KR20230114945A - Agricultural aid robot - Google Patents

Abstract

The present invention relates to an agricultural assistance robot capable of assisting a worker while traveling in a narrow furrow. In accordance with the present invention, the agricultural assistance robot includes: a body part in which a power part generating power and a control part transmitting an operation command to the power part are provided; a plurality of wheel parts supporting a floor, and rotated by the power from the power part to cause the body part to travel; furrow recognition sensor parts provided in the body part, while provided in front and rear parts of a traveling direction of the body part to identify the shape of a furrow of the floor and transmit an electrical signal to the control part; and a worker following sensor part provided in the front part of the body part, sensing a worker and transmitting an electrical signal to the control part.

Description

Agricultural assistance robot {AGRICULTURAL AID ROBOT}

The present invention relates to a robot for agricultural assistance. In particular, the present invention relates to an agricultural assistance robot capable of assisting a worker while driving in a narrow furrow.

In general, with the development of industrial technology in modern times, crop facilities such as plastic greenhouses and greenhouses have been installed to provide consumers with crops such as fruits, vegetables, and flowers even in winter.

In such crop facilities, a central passage is generally formed in the middle so that bulky agricultural machinery can move, and on both sides of the central passage, there are small passages between crops so that people or small machines can move and inspect crops. A furrow is formed.

Usually, workers enter the furrows to tend or harvest crops.

Therefore, when the crop is harvested while the worker enters the furrow, when the amount of the harvested crop exceeds a certain level, the worker must directly carry the harvested crop and bring it out of the furrow.

Therefore, not only does it take a long time to work, but it is possible to further increase the fatigue of the operator.

Republic of Korea Patent Registration No. 10-2024031 describes a conventional crop harvesting device.

However, the conventional crop harvesting device has a problem that the occupant must manually adjust the handle to drive along the furrow, etc., but the road is not formed straight and it is difficult to drive along the uneven furrow.

In addition, in order to freely drive the crop harvesting device along the center of the furrow, RTK-GPS, lidar, camera, etc. must be configured to recognize and drive the center point of the ridge or furrow in the field environment. .

Therefore, the present invention has been made to solve the above problems, and an object of the present invention is to provide an agricultural assistance robot that can autonomously drive in a narrow furrow and simultaneously follow a worker and serve as a work assistant.

A robot for agricultural assistance according to an embodiment of the present invention supports a body part provided with a power unit for generating power and a control unit for transmitting an operation command to the power unit, and rotates by the power of the power unit. A plurality of wheel parts for driving the body part, and a bone recognition sensor provided on the body part, provided in the front part and the rear part of the body part in the running direction, respectively, to determine the shape of the valley of the floor and transmit an electrical signal to the control unit. and an operator follow-up sensor unit provided on the front part of the body and detecting an operator and transmitting an electrical signal to the control unit.

The body portion is formed inside the body portion, and includes a tilt sensor unit for measuring an inclination of the body portion and transmitting an electrical signal to the control unit, and a plurality of shafts connecting the power unit and the plurality of wheel units, and the control unit may elevate and move the plurality of shafts according to the electric signal received from the tilt sensor unit and maintain the body portion horizontally.

The body portion may include a loading portion capable of loading an object thereon.

The body part is formed on the front part and the handle part provided to be gripped by the operator's hand and the handle part, and is electrically connected to the control unit to transmit an operation command to the control unit and the handle part to the body part. However, it may include a lifting part connected to the body part to be able to move up and down, and a hinge part that hinges between the handle part and the lifting part.

The control unit transmits an operation command to the power unit to cause the body to travel in a forward direction when the worker moves away from the preset distance according to the electric signal received from the tracking sensor unit, and the operator moves closer than the preset distance. An operation command may be transmitted to the power unit to cause the body to travel in a backward direction.

According to the present invention, the agricultural assistance robot according to an embodiment of the present invention has an effect of autonomously traveling in a furrow without invading a furrow.

According to the present invention, the agricultural assistance robot according to an embodiment of the present invention has an effect of autonomously driving in a narrow furrow and at the same time serving as a work assistant while following a worker.

According to the present invention, the agricultural assistance robot according to an embodiment of the present invention has the effect of being able to stably drive without overturning or spilling a loaded object on the floor even in a furrow with an uneven path, such as a part of a ridge collapsed or a furrow is pitted there is

According to the present invention, the agricultural assistance robot according to an embodiment of the present invention can automatically or manually switch its operation according to the judgment of the operator, thereby increasing the convenience of use.

According to the present invention, the agricultural assisting robot according to an embodiment of the present invention assists sowing, transplanting, transfer, etc. in an agricultural work environment, thereby reducing the labor force of workers and improving the quality of life of farmers.

