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KR-20260062554-A - Agricultural 3-wheel bogie mobility for splitting management of open field floors

KR20260062554AKR 20260062554 AKR20260062554 AKR 20260062554AKR-20260062554-A

Abstract

The present invention relates to a three-wheeled trolley mobility for agricultural crop management in open fields. The three-wheeled trolley mobility according to the present invention is used for harvesting low-lying crops, such as chili pepper fields and vineyards, where a worker must perform harvesting while squatting for a long time.

Inventors

  • 강희준
  • 강희용
  • 노경옥
  • 김용환
  • 박철호

Assignees

  • 주식회사 로봇팜

Dates

Publication Date
20260507
Application Date
20241029

Claims (8)

  1. As a three-wheeled bogie mobility vehicle capable of forward and backward movement and left and right steering relative to the working direction, A main frame comprising a triangular beam assembly and a flat plate positioned on the triangular beam assembly; A seat portion positioned on a flat plate of the main frame above, designed to induce a worker to sit and allow height adjustment according to the worker's operation; Front wheel section including a front wheel located in front of the worker; A rear wheel unit comprising a first rear wheel and a second rear wheel located at the rear of the worker and driven forward and backward and steered left and right by the worker; A footrest portion including a footrest connecting portion fixed to the front wheel portion and having a semicircular structure along the front wheel, and a pair of footrest areas located on both sides of the footrest connecting portion and designed to allow a worker to rest their feet thereon; A foot controller unit positioned on a pair of foot resting areas included in the above footrest unit, receiving forward/backward driving signals and left/right steering signals based on the working direction provided by the worker's foot; A control panel section including a remote controller that receives forward/backward driving signals and left/right steering signals based on the working direction provided by an operator, and a mounting area on which the remote controller is mounted; A stick limited switch located on one side of the main frame and receiving a forward/backward driving signal provided by an operator by rotating forward/backward relative to the working direction; A sensor unit comprising a LiDAR sensor that acquires surrounding shape information and the relative position of surrounding objects in the form of 3D point cloud data according to driving and steering, and a gyro sensor that acquires tilt data in the yaw, roll, and pitch directions according to driving and steering; and A three-wheeled bogie mobility comprising: a control processor that controls the forward and backward driving and left and right steering of the rear wheel unit according to forward and backward driving signals and left and right steering signals provided from the foot controller unit or the control panel unit, controls the forward and backward driving of the rear wheel unit according to forward and backward driving signals provided from the stick limited switch, and controls the forward and backward driving and left and right steering of the rear wheel unit to follow a worker based on worker classification recognition data generated after performing deep learning training that induces the generation of worker classification recognition data by applying a convolutional neural network to 3D point cloud data acquired from the LiDAR sensor.
  2. In Article 1, The above seat portion is, A height adjustment signal receiving unit that receives a height adjustment signal provided by an operator; and A three-wheeled bogie mobility including an electric cylinder designed to adjust the height of the seat portion according to a height adjustment signal received from the height adjustment signal receiving unit.
  3. In Article 1, The above rear wheel section is, It includes first and second drive motors that provide front-rear driving power to each of the first rear wheel and the second rear wheel, and first and second rear wheel steering motors that provide left-right steering power to each of the first rear wheel and the second rear wheel, The above control processor is, A three-wheeled bogie mobility that controls the first rear wheel drive motor, the second rear wheel drive motor, the first rear wheel steering motor, and the second rear wheel steering motor so that the first rear wheel and the second rear wheel are each independently controlled for forward/backward driving and left/right steering according to forward/backward driving signals and left/right steering signals provided from the foot controller unit or the control panel unit.
  4. In Article 1, The above foot controller unit is, It includes first and second foot controllers respectively located on a pair of foot seating areas included in the footrest portion, and The first foot controller mentioned above is, Includes a forward driving footer and a left steering footer, The above-mentioned second foot controller is, Three-wheeled bogie mobility including a rear-driving footer and a right-steering footer.
  5. In Article 1, The remote controller included in the above-mentioned control panel is, It includes a forward driving button, a rear driving button, a left steering button, a right steering button, an emergency braking button, a foot controller deactivation button, and a mode setting button for setting one of operator follow mode, single operation mode, and charging mode, The above control processor is, A three-wheeled bogie mobility that controls the deactivation of the foot controller unit according to a foot controller unit deactivation signal generated through the foot controller unit deactivation button of the remote controller.
  6. In Article 1, The above stick limited switch is, A stick limiter located on one side of the main frame and receiving a forward/backward driving signal provided by an operator by rotating forward/backward relative to the working direction; and A three-wheeled bogie mobility comprising a limited bar that is vertically coupled to the stick limited and acts as the rotation axis of the stick limited.
  7. In Article 1, It further includes an electric cylinder for horizontal control that raises the main frame and the seat unit upward so that tilt data in the yaw, roll, and pitch directions acquired by the gyro sensor included in the sensor unit is adjusted within the set value when the data exceeds the preset value. The above control processor is, A three-wheeled bogie mobility that controls the horizontal control electric cylinder to be lifted upward when tilt data in the yaw, roll, and pitch directions acquired by the gyro sensor included in the sensor unit exceeds a preset value.
  8. In Paragraph 5, The above control processor is, A three-wheeled bogie mobility that, when a worker-following mode is set via the mode setting button of the remote controller, controls the driving of the rear wheel unit by giving priority to forward-backward driving and left-right steering signals based on worker classification recognition data generated from three-dimensional point cloud data acquired from the LiDAR sensor, and when a standalone operation mode is set via the mode setting button of the remote controller, controls the driving of the rear wheel unit by giving priority to forward-backward driving and left-right steering signals provided from the foot controller unit or the control panel unit.

