discharged.

The second drive motor 233 rotates the rotational spreader 232 at a relatively high speed compared to the first drive motor 222 and the third drive motor 113, so that the rotational spreader 232 removes rice hulls. Distributed discharge in all directions.

It is formed to extend in a bar shape on the rear side of the discharge device 230, and forms a plurality of nozzles 271 spaced apart at a predetermined interval on the rear side, and is connected to the chemical tank 260 to pass through the nozzle 261. A spraying device 270 for spraying chemicals on the rice hulls scattered on is further formed.

The injection device 270 sprays the chemical solution contained in the chemical solution container 260 to the rice husk through the nozzle 271 so that the chemical solution is applied to the rice hull.

Preferably, the injection device 270 disinfects the rice hull by spraying the antiseptic solution contained in the liquid medicine container 260 to the rice hull.

It is preferable that the injection device 270 sprays the chemical solution in a downwardly inclined direction from the rear end of the discharging device 230 to apply the chemical solution to the rice husk.

The traveling camera 300 is fixedly installed on the front of the rice hull spreading device 200, and determines the moving direction of the mobile cart 100 by photographing and recognizing surrounding conditions in the driving direction of the mobile cart 100.

The traveling camera 300 photographs and recognizes obstacles, objects, or animals around the driving direction, and inputs a control signal to the moving cart 100 so that the moving cart 100 bypasses the obstacles, objects, or animals.

The traveling camera 300 captures the surroundings of the traveling direction of the mobile cart 100 and the video camera 301 for identifying objects, obstacles, or animals, and photographs the surroundings of the traveling direction of the mobile cart 100, A 3D camera 302 for measuring the distance between the mobile cart 100 and an object, obstacle or animal, and taking a picture of the body temperature of an animal located around the running direction of the mobile cart 100 to determine whether the animal is alive or dead A thermal imaging camera 303 is included.

The driving camera 300 is formed to perform the functions of the video camera 301, the 3D camera 302 and the thermal imaging camera 303.

The video camera 301 learns and recognizes objects, obstacles, or animals in a deep learning method, and identifies and analyzes the types of objects, obstacles, or animals.

The 3D camera 302 measures the proximity distance between the mobile cart 100 and an object, obstacle, or animal so that the mobile cart 100 bypasses the object, obstacle, or animal beforehand and travels on the mobile cart 100. ) to control.

The thermal imaging camera 303 captures the animal's body temperature, recognizes the animal as a dead body if the animal's body temperature is lower than the predetermined body temperature, and recognizes the animal as an active animal if the animal's body temperature is higher than the predetermined temperature, and the robot arm 250 transmits a signal to

The self-driving rice hull spreading robot according to the present invention configured as described above is used as follows.

First, rice hull is supplied into the rice hull storage tank 210 of the rice hull spreading device 200 installed on the mobile cart 100 so that the rice hull is stored in the rice hull storage tank 210.

In addition, when the moving cart 100 is operated by manipulating an operation button (not shown) installed on one side of the rice hull spreading device 200, the moving wheels 101 of the moving cart 100 are rotated and driven to The rice hull spreading device 200 is moved in a predetermined direction.

Here, the mobile cart 100 receives signals from the driving camera 300 for identifying obstacles, objects, or animals lying around while photographing and recognizing the surrounding conditions in the driving direction, and bypasses the obstacles, objects, or animals. is to move

At this time, the driving camera 300 includes a video camera 301, a 3D camera 302, and a thermal imaging camera 303, so that objects, obstacles, or animals are learned using the deep learning method using the video camera 301. After identifying and analyzing the type of object or obstacle or the type of animal, the 3D camera 302 measures the proximity distance between the moving cart 100 and the object, obstacle or animal, so that the moving cart 100 ) is made to drive by bypassing objects, obstacles or animals in advance, so that the traveling direction of the mobile cart 100 is determined.

On the other hand, while taking pictures of animals located around the driving direction with the thermal imaging camera 303, the body temperature of the animal is checked. It is recognized as an active animal and transmits a signal to the robot arm 250.

Then, the mobile cart 100 moves in the direction of the animal carcass and places the robot arm 250 installed in front of the rice hull storage tank 210 of the rice hull spreading device 200 close to the animal carcass. At this time, the robot The arm 250 is operated in a joint structure to grip the animal carcass and float it in the air.

Subsequently, when the mobile cart 100 receives a signal from the driving camera 300 and moves to a predetermined place, the robot arm 250 is operated in a joint structure and the animal carcass is separated from the robot arm 250 at a predetermined place. The animal carcass is dropped and separated, so that the animal carcass gets out of the driving path.

