WO2009107960A2

WO2009107960A2 - Farm machine transport robot system

Info

Publication number: WO2009107960A2
Application number: PCT/KR2009/000863
Authority: WO
Inventors: 김형석
Original assignee: 전북대학교산학협력단
Priority date: 2008-02-26
Filing date: 2009-02-24
Publication date: 2009-09-03
Also published as: WO2009107960A3; KR101028615B1; KR20090091947A

Abstract

Disclosed is a farm machine transport robot system including a first robot arranged on one side of a farm crop field; a second robot arranged on the other side of the farm crop field such that the second robot communicates with the first robot through a wired and/or wireless system; and a link for linking the first robot and the second robot. The link is mounted with farm machines. The farm machine transport robot system of the present invention is capable of transporting farm machines across the farm crop field without causing damage to farm crop. Further, the farm machine transport system of the present invention is advantageous in that the system enables stable transportation of farm machines even in cases where a farm crop field is rough or even in a narrow space.

Description

[Revision 10.03.2009 by Rule 26] Agricultural Machinery Transport Robot System

The present invention relates to a farming machine transport system for agricultural work, and more particularly to a farm machinery transport robot system that helps to facilitate farming work using the farm machinery on the crop bed.

Although agriculture is the oldest industry, the working environment is still very poor. Since crops are most prosperous in the most difficult heat to work, conventional methods that have relied on human labor are not suitable for modern working environments.

Although much progress has recently been made in the mechanization of agricultural work, the mechanization during the growing season is very poor. Existing farming machines such as tractors and combines, which are considered as representative farming machines, are used for sowing or harvesting without fear of damaging crops.

However, although the work performed on crop beds such as cultivating crops, fertilizing, spraying pesticides, weeding, and harvesting fruit during the growing season of the crops is often necessary for a long time, suitable agricultural machines have not been developed. The reason for this is that during the growing season of the crop, it is easy to fall down because the agricultural machinery has to stay only in the narrow valleys between the crop beds, and the crops have to be observed from the side, which makes accurate and smooth farming difficult. In particular, when harvesting a crop that weighs like watermelon, there is a problem that it is unstable to use agricultural machinery because of the load of the crop.

In addition, because the width of the bones, length, height, etc. of the bones existing between the crop beds are various, the agricultural machinery cannot be easily used, and there is a problem that a large space is required to move the agricultural machinery to another adjacent crop bed.

Therefore, an object of the present invention is to solve the above problems, it is possible to work on farms without damaging the crops on the crop bed, and also can easily work in the valley between the irregular crop bed, Furthermore, it is an object of the present invention to provide a farm machinery transporting robot system capable of moving a farm machinery to another crop bed even in a narrow space.

In order to achieve the above object, the agricultural machinery transport robot system according to the present invention, the first robot installed on one side of the crop bed; A second robot installed on the other side of the crop bed while communicating with the first robot by wire or / and wirelessly; And it is configured to include a link connecting the first robot and the second robot, and a farm machine for agricultural work.

Here, the present invention preferably further includes a traveling line for guiding the movement of the first robot and the second robot.

The first robot and the second robot are preferably connected to the link and the rotary joint. Here, the rotary joint is rotatable in the horizontal and vertical direction, and can be extended or contracted in the longitudinal direction of the link.

On the other hand, when the agricultural machinery transport robot system according to the present invention is to move to another crop bed while moving along the traveling line, the agricultural machinery transport robot system reaches a certain position and the robot of any one of the first robot and the second robot It can rotate around this other robot and move to another crop bed.

Such a farm machinery transport robot system according to the present invention, there is an effect that can work on farms without damaging the crops.

In addition, the present invention can be stable farming work easily even in the valley between the height, length, width, etc. of the crop bed is not constant, and furthermore, there is an effect that can move the farm machinery to another crop bed in a narrow space.

In addition, the present invention, by providing a method that can easily and stably move the farm machinery in any environment, there is an effect that can promote the emergence of intelligent farm machinery dedicated to farm work.

