KR20230109197A - Gimbal type injection device - Google Patents

Abstract

According to one embodiment of the present specification, a gimbal-type spraying device includes a moving unit for moving the spraying device, a gimbal-type spraying unit coupled with the moving unit, and a control unit for controlling the moving unit and the spraying unit, but the gimbal-type spraying unit A pitch adjusting unit for adjusting the pitch of the gimbal-type spraying unit, a yaw adjusting unit for adjusting the yaw of the gimbal-type spraying unit, a hose for transferring liquid from a storage tank provided in the moving unit, a drug receiving unit for receiving liquid through the hose, It may include a first injection unit connected to the drug receiver and dispensing a liquid, and a second injection unit disposed at a rear surface of the first injection unit to generate wind with the first injection unit to improve injection output.

Description

Gimbal type injection device {GIMBAL TYPE INJECTION DEVICE}

The present invention relates to a gimbal type injector. More specifically, it relates to a device for injecting a drug or the like by coupling a gimbal-type injector to a moving body.

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

This specification relates to a gimbal type injector.

The present specification relates to a device for supplying drugs or moisture by utilizing a gimbal-type injection unit coupled to a moving body.

The present specification relates to a device for controlling an injection amount in an injection device having a gimbal-type injection unit.

The present specification relates to a device for improving injection efficiency by controlling an angle and a direction of an injection device having a gimbal-type injection unit.

The present specification relates to a device for improving injection efficiency by recognizing surroundings in a spraying device equipped with a gimbal-type spraying unit.

According to one embodiment of the present specification, a gimbal-type spraying device includes a moving unit for moving the spraying device, a gimbal-type spraying unit coupled with the moving unit, and a control unit for controlling the moving unit and the spraying unit, but the gimbal-type spraying unit A pitch adjusting unit for adjusting the pitch of the gimbal-type spraying unit, a yaw adjusting unit for adjusting the yaw of the gimbal-type spraying unit, a hose for transferring liquid from a storage tank provided in the moving unit, a drug receiving unit for receiving liquid through the hose, It may include a first injection unit connected to the drug receiver and dispensing a liquid, and a second injection unit disposed at a rear surface of the first injection unit to generate wind with the first injection unit to improve injection output.

In addition, according to one embodiment of the present specification, the first injection unit controls the jetting output of the liquid delivered through the hose based on the compressor through pressure, and the second injection unit controls the jet fan motor connected to the second injection unit It is possible to receive power through and generate wind through a blade connected to the second jetting unit to enhance jetting output.

In addition, according to one embodiment of the present specification, the pitch adjustment unit and the yaw adjustment unit are integrally formed, the yaw adjustment unit is fixed to the moving unit, and the injector including the first injection unit and the second injection unit is physically connected to the pitch adjustment unit. And, the injector may be provided spaced apart from the yaw control unit at a predetermined interval.

In addition, according to an embodiment of the present specification, when the pitch of the gimbal-type ejection unit is adjusted based on the pitch adjustment unit, the pitch of the gimbal-type ejection unit is adjusted by changing the pitch in a space where the injector is formed based on a predetermined interval, When the yaw of the gimbal-type injector is adjusted based on the yaw adjustment unit, the alveolar part and the injector may be rotated together to adjust the yaw.

In addition, according to one embodiment of the present specification, the hose may pass through the center of the yaw adjustment unit, pass through the center of the pitch adjustment unit based on the integrally configured pitch adjustment unit and the yaw adjustment unit, and be connected to the first injection unit through the injector.

In addition, according to one embodiment of the present specification, the hose is composed of a first part passing through the integral pitch adjustment unit and the yaw adjustment unit, and a second part passing through the injector, and the pitch adjustment unit is based on the protruding fastening part of the injector. And connected, when the pitch adjustment part is connected to the protruding fastening part of the injector, the first part and the second part of the hose may be connected.

In addition, according to one embodiment of the present specification, the first injection unit may include at least one of a mist generator for spraying in the form of mist, a vortex generator for spraying liquid far away, and an additional compressor for improving spray output. can

In addition, according to an embodiment of the present specification, the gimbal-type injector 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 location of the gimbal-type injector. may contain one more.

