KR20230174457A - Weed removal apparatus for weed removal robot - Google Patents

Abstract

The present invention is provided in a weeding robot, and the weeding unit is fixedly installed in the center, and the weeding units are horizontally movable on both left and right sides. As the moving section is reduced, the weeding time is greatly shortened, and the weeding unit is raised and lowered as necessary to remove weeds. It relates to a weeding device for a weeding robot that can smoothly remove,
It is provided in a weeding robot that includes a traveling body disposed in the center and a pair of moving parts provided on both sides of the traveling body to move the traveling body back and forth using an endless orbit. It is detachably installed on the traveling body. A weeding device for a weeding robot that removes weeds using a weeding unit, comprising: a pair of weeding brackets each fixed to the traveling body; A center weeding unit that is fixed to the center member connecting the weeding brackets on both sides and moves the weeding blade up and down; A front weeding unit that moves horizontally in the width direction along the front member connecting both weeding brackets in front of the center member; And a rear weeding unit that moves horizontally in the width direction along the rear member connecting both weeding brackets at the rear of the center member; wherein the front weeding unit and the rear weeding unit are arranged in opposite directions and moved in the width direction. Do it as

Description

Weeding device for weeding robot {WEED REMOVAL APPARATUS FOR WEED REMOVAL ROBOT}

The present invention relates to a weeding device for a weeding robot. More specifically, it is provided in a weeding robot. A weeding unit is fixedly installed in the center, and the weeding units are horizontally movable on both left and right sides, so that the weeding time is shortened as the moving section is reduced. It relates to a weeding device for a weeding robot that is significantly shortened and can smoothly remove weeds by elevating the weeding unit as needed.

In field farming, weeds are one of the important factors that reduce yield along with pests and diseases. When weeds grow beyond a certain amount, they take away nutrients from crops planted in the field and cause problems with growth and yield due to competition, making weed removal essential.

In particular, there are hundreds of types of field weeds, and most weeds in agricultural fields are affected by sunlight, causing light or dark germination. Therefore, it is necessary to partially till the topsoil before weeds appear or in the early stages of weeds to suppress or suppress weeds. It is desirable to remove it.

Conventional methods for removing weeds include cutting the weeds directly, spraying chemicals on the weeds, and removing the roots.

However, recently, the public's preference for eco-friendliness is increasing, and efforts to introduce eco-friendly farming methods in agricultural technology are also increasing. Accordingly, it is important to minimize the use of pesticides such as herbicides. Accordingly, methods such as directly cutting or uprooting weeds are preferred, but this method has the disadvantage of requiring a lot of manpower.

However, due to the aging phenomenon, current farms have a small number of young and aging workers, making it difficult to solve these problems.

In addition, safety accidents frequently occur because sharp tools such as sickles are used to directly cut or uproot weeds, and as the area requiring weed removal increases, work hours inevitably increase, which is detrimental to aging farmers. It's a lot of burden,

To solve this problem, various agricultural robots are being developed and are being applied in the field to remove weeds.

In relation to this agricultural weeding robot, Domestic Patent No. 10-1156477 includes a moving part that provides a moving function; A power supply unit using a hybrid power source; Weeding department that weeds daytime or morning weeds; It is configured to include a control unit for controlling the functions of the moving unit, the power supply unit, and the weeding unit, wherein the power supply unit generates power using hydrogen and supplies power to the battery. Includes a hydrogen fuel cell for charging power, includes a control unit to determine whether or not to produce power from the hydrogen fuel cell according to the amount of power of the battery, uses the battery and hydrogen fuel cell as a power source, and has irregularities capable of a weeding function. A weeding robot using this belt-shaped wheel has been proposed and disclosed,