1 is a block diagram showing the configuration of a farm machinery transport robot system according to the present invention.

2 is an operation diagram showing an example of the movement of the agricultural machinery transport robot system according to the present invention to the adjacent adjacent crop bed.

3 is an operation diagram showing an example of the movement of the agricultural machinery transport robot system according to the present invention to the remote crop bed.

Figure 4 is a block diagram of a rotary joint of the farm machinery transport robot system according to the present invention.

*** Explanation of symbols for main parts of drawing ***

110: first robot 120: rotary joint

130: agricultural machinery 140: link

150: second robot 160: camera

210: agricultural machinery transport robot system 220: crop bed

230: driving line 410: horizontal rotary joint

420: vertical rotation joint 430: length adjustable joint

Hereinafter, a preferred embodiment of a farm machinery transport robot system according to the present invention configured as described above will be described in detail with reference to FIGS. However, the scope of the present invention is not limited to the following examples, and various modifications can be made by those skilled in the art without departing from the technical gist of the present invention. . In addition, the terms or words used in the specification and claims are not to be construed as limiting in their usual or dictionary meanings, and the inventors appropriately define the concept of terms in order to best explain their invention in the best way possible. It should be interpreted as meaning and concept corresponding to the technical idea of the present invention based on the principle to be possible.

As shown in FIG. 1, an embodiment of a farm machinery transporting robot system according to the present invention includes a first robot 110 installed between a plurality of crop beds for planting crops or growing crops; A second robot (150) installed opposite the first robot (110) centering the crop bed while communicating with the first robot (110) in a wired or / and wireless manner; A link 140 connecting the first robot 110 and the second robot 150 and equipped with a farm machine 130 for farm work; It includes a driving line (not shown) for guiding the movement of the first robot 110 and the second robot 150.

The first robot and the second robot are installed on both sides of the crop bed to communicate with each other autonomously and move along the traveling line while grasping the state and position of the counterpart robot. To this end, a camera is installed in front of and / or behind the first and second robots to move while recognizing the driving line.

Here, the traveling line is formed around the crop beds. That is, the traveling line is installed along the valley in a straight line in the middle of the crop bed, and is installed in a curved form on both sides of the crop bed ends.

The link 140 is connected to the first robot 110, the second robot 150, and the rotary joint 120. Accordingly, the first robot 110 or the second robot 150 may be rotated about the second robot 150 or the first robot 110.

That is, when the first robot 110 or the second robot 150 arrives at a predetermined position, the first robot 110 or the second robot 150 rotates around another robot to produce another crop. Rotate to move to one side of the bed. Here, there is a sensor device for determining whether the first robot 110 or the second robot 150 has arrived at a predetermined position.

The sensor device may be implemented by various methods such as a radio frequency indentation system (RFID), a recognition marker device based on an image including the camera 160, an infrared sensor, and the like.

Here, the rotary joint 120 is rotatable in the horizontal, vertical direction, and can be extended or contracted in the longitudinal direction of the link 140.

When described in detail with reference to Figures 2 to 4 the operation of the farm machinery carrying robot system according to the present invention configured as described above.

First, a case in which the farm machinery transporting robot system of the present invention moves to a immediately adjacent crop bed will be described with reference to FIG. 2.

Figure 2 is an operation diagram showing an example of the operation of moving the agricultural machinery transport robot system immediately adjacent to the crop bed.

As shown in FIG. 2, a farm machinery transport robot system 210 including a first robot A and a second robot B installed at both sides of the crop bed 220 is disposed around the crop bed 220. The vehicle moves along the traveling line 230.

First, the agricultural machine transport robot system 210 is the first robot (A) and the second robot (B) in close communication with each other in a wired or / and wirelessly close to each other at the intermediate point of the crop bed 220 Move parallel to the crop bed 220 (CASE 1).

When the farm machinery transporting robot system 210 moves and moves to a crop bed adjacent to the post of the first robot A, the farm machinery transporting robot system 210 moves to the end of the crop bed 220. When arriving at a certain position, the first robot A stops, and the second robot B actively rotates along the curve of the traveling line 230 about the first robot A. FIG. (CASE II).

