KR-20260062616-A - Spray-type end effector for flower pollination

KR20260062616AKR 20260062616 AKR20260062616 AKR 20260062616AKR-20260062616-A

Abstract

A spray-type end effector for flower pollination is disclosed. The end effector, installed at the end of an artificial pollination device that performs artificial pollination, comprises a main body whose shape varies according to the size of the flower cluster, and a nozzle part installed on the main body that sprays pollen onto the flower cluster at various angles using a plurality of nozzles.

Inventors

조용준
윤해룡
홍형길
장선호
강민수
박관형
권태희
최헌수
서갑호

Assignees

한국로봇융합연구원

Dates

Publication Date: 20260507
Application Date: 20241029

Claims (8)

In an end effector installed at the end of an artificial pollination device that performs artificial pollination work, A main body whose shape varies according to the size of the flower cluster; and A nozzle unit installed on the main body and spraying flower pots onto the flower cluster at various angles using a plurality of nozzles; An end effector including
In Article 1, The above main body is, A support connected to the end of the artificial pollination device and formed as a single cylinder; A wing section comprising a central body connected to the support and having a plurality of nozzles installed thereon, and a plurality of variable wings formed in a radial shape based on the central body; and A variable structure connected to the plurality of variable wings based on the above support, and folding or unfolding the plurality of variable wings according to the movement of the support; An end effector characterized by including
In Paragraph 2, The above main body is, A connecting member having an elastic material provided between each of the plurality of variable wings and supporting the plurality of variable wings using the elasticity of the elastic material; An end effector characterized by further including
In Paragraph 3, The above elastic material is, An end effector characterized by being formed in a fan shape connecting the ends of adjacent variable wings, wherein the fan shape expands or contracts according to the variable state of the variable wings.
In Paragraph 2, The above support is, An end effector characterized by performing continuous rotation in one direction to cause flower petals to be sprayed in a rotating manner from the plurality of nozzles, or repeatedly performing rotation and stopping in one direction to cause flower petals to be sprayed at multiple angles from the plurality of nozzles.
In Paragraph 2, The above wing portion is, An end effector characterized in that the nozzle is installed in the central body and the nozzle is installed in at least one of the plurality of variable wings.
In Paragraph 2, The above wing portion is, An end effector characterized by varying from a hemispherical shape to a flat plate shape in proportion to the forward or backward movement of the support.
In Paragraph 2, The above variable structure is, An end effector characterized by having an umbrella-shaped foldable structure.

Description

Spray-type end effector for flower pollination The present invention relates to an end effector, and more specifically, to a spray-type end effector for flower pollination that precisely performs pollination of fruit tree flowers in an irregular multi-lobed shape. Pollination refers to the process where pollen from a stamen is transferred to and attaches to the stigma. Conventional artificial pollination has been carried out primarily by manually applying pollen to the pistil. However, as fruit farms have recently become larger in scale, there is a growing demand for robot-linked artificial pollination devices to alleviate labor shortages and improve fruit quality. Accordingly, while significant research and development is being conducted on artificial pollination devices, most of it is limited to precise object recognition, training data construction, and robot autonomous driving, resulting in a lack of research on end-effectors for pollination that actually perform artificial pollination. FIG. 1 is a configuration diagram for explaining an artificial pollination system according to an embodiment of the present invention. FIG. 2 is a perspective view for explaining an end effector according to an embodiment of the present invention. FIG. 3 is a front view illustrating an end effector according to an embodiment of the present invention. FIG. 4 is a plan view illustrating an end effector according to an embodiment of the present invention. FIG. 5 is a cross-sectional view illustrating the spray range of an end effector according to an embodiment of the present invention. FIG. 6 is a drawing illustrating nozzles corresponding to the angle and position of a flower according to one embodiment of the present invention. FIG. 7 is a drawing illustrating nozzles corresponding to the angle and position of a flower according to another embodiment of the present invention. FIG. 8 is a drawing illustrating nozzles corresponding to the angle and position of a flower according to another embodiment of the present invention. FIG. 9 is a drawing for explaining the shape of a variable wing according to an embodiment of the present invention. FIG. 10 is a drawing for explaining the rotation of a variable wing according to an embodiment of the present invention. FIG. 11 is a block diagram illustrating a computing device according to an embodiment of the present invention. Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement them. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals. In this specification and drawings (hereinafter referred to as the 'this specification'), redundant descriptions of identical components are omitted. Furthermore, when a component is described in this specification as being 'connected' or 'connected' to another component, it should be understood that it may be directly connected to or connected to the other component, or that there may be other components in between. On the other hand, when a component is described in this specification as being 'directly connected' or 'directly connected' to another component, it should be understood that there are no other components in between. Furthermore, the terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention. Additionally, in this specification, singular expressions may include plural expressions unless the context clearly indicates otherwise. Furthermore, in this specification, terms such as 'comprising' or 'having' are intended merely to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. Additionally, in this specification, the term "and/or" includes a combination of the plurality of described items or any of the plurality of described items. In this specification, "A or B" may include "A," "B," or "both A and B." In addition, detailed descriptions of known functions and configurations that may obscure the essence of the invention will be omitted in this specification. FIG. 1 is a configuration diagram for explaining an artificial pollination system according to an embodiment of the present invention. Referring to FIG. 1, the artificial pollination system (400) automates the artificial pollination process during the fruit tree growth process to reduce the work time while ensuring the quality of the artificial pollination. The art