1 is a perspective view showing a robot for agricultural assistance according to an embodiment of the present invention.
FIG. 2 is a right side view of FIG. 1 from the right side.
FIG. 3 is a partially enlarged view of a portion A in FIG. 1 enlarged and a wheel portion indicated by a dotted line to enlarge a connection portion between a shaft and a body portion.
Figure 4 is a state of use showing that the handle portion is lowered in Figure 1.
5 is a use state diagram showing that the handle part is turned in FIG.
FIG. 6 is an enlarged plan view of part B in FIG. 1 in a plan view.

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be exemplified and described in detail in the detailed description. However, it should be understood that this is not intended to limit the present invention to specific embodiments, and includes all transformations, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms used in the present invention are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as 'include' or 'having' are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. At this time, it should be noted that in the accompanying drawings, the same components are indicated by the same reference numerals as much as possible. In addition, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, in the accompanying drawings, some components are exaggerated, omitted, or schematically illustrated.

1 is a perspective view showing a robot for agricultural assistance according to an embodiment of the present invention, FIG. 2 is a right side view of FIG. 1 shown from the right side, and FIG. 3 is an enlarged portion A in FIG. It is a partially enlarged view showing an enlarged connection of the shaft and the body portion, and FIG. 4 is a use state diagram showing that the handle portion is lowered in FIG. 1, and FIG. 5 is a use state diagram showing that the handle portion is rotated in FIG. , FIG. 6 is an enlarged plan view of part B in FIG. 1 in a plan view.

As shown in FIGS. 1 to 5 , the agricultural assistance robot according to an embodiment of the present invention may include a body portion 100 .

The body portion 100 may form an outer shape, and may form parts and electric devices for operation therein.

Parts for operation may be a power unit such as an electric motor and an assembly of gears connected to the power unit to transmit power.

The electrical devices may be various sensors such as an electric battery that provides power and a tilt sensor that measures the inclination of the body 100, various sensors, a power unit, and the like, and a control unit that transmits and receives electrical signals.

The inclination sensor unit is formed of any one of an inertial measurement unit, an attitude sensor, a gyro sensor, a Doppler velocity log, and the like, and measures the inclination of the body 100 Electrical signals may be transmitted to the control unit.

The posture sensor may be a sensor that detects a change in a pitch axis, a yaw axis, and a roll axis that pass through the center of gravity of the body and are orthogonal to each other.

The gyro sensor may be a sensor that measures a direction change of an object using a property of always maintaining an initially set direction with high accuracy regardless of the rotation of the earth.

The inertial sensor may measure the speed, direction, and gravitational acceleration of a moving object by using an accelerometer, an angular velocity meter, a geomagnetic machine, and an altimeter.

The Doppler speed sensor may measure motion using a frequency change when microwaves are received after being transmitted.

The body portion 100 may distinguish a front portion and a rear portion in the traveling direction.

The body portion 100 may form a steering unit 115 standing upright in the front portion.

The control unit 115 may form a power switch 115a capable of turning on/off the current provided from the electric battery and an operation switch capable of manipulating the power unit at the top.

The body part 100 may form a loading part 110, a plurality of wheel parts 120, a goal recognition sensor part 130, an operator following sensor part 140, and a handle part 150.

The loading unit 110 may be formed flat to load an object on the top of the body unit 100 .

The loading unit 110 may include a loading stand 111 having a tubular shape, such as a basket having an upper side opened at an upper side thereof.

The loading table 111 is seated on the upper side of the loading unit 110, and an object can be loaded therein through the open upper side. In addition, the loading table 111 can be moved to another place by a worker lifting only the loading table 111 from the loading unit 110 .

The loading unit 110 may form a pair of supports 113 that stand upward on both side edges and support the loading platform 111 on both sides so that it is fixed without shaking on both sides.

The plurality of wheel parts 120 support the floor and rotate by the power of the power unit formed inside the body part 100 to allow the body part 100 to travel.

The plurality of wheel parts 120 may be rotatably connected to the lower circumference of the body part 100 .

The plurality of wheel parts 120 may be formed symmetrically with each other around the lower central part of the body part 100 .

Referring to FIG. 3 , the plurality of wheel units 120 may be connected to a shaft 121 geared to a power unit formed inside the body unit 100 .

As the plurality of wheel parts 120 receive power from the power unit through the shaft 121 and rotate, the body part 100 may move forward or backward.

The plurality of shafts 121 may be operated by a control unit to move up and down upwards and downwards. Accordingly, the body portion 100 may form a plurality of long grooves 117 penetrating the circumferential portion to correspond to the plurality of wheel portions 120, and the plurality of shafts 121 may respectively pass through the long grooves 117.