Description

Agricultural 3-wheel bogie mobility for splitting management of open field floors The present invention relates to a three-wheeled trolley mobility for agricultural crop management in open fields. Specifically, the present invention relates to a seated cart mobility used for harvesting low-lying crops, such as chili pepper fields and vineyards, where a worker must perform harvesting while squatting for a long time. Currently, the number of agricultural households and the farming population are rapidly declining, while the proportion of the elderly population is increasing. As the average age becomes increasingly older and the number of female farmers grows, the demand for automated field machinery is increasing. Despite the fact that various technologies are being incorporated into agricultural work in line with technological innovations such as the Fourth Industrial Revolution, the current situation is that only dwarf implements designed to be rolled left and right and forward and backward by the worker using their legs without a separate drive mechanism are being used in open fields where low-lying crops, such as grape orchards or chili pepper fields, are harvested. Meanwhile, seated work machines have many problems, such as increased fatigue and chronic musculoskeletal disorders when repetitive work is performed while sitting for long periods, as they are structured to be operated by the worker rolling left, right, forward, and backward using their legs without a separate driving mechanism. Considering the aforementioned problems with existing dwarf-type implements and the increasing number of elderly and female farmers harvesting low-lying crops, there is a need for technological development of low-lying crop harvesting implements that ensure workability, mobility, and harvesting convenience. FIG. 1 is a perspective view of a three-wheeled bogie mobility according to the present invention. FIG. 2 is a side view of a three-wheeled bogie mobility according to the present invention. FIG. 3 is a front view of a three-wheeled bogie mobility according to the present invention. FIG. 4 is a drawing for more specifically explaining the detailed configuration of a foot controller unit included in a three-wheeled bogie mobility according to the present invention. FIG. 5 is a drawing for more specifically explaining the detailed configuration of a control panel unit included in a three-wheeled bogie mobility according to the present invention and a remote controller included therein. FIG. 6 is a drawing for specifically describing a stick limited switch included in a three-wheeled bogie mobility according to the present invention. FIGS. 7 and 9 are drawings for specifically explaining a process for controlling forward and backward driving and left and right steering of a three-wheeled bogie mobility according to the present invention. FIG. 8 is a diagram of an example process for explaining how a control processor of a three-wheeled trolley mobility according to the present invention generates worker classification recognition data using three-dimensional point cloud data obtained from a LiDAR sensor. FIG. 10 is a diagram illustrating how a three-wheeled bogie mobility according to the present invention implements horizontal control through an electric cylinder for horizontal control. Hereinafter, the present invention will be explained in more detail with reference to drawings and examples. In this specification, singular expressions include plural expressions unless otherwise specified. The terms used in this specification have been selected based on currently widely used general terms, taking into account their functions in the present invention; however, these terms may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms have been arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant description of the invention. Therefore, terms used in this invention should be defined not merely by their names, but based on their meanings and the overall content of the invention. Embodiments of the present invention may be subject to various modifications and may have various forms; therefore, specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the scope of specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the scope of the inventive spirit and technology. In describing the embodiments, detailed descriptions of related prior art are omitted if it is determined that such descriptions may obscure the essence. In this specification, terms such as “comprising” or “consisting” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof descr