On the other hand, while the mobile cart 100 receives a signal from the driving camera 300 and travels, the rice hull stored in the rice hull storage tank 210 of the rice hull spreading device 200 falls downward, and the transfer device 220 At this time, the conveying device 220 moves the rice hull in the direction of the discharging device 230, and the rice hull is supplied to the discharging device 230.

Here, when the first driving motor 222 of the transfer device 220 rotates and drives any one of the plurality of chain sprockets 221 to rotate, the loop structure formed to connect the chain sprockets 221 to each other. As the conveying plate 223 of the chain is circularly rotated by the chain sprocket 221, the chaff seated on the upper surface is moved toward the discharging device 230.

At this time, a plurality of flat irons 223a are formed on the upper surface of the conveying plate 223, and the rice hull is pushed by the flat irons 223a and moved in the direction of the discharging device 230.

Subsequently, the rice husk moved to the discharging device 230 enters the hopper 231, and then moves downward by the hopper 231, is collected in the center, and falls to the upper surface of the rotary spreader 232.

Here, the rotary spreader 232 is rotated by the second drive motor 233, receives rice hull on its upper surface, and forms an arc shape toward the rear of the transfer device 220. Scatters the rice hull in all directions It is.

That is, while the rotary spreader 232 is continuously rotated by the second drive motor 233, the rice hull is supplied and scattered in all directions in an arc shape so that the rice hull is evenly distributed, so that the rice hull is evenly distributed on the ground or soil are sprayed

On the other hand, in the case of disinfection of rice hulls sprayed on the ground or soil, while the mobile cart 100 travels in the direction in which the rice hulls are sprayed, the chemical solution contained in the chemical container 260 is supplied to the injection device 270 Thus, the chemical solution is sprayed on the rice husk sprayed on the ground or soil through the nozzle 271 of the spray device 270, so that the chemical solution is applied to the rice hull to disinfect the rice hull.

At this time, it is preferable that the mobile cart 100 travels in the direction in which the rice hulls are scattered by the driving camera 300 that identifies whether or not the rice hulls scattered on the ground or soil are spread.

In addition, when the rice hull is scattered on the soil through the rice hull spreading device 200, the rice hull scattered on the soil surface must be evenly mixed with the soil to prevent the rice hull from being scattered on the soil surface by drafts.

That is, after confirming the rice hull spreading position with the traveling camera 300, the mobile cart 100 travels toward the rice hull spreading position, and in that state, while rotating the rotary agitator 110, the rotary stirring The soil is plowed by the device 110 so that the rice husk spread on the soil surface is evenly mixed with the soil.

Here, the third drive motor 113 of the rotary agitator 110 rotates the rotary blade 112 while being rotated, and thus, the rotary blade 112 digs into the ground and soil buried in the ground. By lifting it to the ground, the rice hulls sprayed on the soil surface are mixed with the soil and buried in the soil.

At this time, when the soil is overturned by the rotary blade 112, the soil buried in the ground bounces up to the ground, and at this time, the soil is blocked on the inner circumferential surface of the housing 111 and penetrates into the rear of the transfer device 220. prevented from becoming

In the above, the rice hull spraying device 200 for spraying rice hull, the spraying device 270 for spraying chemical solution, and the rotary agitator 110 for plowing the soil are driven alternately to perform respective tasks.

As described above, while the mobile cart 100 is driven in an autonomous driving manner through the driving camera 300, the rice hull is spread evenly in all directions through the transfer device 220 and the discharging device 230 of the rice hull spreading device 200 The structure sets the moving path of the mobile cart 100 with the signal of the driving camera 300 for photographing and recognizing the surrounding situation, the mobile cart 100 automatically travels in an autonomous driving method, and by this autonomous driving method By recognizing surrounding obstacles, objects, or animals, there is no fear of collision of the mobile cart 100 with obstacles, objects, or animals, and the rice hulls stored in the rice hull storage tank 210 of the rice hull spreading device 200 are transported ( 220) and the discharging device 230, it is automatically scattered on the soil or ground, and the rice hulls are automatically scattered so that the rice hulls are evenly distributed, so that the operator does not have to frequently check the state of the scattered rice hulls.

The self-driving rice hull distributing robot according to the present invention described above is not limited to the above-described embodiments, and those skilled in the art to which the present invention belongs without departing from the gist of the present invention claimed in the following claims If it is, the technical spirit is there to the extent that anyone can change and implement it in various ways.