Domestic Patent No. 10-1573027 includes a main body provided with wheels capable of driving; a weeding unit equipped with a weeding blade whose height can be adjusted up and down and installed in the main body; a driving unit that transmits power to the wheels and the weeding blade so that the main body moves and the weeding blade rotates; a geographical information loading unit storing geographical information data necessary for driving of the main body; a self-location recognition unit that recognizes the current location information of the main body while driving the main body using the geographical information data; A sensor unit equipped with a vision sensor for recognizing images while the main body is driving and an obstacle detection sensor for detecting obstacles; A map building unit that recognizes the external environment using the image captured by the vision sensor and then calculates a driving path necessary for movement of the main body, and the main body and the weeding unit so that the main body autonomously runs along the driving path. a control unit that controls the unit and the driving unit; It includes an intelligent unmanned weeding robot that can be adjusted using an unmanned remote control method and can drive autonomously by creating an optimal path for obstacle avoidance through on-board geographic information and image recognition, within a certain range set by the user. By enabling unmanned and automatic weeding work, the safety of workers is guaranteed in adverse weather conditions and at the same time, convenient weeding work is possible, and workers can be prevented from being exposed to danger from dust, noise, and debris generated during weeding work. In addition, an intelligent unmanned weeding robot has been proposed and disclosed that can complete a wide range of weeding tasks very conveniently and quickly compared to conventional manned weeding tasks, thereby relieving worker fatigue caused by high-intensity physical labor.

Domestic Patent No. 10-2089299 includes a bogie unit that travels on the ground; A suspension unit installed on the lower side of the bogie unit and including a plurality of suspension devices that operate independently to reduce shock transmitted from the ground and respond to bends to provide grounding ability for driving of the bogie unit and ability to overcome rough terrain; A plurality of driving force generators that generate driving force by rotating wheels respectively mounted and coupled to a plurality of suspension devices constituting the suspension device to provide driving force to the bogie unit; A weed recognition unit installed at the front of the balance unit to recognize weeds located in front while the balance unit is driving, and when the weeds are recognized, measure the distance and direction between the recognized weeds and the weed removal robot and provide the measurements to the control unit; a weed removal unit installed on one side of the bogie unit to pull out weeds using a hoe according to a control signal from the control unit; a posture sensing unit that detects a state of equilibrium between the balance unit and the ground in order to adjust the balance of the balance unit with the ground; When the weed recognition unit provides measurement information about the distance and direction between the recognized weeds and the weed removal robot, a control signal is provided to the weed removal unit to allow the weed removal unit to remove the weeds at the corresponding distance and direction, and the posture detection unit provides balance. It includes a control unit that provides control signals to the suspension unit and driving force generation unit to keep the balance unit in equilibrium with the ground when sensing information about the condition is provided, and automatically removes weeds even in irregular terrain such as orchards rather than rice fields. By recognizing the weeds, they are thinned out to the roots using a hoe to prevent the weeds from growing again. By applying a variable platform, the axis of the wheel is adjusted appropriately according to the slope of the ground. It is equipped with various types of weed weeding tools and is used through a tool module. A weed removal robot that can effectively perform weeding work by appropriately replacing weeding tools according to the condition and type of weeds has been proposed and disclosed.

However, the conventional weeding robot described above may not be able to accurately remove weeds because the weeding unit is fixed, or even when the weeding unit removes weeds while moving back and forth, the weeding time is shortened as the weeding unit moves back and forth at least to the center of the width direction. There is a problem with the length.

Republic of Korea Patent Publication No. 10-1156477 Republic of Korea Patent Publication No. 10-1573027 Republic of Korea Patent Publication No. 10-2089299

Therefore, the present invention was developed in consideration of the above-described conventional problems and is provided in a weeding robot. The weeding unit is fixedly installed in the center, and the weeding units are horizontally movable on both left and right sides, thereby reducing the moving section. The purpose is to provide a weeding device for a weeding robot that can significantly shorten the weeding time and smoothly remove weeds by elevating the weeding unit as needed.