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 gimbal-type injector acquires image information and crop-related information through the sensing unit, and image information. An injection power is determined based on the information and the crop-related information, wherein the injection power is determined from the first injection power determined based on the compressor of the first injection unit to a second injection power that is improved based on the wind generated in the second injection unit. can

In addition, according to an embodiment of the present specification, the gimbal-type injector further obtains external information through the communication unit and further obtains location information of the injector through the location tracking unit, but the ejection output reflects the external information and the location information. can be determined by

The present specification may provide a gimbal type injector.

The present specification may provide a device for supplying drugs or water by utilizing a gimbal-type injection unit coupled to a moving body.

The present specification has an effect of efficiently injecting water and drugs through a device for controlling an injection amount in an injection device having a gimbal-type injection unit.

The present specification has the effect of improving the injection efficiency by controlling the angle and direction of the injection device in the injection device having a gimbal-type injection unit.

The present specification has an effect of improving injection efficiency by recognizing the surroundings in a spraying device equipped with a gimbal-type spraying unit.

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 diagram showing a 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.
4C is a view showing a spraying device in which a gimbal-type spraying unit is coupled to a moving body according to an embodiment of the present specification.
Figure 5a is a view showing a gimbal-type spraying unit in one embodiment of the present specification.
Figure 5b is a view showing the internal structure of the gimbal-type ejection unit in one embodiment of the present specification.
Figure 5c is a view showing a gimbal-type spraying unit in one embodiment of the present specification.
Figure 5d is a view showing the internal structure of the gimbal-type spraying unit in one embodiment of the present specification.
Figure 6a is a view showing a gimbal-type spraying unit in one embodiment of the present specification.
Figure 6b is a view showing a gimbal-type spraying unit in one embodiment of the present specification.
Figure 6c is a view showing a gimbal-type spraying unit in one embodiment of the present specification.
Figure 6d is a view showing a gimbal-type spraying unit in one embodiment of the present specification.
Figure 7a is a diagram showing the internal configuration of a gimbal-type ejection unit in one embodiment of the present specification.
Figure 7b is a diagram showing the internal configuration of the gimbal-type ejection unit in one embodiment of the present specification.
Figure 7c is a view showing a method of spraying water or drug based on the internal configuration of the gimbal-type spraying unit in one embodiment of the present specification.
7d is a diagram illustrating a method in which internal parts of a gimbal-type spray unit are coupled according to an embodiment of the present specification.
8 is a view showing the structure of a gimbal-type injector in one embodiment of the present specification.
9 is a diagram illustrating a method of controlling a gimbal-type device based on external information according to an embodiment of the present specification.
10 is a diagram illustrating a method of controlling a spraying unit of a gimbal-type spraying device according to an embodiment of the present specification.
11 is a flowchart illustrating a method of controlling a spraying unit of a gimbal-type spraying device according to an embodiment of the present specification.
12a is a diagram illustrating a method of controlling a gimbal-type injector according to an embodiment of the present specification.
12b is a diagram illustrating a method of controlling a gimbal-type injector according to an 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 consideration of the above points, the spraying device 400 may include a moving unit (or moving body) and may include an additional spraying unit, through which an efficient control operation may be performed. As a specific example, FIG. 4B is a view showing 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, 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, it is a view showing the injection device 400 in which the injection unit is coupled to the moving body. Referring to FIG. 4B , the spraying device 400 may include a moving unit 410 as well as a spraying unit 420 using a jet fan motor. At this time, the spraying unit 420 using the jet fan motor may inject the drug or water in a desired distance and direction by using the jet fan motor. Here, as an example, the injection unit 420 using a jet fan motor may be installed with the moving unit 410 . As another example, the injection unit 420 using a jet fan motor may be detachable from the moving unit 410, and is not limited to a specific shape. Also, as an example, the control unit 430 of the jetting device 400 may control the moving unit 410 and the jetting unit 420 using a jet fan motor.