100: moving truck 101: moving wheel
110: rotary stirrer 111: housing
112: rotary blade 113: third drive motor
200: Rice hull spreading device 210: Rice hull storage tank
220: transfer device 221: chain sprocket
222: first drive motor 223: transfer plate
223a: flat steel 230: discharge device
231: hopper 232: rotary spreader
232a: blade 233: second drive motor
250: robot arm 260: medicine container
270: injector 271: nozzle
300: driving camera 301: video camera
302: 3D camera 303: thermal imaging camera

Claims (8)

A moving cart 100 having moving wheels 101 on both sides;
A rice hull spreading device 200 installed on the upper part of the mobile cart 100, storing rice hull therein, and scattering the rice hull to the rear end opposite to the driving direction of the mobile cart 100 through the lower end thereof;
A traveling camera 300 fixedly installed on the front of the rice hull spreading device 200 and determining the moving direction of the mobile cart 100 by photographing and recognizing surrounding conditions in the traveling direction of the mobile cart;
In the self-driving rice hull spreading robot composed of,
The rice hull spreading device 200,
A rice hull storage tank 210 having a hollow shape with open top and bottom and storing rice hull therein;
It is installed at the lower end of the rice hull storage tank 210, and allows the rice hull stored in the rice hull storage tank 210 to be seated on the upper surface, and circulates in a direction opposite to the running direction of the mobile cart 100 to remove rice hulls. Transfer device 220 for moving;
A discharging device 230 installed at the rear end of the conveying device 220, receiving rice hulls transported by the conveying device 220, and rotating to scatter the rice hulls to the outside through the rear end of the conveying device 220 ;
An autonomous driving rice hull spreading robot, characterized in that composed of. According to claim 1,
The mobile cart 100,
An autonomous driving type rice hull spreading robot characterized in that a rotary stirring device 110 is further formed connected to the rear end and rotated to plow the soil so that the rice husk scattered on the soil surface enters the ground. According to claim 2,
The rotary stirring device 110,
a housing 111 connected to the rear end of the moving cart 110 and having a hollow shape with an open bottom;
A plurality of rotary blades formed in the housing 111 spaced apart at predetermined intervals along the lengthwise direction, exposed to the lower portion of the housing 111, and driven to rotate while digging into the ground, plowing the soil and stirring the soil and rice hulls. (112);
a third driving motor 113 installed on one side of the housing 111 and connected to the rotary blade 112 to rotate the rotary blade 112;
Self-driving chaff spreading robot, characterized in that composed of. According to claim 1,
The conveying device 220 of the rice hull spreading device 200,
chain sprockets 221 installed facing each other in front and back, and circulating;
a first driving motor 222 connected to one of the chain sprockets 221 and rotationally driving the chain sprocket 221;
It is installed to connect between the chain sprockets 221, and is formed on the upper surface of a plurality of flat irons 223a spaced apart at predetermined intervals to guide the movement of rice husks. Transfer plate 223 for moving;
An autonomous driving rice hull spreading robot, characterized in that composed of. According to claim 1,
The discharging device 230 of the rice hull spreading device 200,
A hopper 231 installed at the rear end of the transfer device 220 in an upper and lower narrow structure, receiving the rice hulls transported by the transfer device 220 and gathering and dropping the rice hulls downward;
It is rotatably installed at the bottom of the hopper 231 and forms a plurality of blades 232a spaced annularly at predetermined intervals on its upper surface, and receives rice hulls falling downward from the hopper 231 on the upper surface, and rotates A rotary spreader 232 that pushes the rice husk with the blade 232a while being operated and forces the rice hull to be discharged to the rear end of the conveying device 220;
A second driving motor 233 fixed to one side of the hopper 231 and having a lower end connected to the rotary spreader 232 to rotate the rotary spreader 232 in a forward or reverse direction;
Self-driving chaff spreading robot, characterized in that composed of. According to claim 1,
The rice hull spreading device 200,
Characterized in that a robot arm 250 is further formed on the front of the rice hull storage tank 210 to receive the signal from the driving camera 300, grip the animal carcass located on the driving route, and move the animal carcass Self-driving rice hull dispensing robot. According to claim 1,
The rice hull spreading device 200,
A chemical container 260 is further formed on the upper surface of the rice hull storage tank 210,
It is formed to extend in a bar shape on the rear side of the discharge device 230, and forms a plurality of nozzles 271 spaced apart at a predetermined interval on the rear side, and is connected to the chemical tank 260 to pass through the nozzle 261. An autonomous driving type rice hull spraying robot characterized in that a spraying device 270 for spraying chemicals on the rice hulls scattered on is further formed. According to claim 1,
The driving camera 300,
a video camera 301 for identifying objects, obstacles, or animals by photographing the surroundings of the traveling direction of the mobile cart 100;
a 3D camera 302 that measures the distance between the mobile cart 100 and objects, obstacles or animals by taking pictures of the surroundings of the moving cart 100;
a thermal imaging camera 303 for determining whether the animal is alive or dead by taking a picture of the body temperature of the animal located around the driving direction of the mobile cart 100;
Self-driving rice hull spreading robot, characterized in that it comprises a.

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