Similarly, when the farm machinery transport robot system 210 moves and wants to move to a crop bed adjacent to the left side of the second robot B, the farm machinery transport robot system 210 moves to the end of the crop bed 220 of the farm machinery transport robot system 210. When the movement reaches a certain position, the second robot B stops, and the first robot A actively rotates along the curve of the traveling line 230 about the second robot B. Move (CASE III).

At this time, it is preferable that the predetermined position at which the rotational movement starts as described above is a point separated from the end of the crop bed 220 by the length of the link connecting the first robot and the second robot.

Next, a case where the agricultural machinery transport robot system of the present invention moves to the remote agricultural bed will be described with reference to FIG.

As shown in the upper part of FIG. 3, when the farm machinery transport robot system 210 intends to move from the first crop bed BED 1 to the fourth crop bed 4 BED 4, first, the farm machinery transport robot system ( 210 reaches a certain position.

Then, the second robot B stops at the predetermined position, and the first robot A actively rotates along the curve of the traveling line about the second robot B (①②③).

Subsequently, the second robot B actively rotates along the curve of the traveling line with respect to the first robot A (④⑤⑥).

Subsequently, the first robot A moves about the second robot B along the curve of the traveling line likewise actively (⑦⑧⑨), whereby the farm machinery transport robot system 210 is configured to produce the first crop bed ( Transfer from BED 1) to fourth crop bed 4 (BED 4).

As shown at the top of FIG. 3, the farm machinery transport robot system 210 may likewise move from the fourth crop bed BED 4 to the first crop bed BED 1 in the same manner.

At this time, the configuration of the rotary joint connecting the link and the robot so that one robot can smoothly rotate around the other robot will be described with reference to FIG.

As shown in FIG. 4, the rotary joint according to the present invention includes a horizontal rotary joint 410 rotatable in a horizontal direction about a link, a vertical rotary joint 420 rotatable in a vertical direction about the link, and The length adjustment joint 430 extends or contracts in the longitudinal direction about the link.

As the rotary joint is configured as described above, when the height of the first robot or the second robot is different, the vertical rotary joint 420 and the length adjusting joint 430 rotate or extend the length, thereby stably farming machine transport robot system. This can move.

In addition, even if there is a partial difference in the moving speed between the first robot or the second robot, the horizontal rotating joint 410 and the length adjusting joint 430 rotate or extend the length, so that the agricultural machinery transport robot system can be stably moved. .

In addition, even during the movement of the agricultural machinery transport robot system of the present invention, even if the distance between the first robot or the second robot is a certain difference, the length adjustment joint 430 is stretched or contracted, so that the farm machinery transport robot system to move stably Can be.

The present invention implemented and operated as described above, the agricultural machinery can be moved to the agricultural work without damaging the crops on the crop bed, and also move the farm machinery stably even if the state of the valley between the crop beds is not good In addition, it is possible to move farm machinery to other crop beds at desired locations even in tight spaces.

The agricultural machine transport robot system of the present invention can work on the crop bed without damaging the crops, and also can easily work on the valleys between the uneven crop beds, and further, even when the farm machinery is in a narrow space, It is highly mobile and therefore industrially applicable.

Claims

A first robot installed on one side of the crop bed;

A second robot installed on the other side of the crop bed while communicating with the first robot by wire or / and wirelessly; And

And a link to connect the first robot and the second robot and to which a farm machine for farm work is mounted.
The method of claim 1,

And said first robot and said second robot are connected to said link by a rotary joint.
The method of claim 2,

The rotary joint,

And horizontally and vertically rotatable, and extendable or retractable in the longitudinal direction of the link.
The method of claim 1,

And a traveling line for guiding movement of the first robot and the second robot.
The method of claim 4, wherein

The first robot and the second robot,

When the robot arrives at a predetermined position while moving along the traveling line, any one robot of the first robot and the second robot rotates about another robot and moves to one side of an adjacent crop bed. system.