As another example, referring to FIG. 4C , the spraying device 400 may include a gimbal-type spraying unit 430 as well as a moving unit 410 . In this case, the gimbal may be a structure made to rotate an object around one axis.

For example, in a structure composed of three gimbals, when the rotational axis of one gimbal is configured to be perpendicular to the rotational axis of the other two gimbals, the object mounted on the rotational axis of the innermost gimbal may not be affected by the rotation of the outer support, This allows the object to be level even if there is movement. For example, even if the moving unit 410 moves based on the above-described gimbal, the gimbal-type spraying unit 430 can maintain a horizontal level, and through this, the drug or water can be sprayed in a desired direction. can Here, as an example, the gimbal-type spraying unit 430 may be installed with the moving unit 410 . As another example, the injection unit 430 may be detachable from the moving unit 410, and is not limited to a specific shape. Also, as an example, the control unit 440 of the spraying device 400 may control the moving unit 410 and the spraying unit 420, which will be described later.

5A to 5D are diagrams illustrating a gimbal-type injector 430 or a gimbal-type injector. For example, the gimbal-type injector may be coupled to the above-described moving unit 410 to be one component of the injector, but may not be limited thereto. However, in the following description, for convenience of description, the gimbal-type spraying unit 430 coupled to the moving unit 410 in the spraying device 400 will be described. For example, the gimbal-type spraying unit 430 may include a pitch adjusting unit 431 and a yaw adjusting unit 432 . In this case, the pitch adjustment unit 431 may include an actuator motor, and through this, the pitch of the gimbal-type jetting unit 430 may be adjusted. That is, the height of the gimbal-type spraying unit 430 may be adjusted based on the movement of the actuator motor included in the pitch adjusting unit 431 . In addition, the pitch adjustment unit 431 may further include a support (not shown) for adjusting the height of the gimbal-type jetting unit 430 based on the actuator motor, and may not be limited to a specific shape.

In addition, the yaw adjustment unit 432 may be configured to adjust the yaw of the gimbal-type injector 430 . For example, the gimbal-type injection unit 430 may rotate left and right based on the yaw adjustment unit 432, and based on this, the injection direction may be flexibly adjusted. At this time, the yaw adjustment unit 432 may also include an actuator motor, and the direction may be changed through the actuator motor. Also, as an example, the yaw adjustment unit 432 may further include a support (not shown) for adjusting the direction of sleep, and may not be limited to a specific shape.

Also, as an example, the gimbal-type spraying unit 430 may further include a first spraying unit 433 , a second spraying unit 434 , and a hose 435 . In addition, as an example, the gimbal-type spraying unit 430 may further include a drug receiving unit (not shown), but may not be limited thereto. As a specific example, referring to FIG. 5B , the first spraying unit 433 may be a part from which drugs are sprayed and may be configured as a compressor. At this time, the first injection unit 433 may be connected to the hose 435 and may spray the moisture or the drug delivered through the hose 435 . At this time, the hose 435 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 433 may be sprayed to the first injection unit 433 through the hose 435. Also, as an example, the end of the first injection unit 433 may be provided with a mist generator or an additional compressor, but this will be described later. After that, the drug or water may be sprayed to the outside through the first spraying unit 433 . However, as an example, the first spraying unit 433 sprays the drug or water based on the compressor, but there may be a limit to the spray 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 second injection unit 434 may be further included. For example, the second injector 434 may further include a jet fan motor and blades, which will be described later. A first injection unit 433 for basic injection output and a second injection unit 434 using an additional jet fan motor for additional output may be provided, through which the output of the injection device 400 may be increased. there is.

For example, the gimbal-type jetting unit 430 may determine the basic jetting output through the first jetting unit 433 and drive the second jetting unit 434 for additional jetting output. At this time, the second injection unit 434 may be driven based on a jet fan motor, and may generate wind through blades to improve output.