The weeding device for a weeding robot according to the present invention to achieve the above object includes a traveling gas portion disposed in the center and a pair of traveling portions provided on both sides of the traveling gas portion to move the traveling gas portion back and forth using an endless orbit. A weeding device for a weeding robot that is provided in a weeding robot and is detachably installed on the traveling body and removes weeds using a weeding unit,

A pair of weeding brackets each fixed to the traveling fuselage; A center weeding unit that is fixed to the center member connecting the weeding brackets on both sides and moves the weeding blade up and down; A front weeding unit that moves horizontally in the width direction along the front member connecting both weeding brackets in front of the center member; And a rear weeding unit that moves horizontally in the width direction along the rear member connecting both weeding brackets at the rear of the center member; wherein the front weeding unit and the rear weeding unit are arranged in opposite directions and moved in the width direction. Do it as

Here, the center weeding unit includes a fixing bracket installed perpendicular to the center member, an elevating member that moves up and down along the fixing bracket by an elevating cylinder, a weeding blade that removes weeds through rotation, and an end of the elevating member. It may include a motor support part that is formed and supports a motor that rotates the weeding blade, and a weeding blade fixing part that fixes the weeding blade and is coupled to the motor shaft.

Here, the front weeding unit and the rear weeding unit are provided with a horizontal drive unit consisting of a screw shaft and a motor arranged in parallel with the front member or rear member, and a screw coupling part coupled to the screw shaft at the upper part to connect the front member or rear member. A movable bracket that moves horizontally along the movable bracket, an elevating member that moves up and down along the movable bracket by an elevating cylinder, a weeding blade that removes weeds through rotation, and a motor that is integrally formed at the end of the elevating member to rotate the weeding blade. It may include a motor support part that supports the weeding blade, and a weeding blade fixing part that fixes the weeding blade and is coupled to the motor shaft.

Here, the weeding blade is formed in a W shape with both ends elongated and installed in the reverse direction with both ends facing the floor, and the weeding blade fixing part includes a pair of fixing plates disposed on both sides of the weeding blade, and both sides of the weeding blade. It may include a pair of fixing bolts provided on the fixing plate to be inserted into the bent part.

Here, the weeding blade fixing part may further include an anti-twisting pin that is provided on the fixing plate to be inserted outside the center bend of the weeding blade and prevents the weeding blade from being twisted.

Here, the weeding blade of the center weeding unit may be formed to be relatively larger than the weeding blades of the front weeding unit and the rear weeding unit.

Here, the center weeding unit, front weeding unit, and rear weeding unit may further include a protective cover to protect the weeding blade.

The weeding device for a weeding robot according to the present invention has a center weeding unit installed in the center to remove weeds within the weeding range, and the front weeding unit and rear weeding unit provided on the front right and rear left move back and forth along the width direction to remove weeds. By removing the weeds, the efficiency of weed removal is improved and the weed removal time is significantly shortened.

According to the present invention, as the weeding blade of the center weeding unit is raised and lowered by the elevating cylinder, there is a useful effect in that weeds can be removed by changing the position of the weeding blade in consideration of the height of the weed located near the center of the field embankment.

According to the present invention, as the manufacturing blades of the front and rear weeding units move in the width direction and are simultaneously lifted by the horizontal drive unit and the lifting cylinder, the weeding blades are moved in consideration of the position and height of the weeds located at the edge of the field embankment. There is a useful effect of being able to remove weeds by changing the location.

According to the present invention, the weeding blade formed of a W-shaped wire is placed between a pair of fixing plates and then fixed by a pair of fixing bolts, so that the weeding blade is firmly fixed and does not separate during the weed removal process, which is a useful effect. There is.

According to the present invention, since the anti-twisting pin of the fixing plate is located outside the center bend of the weeding blade, there is a useful effect in that twisting does not occur during the process of fixing the weeding blade.

According to the present invention, the weeding blade of the center weeding unit is formed to be relatively larger than the weeding blades of the front and rear weeding units, and as the weeding range increases, the moving distance of the weeding blades of the front and rear weeding units decreases. This can achieve the useful effect of reducing weeding time.

According to the present invention, by providing a protective cover that protects the weeding blade, the useful effect of protecting the weeding blade and increasing its lifespan can be achieved.