A plurality of long grooves 117 may be formed long in the vertical direction for the shaft 121 to move up and down. That is, each of the plurality of long grooves 117 may form a circumferential length greater than the circumferential length of the shaft 121, and may form a diameter length in the longitudinal direction longer than a diameter length in the transverse direction.

The plurality of shafts 121 may move up and down by an electric motor (not shown) operated by a control unit.

The plurality of shafts 121 are moved up and down by manipulation of the control unit receiving the electric signal from the tilt sensor unit, and the plurality of wheel units 120 are positioned so that the posture of the body unit 100 can always be maintained horizontally while driving. Each can be adjusted.

That is, when the plurality of wheel parts 120 travel on an uneven road that is not formed straight like a ridge, the body part 100 is shaken and the vertical position of the plurality of wheel parts is immediately adjusted so that the loaded object does not spill on the floor. The unit 100 may always maintain a horizontal posture.

The goal recognition sensor unit 130 may determine the shape of a valley on the floor, such as a ridge.

The goal recognition sensor unit 130 may be formed toward the floor at the center of each of the front and rear portions of the body unit 100 .

Therefore, the goal recognition sensor unit 130 activates the goal recognition sensor unit 130 formed in the front portion when the body portion 100 travels forward, and the goal recognition sensor portion 130 formed in the rear portion when the body portion 100 travels backward. The goal recognition sensor unit 130 may be activated to determine the shape of the floor goal and transmit an electrical signal to the control unit.

The control unit may collect and analyze electrical signals received from the goal recognition sensor unit 130 to control the running direction of the body unit 100 .

The goal recognition sensor unit 130 includes a distance sensor, a temperature sensor, and a tilt sensor, and at least two distance sensors may be used, and may be ultrasonic, infrared, or laser sensors. When the distance sensor is a laser sensor, the position of the target to be measured can be recognized by the operator's eyes. The measurement data measured by the temperature sensor and the inclination sensor may be used to correct a measurement error according to the movement of the body part 100 in which the goal recognition sensor part 130 is installed and the surrounding environment temperature.

The goal recognition sensor unit 130 may use a plurality of distance sensors to increase the recognition rate of the slope of the furrow. Also, angles of the plurality of distance sensors may be differently adjusted. That is, by adjusting the angle of the distance sensor located at the center of the plurality of distance sensors, the distance sensor recognizes the bottom of the furrow, and by adjusting the angles of the distance sensors located on both sides, the distance sensor can recognize the slope of the furrow. there is.

That is, when the goal recognition sensor 130 is installed on the body 100 with the sensing angles of the plurality of distance sensors adjusted according to the size of the furrow to be driven by the body 100, the body 100 moves through the furrow. When driving, the distance sensor of the valley recognition sensor unit 130 recognizes both slopes of the furrow and induces the body 100 to drive along the center of the furrow.

The worker tracking sensor unit 140 may detect a worker and transmit an electrical signal to the controller.

The operator tracking sensor unit 140 is formed on the front portion of the body portion 100 toward the front, and may be formed on the steering unit 115 formed on the front portion of the body portion 100 .

The operator tracking sensor unit 140 may be an ultrasonic distance measurement sensor or the like.

The ultrasonic distance measuring sensor transmits ultrasonic waves with sharp directivity to the worker, measures the time until the reflected wave is received from the worker, transmits an electrical signal to the controller, and the controller compares and calculates the received electrical signal to measure the distance.

When the operator follower sensor unit 140 transmits an electrical signal to the controller, the controller may collect the received electrical signal and compare it with a preset distance value. In addition, when the operator is farther than a preset distance from the body unit 100 and the time when the distance is longer than the preset distance is longer than the preset time, the control unit may transmit an operation command to the power unit. In addition, the body 100 may travel in a forward direction by the power of the power unit to maintain a distance from the operator at a preset distance. In addition, when the operator is closer than the preset distance, the control unit may transmit an operation command to the power unit when the time closer than the preset distance becomes longer than the preset time. Then, the body 100 may travel in a backward direction by the power of the power unit to maintain a distance from the operator at a predetermined distance.

In addition, the loading unit 110 may install a weight sensor for measuring the weight of objects loaded on the loading table 111 or a sensor capable of measuring the stacking height of objects loaded on the loading table 111 . In addition, when an object loaded on the loading table 111 exceeds a preset weight or height, an electric signal is transmitted to the control unit, and the control unit transmits an operation command to the power unit to drive in the reverse direction. At this time, the bone recognition sensor unit 130 formed in the rear part of the body part 100 may guide the agricultural assistance robot according to an embodiment of the present invention to travel along the center of the valley of the floor to the end of the furrow. . When the agricultural assistance robot according to an embodiment of the present invention arrives at the end of the furrow, the control unit of the body part 100 ( 115) can be operated using an operation switch formed on the screen.