As a specific example, the spraying device 400 may further include a sensing unit capable of sensing surrounding crops, and based on the sensed information, the spraying angle and spraying amount of water or drug sprayed through the control unit 440 may be adjusted. there is. 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, if there is a risk of damage to the target crop due to spraying (when withered or damaged), the control unit 440 of the spraying device 400 adjusts the spraying amount weakly or sprays the spray 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 440 of the injection device 400 may drive only the first injection unit 433 and may not drive the second injection unit 434, 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.

Also, as an example, FIGS. 6A to 6D are diagrams showing the structure of a gimbal-type ejection unit. For example, referring to FIGS. 6A to 6D , the above-described first spraying unit 433 may include a spraying nozzle. At this time, water or drug may be injected through the injection nozzle, and the injection amount and injection distance of the injection nozzle may be adjusted through a mist generator or an additional compressor. Also, as an example, a BLDC motor may be present as an actuator motor in the pitch adjusting unit 431 and the yaw adjusting unit 432 . For example, the BLDC motors of the pitch adjustment unit 431 and the yaw adjustment unit 432 may be controlled by the control unit 440 of the jetting device 400, and the height and left/right rotation direction of the gimbal-type jetting unit 430 may be adjusted. can Also, for example, the pitch adjustment unit 431 and the yaw adjustment unit 432 may be integrally formed. At this time, the yaw adjustment unit 432 may be fixed to the moving unit 410 in the injection device 400 . At this time, the injector 436 may be physically connected to the pitch adjusting unit 431 and spaced apart from the yaw adjusting unit 432 by a predetermined distance. Here, the injector 436 may refer to a configuration that performs injection including the above-described first injector 433 and the second injector 434 . That is, the gimbal-type injection unit 430 may include a pitch adjustment unit 431, an injector 436 physically connected to the pitch adjustment unit 431, and a yaw adjustment unit 432 having a predetermined distance from the injector 436. The first injection unit 433 and the second injection unit 434 described above may be included in the injector 436, and the hose 435 may be connected through them. At this time, when the pitch or height of the injector 436 is adjusted through the pitch adjustment unit 431, the pitch may change within a predetermined spaced apart space. In addition, as an example, when adjusting the yaw based on the yaw control unit 432, the pitch adjustment unit 431 may rotate together with the injector 436, thereby controlling the spraying direction of the water or drug.

As another example, FIGS. 7A to 7D are diagrams showing the internal structure of the gimbal-type ejection unit 430 . For example, referring to FIG. 7A , for example, the first spraying unit 433 may include a spraying unit 433-1 and a mist generating unit 433-2. At this time, the moisture or drug delivered to the first spraying unit 433 through the hose 435 may be sprayed along the mist generating unit 433-2 through the spraying unit 433-1. As another example, a vortex generating unit (not shown) may be included around the first injection unit 433 . At this time, the first injection unit 433 may control the injection form of the drug or water through the bar described above. For example, the first spraying unit 433 may spray the drug according to the mist generating unit 433-2 based on the vortex generating unit to spray the drug widely and shallowly, as shown in FIG. 7B. As another example, when the drug needs to be injected far through the first injection unit 433, the first injection unit 433 may increase the injection pressure through an additional compressor. For example, the above-described operation may be controlled through the controller 440 of the injection device 400, and is not limited to a specific embodiment.

Also, for example, the second jetting unit 434 of the gimbal type jetting unit 430 may include a jet fan 434-1 and a blade 434-2. At this time, the jet fan 434-1 of the second injection unit 434 may operate based on the above-described liquid actuator motor. After that, the blade 434 - 2 may generate wind through rotation based on the second spraying unit 434 and improve spraying output.