Figure 1 is a perspective view showing a weeding robot to which a weeding device for a weeding robot according to the present invention is applied.
Figure 2 is a perspective view showing the battery box removed from the weeding robot of Figure 1.
Figure 3 is a perspective view showing a weeding device for a weeding robot according to the present invention.
Figure 4 is a bottom perspective view showing a disassembled state of the weeding unit in the weeding device for a weeding robot according to the present invention.
Figure 5 is an exploded perspective view showing the weeding blade and the weeding blade fixing part in the weeding device for the weeding robot according to the present invention.
Figure 6 is a top and bottom view of a weeding device for a weeding robot according to the present invention.
Figure 7 is a reference diagram for explaining the moving direction of the weeding blade provided in the weeding unit in the weeding device for weeding robot according to the present invention.
Figure 8 is a reference diagram showing weed removal using a weeding device for a weeding robot according to the present invention.

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

The terms used in the present invention are terms defined in consideration of the functions in the present invention, and may vary depending on the intention or custom of the user or operator, so the definitions of these terms are defined in accordance with the technical details of the present invention. It should be interpreted as a concept.

1 to 8 of the attached drawings are diagrams showing a weeding device for a weeding robot according to the present invention.

As shown in FIGS. 1 and 2, the weeding device for a weeding robot according to an embodiment of the present invention includes a traveling gas portion 200 disposed in the center, and moving the traveling gas portion 200 back and forth using an endless orbit. It is provided on a weeding robot including a pair of traveling parts 300 provided on both sides of the traveling body 200 to remove weeds using a weeding unit that is detachably installed on the traveling body 200. It is a device that

In addition, the weeding robot has a driving control unit that controls the driving part to enable driving, and automatically controls the driving of the driving body 200 according to input information from various sensors and enables autonomous driving by following the path of the work site. It can be provided.

At this time, the driving control unit is a battery box with a built-in power supply battery and an openable cover, and a device for distributing and supplying power to provide stable power to necessary components operated by power, such as the power unit and sensors. A power distribution device, a drive driver for controlling the operation of the power unit side motor, a remote controller for remote control, a camera sensor for acquiring front and rear image information of the traveling body 200, a GPS sensor for location confirmation, and a traveling body A self-driving lidar sensor used to map the surrounding environment of the unit 200, obtain driving environment information of the driving body 200, and guide entry into the work space, and follow the work path within the work area. and a LiDAR sensor for work path tracking to check for path deviation and collect signal information for driving control, and a driving controller unit to automatically control the autonomous driving of the weeding robot by an algorithm according to each input information sensed from various sensors. It can be included.

And, as shown in FIGS. 3 to 7, the weeding device 100 for a weeding robot of the present invention includes a weeding bracket 110, a center weeding unit 120, a front weeding unit 130, and a rear weeding unit 140. It includes, and the front weeding unit 130 and the rear weeding unit 140 are arranged in opposite directions and are configured to move in the width direction.

The weeding brackets 110 are respectively fixed to the traveling body 200 and consist of a left and right pair, and are connected to each other by a center member 111, a front member 112, and a rear member 113. At this time, the center member 111, front member 112, and rear member 113 are each formed in a square structure.

The center weeding unit 120 is fixed to the center member 111 and moves the weeding blade 123 up and down, and is fixed by a fixing bracket 121 installed perpendicular to the center member 111 and an elevating cylinder. A lifting member 122 that moves up and down along the bracket 121, a weeding blade 123 that removes weeds through rotation, and a weeding blade 123 that is integrally formed at the end of the lifting member 122 to rotate the weeding blade 123. It includes a motor support part 124 that supports the motor 125, and a weeding blade fixing part 126 that fixes the weeding blade 123 and is coupled to the motor shaft.

Accordingly, after the lifting member 122 is moved up and down by the lifting cylinder, weeds within a defined weeding range are removed using the weeding blade 123 rotated by the motor 125.