The handle portion 150 may be held by an operator's hand and manually drive the body portion 100 .

The handle part 150 is formed on the front part of the body part 100, and may be formed on the steering part 115 formed on the front part of the body part 100.

Referring to FIGS. 4 and 5 , both ends of the handle part 150 may be coupled to both ends of the lifting part 151 movably coupled to both sides of the front part of the control part 115 .

In addition, a hinge portion 153 may be formed at a coupling portion between the handle portion 150 and the elevation portion 151 .

The hinge part 153 may allow the handle part 150 to be pivotably coupled to the elevation part 151 .

Therefore, the handle part 150 can slide vertically along the front part of the control part 115 by the lifting part 151, and can pivot and move forward of the control part 115 by the hinge part 153. .

And with reference to FIGS. 1 and 6 , the handle portion 150 may form a manipulation portion 155 at a central portion that a worker can hold by hand.

The control unit 155 may form at least one button 155a through which an operator may transmit an operation command to the control unit by being electrically connected to the control unit.

As the operator operates the button 155a of the control unit 155, the body 100 can be manually driven forward or backward, and the driving speed of the body 100 can be adjusted or power flowing from the electric battery can be turned ON/OFF. can

According to the present invention, the agricultural assistance robot according to an embodiment of the present invention has an effect of autonomously traveling in a furrow without invading a furrow.

According to the present invention, the agricultural assistance robot according to an embodiment of the present invention has an effect of autonomously driving in a narrow furrow and at the same time serving as a work assistant while following a worker.

According to the present invention, the agricultural assistance robot according to an embodiment of the present invention has the effect of being able to stably drive without overturning or spilling a loaded object on the floor even in a furrow with an uneven path, such as a part of a ridge collapsed or a furrow is pitted there is

According to the present invention, the agricultural assistance robot according to an embodiment of the present invention can automatically or manually switch its operation according to the judgment of the operator, thereby increasing the convenience of use.

According to the present invention, the agricultural assisting robot according to an embodiment of the present invention assists sowing, transplanting, transfer, etc. in an agricultural work environment, thereby reducing the labor force of workers and improving the quality of life of farmers.

Although one embodiment of the present invention has been described above, those skilled in the art can add, change, delete, or add components within the scope not departing from the spirit of the present invention described in the claims. The present invention can be variously modified and changed by the like, and this will also be said to be included within the scope of the present invention.

100: body part
110: loading part
111: loading table
113: support
115: control unit
115a: power switch
117: Jang Hom
120: wheel part
121: shaft
130: goal recognition sensor unit
140: worker tracking sensor unit
150: handle part
151: lifting part
153: hinge part
155: control panel
155a: button

Claims (5)

A body having a power unit for generating power therein and a control unit for transmitting an operation command to the power unit;
A plurality of wheel parts supporting the floor and rotating by the power of the power part to drive the body part;
a bone recognition sensor unit provided in the body part, provided in the front part and the rear part of the body part in the running direction, respectively, to determine the shape of a valley of the floor and to transmit an electric signal to the control unit; and
an operator follower sensor unit provided on the front part of the body, detecting an operator and transmitting an electrical signal to the control unit; Agricultural assistance robot comprising a. The method of claim 1,
the body part
A tilt sensor unit formed inside the body and measuring the tilt of the body and transmitting an electrical signal to the control unit; and
It includes a plurality of shafts connecting the power unit and the plurality of wheel units,
The control unit moves the plurality of shafts up and down according to the electric signal received from the tilt sensor unit and maintains the horizontality of the body part. The method of claim 1,
The body part agricultural assistance robot, characterized in that it comprises a loading part capable of loading the object on the top. The method of claim 1,
The body part,
A handle portion provided in the front portion so that the worker can hold it by hand; and
A manipulation unit formed in the handle part and electrically connected to the control unit to transmit an operation command to the control unit;
The handle part is connected to the body part, and the lifting part is coupled to the body part to be able to move up and down;
A robot for agricultural assistance, characterized in that it comprises a hinge portion for hinge connection between the handle portion and the elevating portion. The method of claim 1,
The control unit transmits an operation command to the power unit to cause the body to travel in a forward direction when the worker moves away from the preset distance according to the electric signal received from the tracking sensor unit, and the operator moves closer than the preset distance. A robot for agricultural assistance, characterized in that for transmitting an operation command to the power unit on the ground to cause the body to travel in a backward direction.

Images