Also, for example, as described above, the pitch adjustment unit 431 and the yaw adjustment unit 432 may be integrally formed. Specifically, the pitch adjusting unit 431 and some parts 432-1 of the yaw adjusting unit may be integrally formed. In addition, some other parts 432-2 of the yaw adjustment unit may be configured to support the yaw adjustment unit and may be connected to the moving unit 410. In addition, as an example, the hose 435 in the gimbal-type spraying unit 430 may be connected to a drug tank (not shown) to receive moisture or drug from the drug tank and deliver it to the first spraying unit 433 . At this time, the hose 435 connected to the first injection unit 433 may be configured to pass through the central axis of the pitch adjustment unit 431 and pass through the central axis of the part 432-1 of the yaw adjustment unit. Accordingly, the hose 435 supplied with the drug from the drug tank may reach the first injection unit 433 along the path of the yaw control part part 432-1 and the pitch control unit 431 to inject the drug. Also, as an example, one side surface of the body of the injector 436 of the gimbal-type injector 430 may include a protruding fastening part 436-1. In this case, the protruding fastening part 436-1 may be combined with the pitch adjusting part 431. At this time, the injector 460 may have an internal hose built in, and may be connected to the hose 435 through the pitch adjustment unit 431. That is, each hose may be configured to be connected, and through this, cleaning and replacement of the gimbal-type spraying unit 430 may be facilitated.

As a specific example, the hose 435 passes through the center of the yaw adjustment unit 432, passes through the center of the pitch adjustment unit 431 along the structure of the pitch adjustment unit 431 and the yaw adjustment unit 432 integrally configured, and injector 436 It may be connected to the first injection unit 433 inside. At this time, for example, the hose 435 in the injector 436 may be connected through the side portion of the injector 436 . That is, the hose 435 may pass through the center of the pitch adjustment unit 431 and be connected through a space on the side of the injector 436, and through this, may be connected to the first injector 433. As another example, the hose 435 may pass through the center of the pitch adjustment unit 431, pass through the center of the injector 436, and come out through the rear part, and may not be limited to a specific shape.

In addition, as an example, the hose 435 may be composed of a part that passes through the structure of the integral pitch adjustment unit 431 and the yaw adjustment unit 432 . In addition, the hose 435 may be composed of a part passing through the injector. At this time, the pitch adjustment unit 431 may be connected based on the protruding fastening part of the injector 436, and when the pitch adjustment unit 431 is connected to the protruding fastening part of the injector 436, each of the hoses described above Parts can be connected.

8 and 9 are views showing the structure of an injector according to an embodiment of the present specification. For example, referring to FIG. 8 , the injection device 400 includes a moving unit 410, an injection unit 430, a control unit 440, a communication unit 450, a sensing unit 460, and a location tracking unit 470. 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 430 may also adjust the spraying angle and the spraying amount as described above, as described above.

At this time, as an example, the control unit 440 may be configured to control the moving unit 410 and the spraying unit 430 described above. Also, as an example, the controller 440 may further control the communication unit 450, the sensing unit 460, and the location tracking unit 470. Here, the communication unit 450 may be configured to perform communication with the outside based on the above-described FIGS. 1 and 2 . For example, the control unit 440 of the injection device 400 may be remotely controlled based on an external user or an external device through the communication unit 450. In addition, the control unit 440 of the injection device 400 may further obtain external information through the communication unit 450. That is, the communication unit 450 may be configured to transmit and receive signals to and from the outside.

Also, as an example, the sensing unit 460 may be configured to sense surrounding crops. For example, the sensing unit 460 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 460 may obtain crop information around the injector 400 and transmit it to the controller 440 of the injector 400 . Also, as an example, the position tracking unit 470 may be a device for tracking the position of the injector 400 . For example, the location tracking unit 470 may be a GPS or other location tracking component, and is not limited to a specific form. As a specific example, the location tracker 470 may measure absolute location information based on longitude and latitude. As another example, the location tracker 470 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 470 may transmit the measured location information to the control unit 430 of the injector 400, and the control unit 440 may utilize the corresponding information.

As another example, referring to FIG. 9 , the injection device 400 may acquire external information 910 through the communication unit 470 . Here, the external information 910 may be information input by a user using the injection device 400 . Also, as an example, the external information 910 may be information obtained from a server related to the injector 400 . As another example, the external information 910 may be information 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 910 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 910 and is not limited to a specific form.