And the front weeding unit 130 is moved horizontally in the width direction along the front member 112 located in front of the center member 111, and has a horizontal drive unit consisting of a screw shaft and a motor arranged in parallel with the front member 112. A movable bracket is provided with a screw coupling part coupled to the screw shaft at the upper part and moves horizontally along the front member 112, a lifting member moves up and down along the movable bracket by a lifting cylinder, and weeds are removed through rotation. A weeding blade 133, a motor support portion formed integrally with the end of the elevating member to support the motor 135 that rotates the weeding blade 133, and a weeding blade 133 fixed to the weeding blade 133 and coupled to the motor shaft. It includes a blade fixing part 136 and a protective cover 138 to protect the weeding blade 133, and the rear weeding unit 140 also has the same structure.

Accordingly, the movable bracket is moved horizontally along the front member 112 by the horizontal drive unit, the lifting member is moved up and down by the lifting cylinder, and then the weeding blade 133 rotated by the motor 135 is used to remove weeds. will be removed.

At this time, the horizontal drive unit removes weeds while moving the movable bracket only from the right end of the field embankment to the border of the weeding range by the center weeding unit 120.

Specifically, as shown in FIG. 4, the rear weeding unit 140 includes a horizontal drive unit 147 consisting of a screw shaft 147a and a motor 147b arranged in parallel with the rear member 113, and a horizontal drive unit 147 at the upper part. A movable bracket 141 that is provided with a screw coupling part coupled to the screw shaft 147a and moves horizontally along the rear member 113, and an elevating member 142 that moves up and down along the movable bracket 141 by an elevating cylinder, A weeding blade 143 that removes weeds through rotation, a motor support portion 144 formed integrally with the end of the elevating member 142 to support a motor 145 that rotates the weeding blade 143, and a weeding blade It includes a weeding blade fixing part 146 that fixes (143) and is coupled to the motor shaft, and a protective cover 18 to protect the weeding blade.

Accordingly, the movable bracket 141 is moved horizontally along the rear member 113 by the horizontal drive unit 147, the lifting member 142 is moved up and down by the lifting cylinder, and then rotated by the motor 145. Weeds are removed using the weeding blade 143.

At this time, the horizontal drive unit 147 removes weeds by moving the movable bracket 141 from the left end of the field to the border of the area weeded by the center weeding unit 120.

Meanwhile, the weeding blades 123, 133, and 143 are formed of a W-shaped wire with both ends extending long, and are installed in the reverse direction so that both ends face the floor.

The weeding blade 123 of the center weeding unit 120 is formed to be relatively larger than the weeding blades 133 and 143 of the front weeding unit 130 and the rear weeding unit 140, thereby removing a relatively wide range of weeds. I do it.

Accordingly, the distance that the weeding blades 133 and 143 of the front weeding unit 130 and the rear weeding unit 140 move is reduced, and the weeding time is shortened. Of course, as shown in FIG. 4, the two weeding blades 133 and 143 of the front weeding unit 130 and the rear weeding unit 140 can be used by connecting them to each other.

And the weeding blade fixing part for fixing the weeding blade includes a fixing plate, a fixing bolt, and an anti-twisting pin. Specifically, with reference to FIG. 5, the weeding blade fixing part of the front weeding unit will be described as follows.

The weeding blade fixing part 136 of the front weeding unit 130 includes a pair of fixing plates 136a disposed on both sides of the weeding blade 133, and a fixing plate (136a) to be inserted inside the bends on both sides of the weeding blade 133. It includes a pair of fixing bolts (136b) provided at 136a).

Specifically, the weeding blade fixing part 136 of the front weeding unit 130 is provided on the fixing plate 136a to be inserted outside the center bend of the weeding blade 123 to prevent twisting of the weeding blade 133. It includes a pin 136c.

Accordingly, the removal of weeds from field ridges using the weeding device for a weeding robot of the present invention consisting of the above-described configuration will be described as follows.

When the traveling body 200 is moved by the traveling unit 300, the weeding blade 133 of the front weeding unit 130 moves and rotates back and forth from the right end of the field embankment to the set range to remove weeds, and then moves to the center. The weeding blade 123 of the weeding unit 120 rotates to remove weeds near the center of the field embankment.

Finally, the weeding blade 143 of the rear weeding unit 140 removes weeds while reciprocating and rotating from the left end of the field to the set range, thereby completing weed removal for the entire field.