10 and 11 are diagrams illustrating a method of controlling an injection device according to one embodiment of the present specification. For example, the spraying device 400 operating based on the aforementioned FIG. 8 may control the spraying angle and the spraying amount. In more detail, referring to FIG. 10, the injector 400 may sense the surrounding crops 1010 through the sensing unit 460 (S1110). At this time, as an example, the injector 400 senses Based on the information about the surrounding crops 1010 obtained through the unit 460, it is possible to determine the spraying power of the first spraying unit 433 (S1120). For example, the first spraying unit 433 is described above. As described above, the drug may be received and sprayed through the hose 435 based on the compressor. Then, the injection device 400 may determine the injection power of the second injection unit 434 based on the determined injection output of the first injection unit 433 (S1130). It may be determined through the injection output of the injection part 433 and the injection output of the second injection part 434 . After that, the injector 400 may inject the drug based on the first injector 433 and the second injector 434 (S1140).

At this time, for example, the sensing unit 460 of the injector 400 may acquire various information related to the surrounding crops 1010 . For example, the sensing unit 460 may acquire image information of the surrounding crops 1010 through a camera. Here, the control unit 440 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 1010 . Also, as an example, the control unit 440 of the injector 400 may recognize relative positional information of surrounding crops 1010 based on the image information. In addition, the control unit 440 of the injector 400 may further obtain external information 910 related to the surrounding crops 1010 based on the image information. At this time, the external information 910 may include drug type information related to the surrounding crops 1010 . Also, as an example, the external information 910 may further include information related to crop cultivation time. For example, the external information 910 may include currently required drug type information and development information in relation to crop cultivation time. As another example, the external information 910 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 910 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 440 of the injection device 400 may obtain image information through a camera, and obtain various external information 910 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 470, which will be described later. Then, the injection device 400 may determine the injection amount and injection angle based on the information obtained as described above. For 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 amount may be determined based on information about a relative distance to the surrounding crops 1010 . 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. Also, for example, when the type of crop should be kept away from fruits or other drugs, the amount of spraying may be determined to be small. In addition, the injection device 400 may also adjust the injection angle based on the bar described above.

As another example, the spraying amount may be determined based on the state of development or the condition of the crop based on image information. For example, if it is determined based on the image information that the development of crops is not good and that many pests are distributed in the vicinity, the amount of spraying may be increased, and is not limited to a specific embodiment. In addition, the injection device 400 may also adjust the injection angle based on the bar described above.

When the injection amount is determined through the above, the injection device 400 may determine the injection output by controlling the first injection unit 433 and the second injection unit 434 described above. At this time, if the spraying output is determined based on the compressor of the first spraying unit 433, the spraying output can be improved through the jet fan motor of the second spraying unit 434, through which the drug is applied to crops based on the desired spraying amount. can supply In addition, the injection device 400 may also adjust the injection angle based on the bar described above.

As a specific example, when the distance between the surrounding crops 1010 and the injector 400 is long, the injector 400 determines the approximate spraying distance with the surrounding crops 1010 through the spraying output of the first spraying unit 433. It is possible to determine the injection output by recognizing it, and it is possible to precisely control the distance through the second injection unit 434 . Through this, the injector 400 can efficiently supply drugs to surrounding crops. In addition, the injection device 400 may also adjust the injection angle based on the bar described above.

As another example, referring to FIG. 12A , the injection device 400 may obtain location information through the location tracking unit 470 and further utilize this to determine an injection amount and an injection angle. 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 470 . Also, as an example, the injector 400 may further acquire area information of an area where crops are grown as external information 910 . At this time, when the injector 400 is at the A position 1210, the injector 400 may increase the amount of injection and increase the output of the injection. For example, since the injector 400 is located in the middle of the crop growing area, it is necessary to increase the amount and output of the spray to supply the drug to the crops located far away. The injection power of 434 can be determined. In addition, the spray angle and spray direction can also be determined, as described above.

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 amount so that the drug is sprayed only on specific crops around it, and through this, an efficient control operation. can be made to do.