At this time, each weed blade (123) (133) (143) is lifted to the weed removal position by an elevating cylinder, and for this purpose, a sensor that detects the position and height of the weed is used.

Of course, each weeding blade (123) (133) (143) can be raised and lowered manually.

The embodiments described above merely describe preferred embodiments of the present invention and are not extremely limited to these embodiments, and various modifications and variations may be made by those skilled in the art within the technical spirit and scope of the claims of the present invention. It will be said that this can be achieved, and it will be said that it falls within the technical scope of the present invention.

100: Travel device 110: Weeding bracket
111: Center member 112: Front member
113: rear member 120: center weeding unit
121: fixing bracket 122: lifting member
123: weeding blade 124: motor support
125: Motor 126: Weeding blade fixing part
128: Protective cover 130: Front weeding unit
133: weeding blade 135: motor
136: weeding blade fixing part 136a: fixing plate
136b: Fixing bolt 136c: Anti-twisting pin
138: Protective cover 140: Rear weeding unit
141: Movable bracket 142: Elevating member
143: weeding blade 144: motor support
145: Motor 146: Weeding blade fixing part
147: horizontal driving part 147a: screw shaft
147b: Motor 148: Protective cover
200: Traveling body part 300: Running part

Claims (7)

It is provided in a weeding robot that includes a traveling body disposed in the center and a pair of moving parts provided on both sides of the traveling body to move the traveling body back and forth using an endless orbit. It is detachably installed on the traveling body. A weeding device for a weeding robot that removes weeds using a weeding unit,
A pair of weeding brackets each fixed to the traveling fuselage;
A center weeding unit that is fixed to the center member connecting the weeding brackets on both sides and moves the weeding blade up and down;
A front weeding unit that moves horizontally in the width direction along the front member connecting both weeding brackets in front of the center member; and
It includes a rear weeding unit that moves horizontally in the width direction along the rear member connecting both weeding brackets at the rear of the center member,
A weeding device for a weeding robot, wherein the front weeding unit and the rear weeding unit are arranged in opposite directions and moved in the width direction.
In claim 1,
The center weeding unit is integrally formed with a fixing bracket installed perpendicular to the center member, an elevating member that moves up and down along the fixing bracket by an elevating cylinder, a weeding blade that removes weeds through rotation, and the end of the elevating member. A weeding device for a weeding robot, comprising a motor support part that supports a motor that rotates a weeding blade, and a weeding blade fixing part that fixes the weeding blade and is coupled to the motor shaft.
In claim 1,
The front weeding unit and the rear weeding unit are equipped with a horizontal drive unit consisting of a screw shaft and a motor arranged in parallel with the front member or rear member, and a screw coupling part coupled to the screw shaft at the upper part to move horizontally along the front member or rear member. A movable bracket, an elevating member that moves up and down along the movable bracket by an elevating cylinder, a weeding blade that removes weeds through rotation, and a motor that is integrally formed at the end of the elevating member to support the motor that rotates the weeding blade. A weeding device for a weeding robot, comprising a support part and a weeding blade fixing part that fixes the weeding blade and is coupled to a motor shaft.
In claim 2 or 3,
The weeding blade is formed of a W-shaped wire with both ends extended long, and is installed in the reverse direction with both ends pointing toward the floor.
A weeding device for a weeding robot, characterized in that the weeding blade fixing unit includes a pair of fixing plates disposed on both sides of the weeding blade, and a pair of fixing bolts provided on the fixing plate to be inserted into the bent portions on both sides of the weeding blade.
In claim 4,
A weeding device for a weeding robot, wherein the weeding blade fixing unit further includes an anti-twisting pin that is provided on a fixing plate to be inserted outside the center bend of the weeding blade and prevents the weeding blade from being twisted.
In claim 4,
A weeding device for a weeding robot, characterized in that the weeding blade of the center weeding unit is relatively larger than the weeding blades of the front and rear weeding units.
In claim 4,
A weeding device for a weeding robot, wherein the center weeding unit, front weeding unit, and rear weeding unit further include a protective cover to protect the weeding blade.

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