As another example, referring to FIG. 12B , the injection device 400 may obtain route information based on information acquired through the location tracking unit 470 and determine an injection amount by reflecting the route information. For example, at position A 1240, which is an initial point of the injector 400 based on route information, only the first injector 433 is operated to reduce the injection amount, and the second injector 434 may not be operated. there is. On the other hand, at the middle point B position 1250, the injection output of the first injection unit 433 and the second injection unit 434 can be maximized to supply the drug to a wide area, and through this, the drug is applied to a wide area. can spray. In addition, when the injector 400 is located at the C position 1260, the injector 400 can control the amount of injection to prevent the drug from being injected repeatedly, thereby performing an efficient control operation. .

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 (10)

In the gimbal type injector,
a moving unit for moving the injector;
A gimbal-type spraying unit coupled to the moving unit; and
Including; a control unit for controlling the moving unit and the injection unit;
The gimbal type injection unit,
a pitch adjusting unit for adjusting the pitch of the gimbal-type spraying unit;
a yaw adjustment unit for adjusting the yaw of the gimbal-type injection unit;
a hose for transferring liquid from a storage tank provided in the moving unit;
a drug receiver receiving the liquid through the hose;
a first spraying unit connected to the medicine receiving unit and spraying the liquid; and
A gimbal-type injector comprising a; second injector disposed on the rear surface of the first injector to generate wind with the first injector to improve the ejection output.
According to claim 1,
The first injection unit controls the injection output of the liquid delivered through the hose based on the compressor through pressure,
The second injection part,
A gimbal-type jetting device that receives power through the jet fan motor connected to the second jetting unit and generates the wind through a blade connected to the second jetting unit to enhance the jetting output.
According to claim 1,
The pitch adjustment unit and the yaw adjustment unit are integrally formed,
The yaw adjustment unit is fixed to the moving unit,
An injector including the first injector and the second injector is physically connected to the pitch adjustment unit,
The injector is a gimbal-type injector that is provided spaced apart from the yaw adjustment unit at a predetermined interval.
According to claim 3,
When the pitch of the gimbal-type sprayer is adjusted based on the pitch adjusting unit, the pitch of the gimbal-type sprayer is adjusted by changing the pitch in a space where the sprayer is formed based on the predetermined interval,
When the yaw of the gimbal-type injector is adjusted based on the yaw-adjuster, the pitch-adjuster and the injector are rotated together to adjust the yaw, the gimbal-type injector.
According to claim 4,
The hose passes through the center of the yaw adjustment unit, passes through the center of the pitch adjustment unit based on the pitch adjustment unit and the yaw adjustment unit configured integrally and is connected to the first injection unit through the injector.
According to claim 5,
The hose is composed of a first part passing through the pitch adjustment unit and the yaw adjustment unit integrally configured, and a second part passing through the injector,
The pitch adjustment part is connected based on the protruding fastening part of the injector,
When the pitch adjustment unit is connected to the protruding fastening part of the injector, the first part and the second part of the hose are connected, the gimbal-type injector.
According to claim 6,
The first injection part,
A gimbal-type injector comprising at least one of a mist generator for spraying in the form of mist, a vortex generator for spraying the liquid far away, and an additional compressor for improving the spray output.
According to claim 1,
The gimbal type injector,
a communication unit that communicates with an external device;
a sensing unit for sensing surrounding crop information; and
A gimbal-type injector further comprising at least one of a position tracking unit for tracking the position of the gimbal-type injector.
According to claim 8,
The sensing unit further includes at least one or more of a camera, a temperature sensor, and a humidity sensor,
The gimbal type injector,
Obtaining image information and crop-related information through the sensing unit, and determining a spraying output based on the image information and the crop-related information,
The jetting power is determined as a second jetting power that is improved based on the wind generated by the second jetting unit in the first jetting power determined based on the compressor of the first jetting unit.
According to claim 9,
The gimbal-type injector further acquires external information through the communication unit,
Further obtaining location information of the injector through the location tracking unit,
The injection output is determined by reflecting the external information and the location information, a gimbal-type injection device.

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