KR102320256B1 - Artificial intelligence weed management robot using pressurized friction method for paddy soil - Google Patents

Abstract

According to the present invention, provided is a rice paddy weed management robot including: a floating boat (100) including a body (110) equipped with an AI module (50) using a planting characteristic of a rice paddy sensed by a sensor part (20) as an input layer, and a control signal of a rotary driving member (350) and a robot driving member (310) as an output layer; a first wheel (130) and a second wheel (140) located on the floating boat (100); a center rotary (240) provided on a shaft of the second wheel (140); and a horizontal rotary assembly (200) connected with the rotary driving member (350) provided in the floating boat (100), located behind the floating boat (100), and capable of producing pressure and friction. The horizontal rotary assembly (200) includes: a first horizontal rotary (210); and a pair of second horizontal rotaries (220) located on both sides of the first horizontal rotary (210) and partially overlapped in a horizontal direction. The AI module (50) controls the rotary driving member (350) through the control signal to control the driving of the center rotary (240) and the horizontal rotary assembly (200), and also, controls the robot driving member (310) to control the driving of the first wheel (130) and the second wheel (140). Therefore, the present invention is capable of removing weeds on a rice paddy while being driven for a long time without a separate power source.

Description

Artificial intelligence weed management robot using pressurized friction method for paddy soil}

The present invention relates to the agricultural field, and more specifically, to a paddy field weed management robot that suppresses and removes the occurrence of paddy weeds using a pressure friction method and includes an artificial intelligence module.

When paddy weeds grow over a certain amount, it is essential to remove weeds because there are problems with growth and yield due to competition, such as taking away nutrients from rice, a crop planted in the paddy fields.

However, there are many types of paddy weeds, reaching 70 types, and there are various types of weeds that hinder rice cultivation. In particular, there are many light (sunlight) germination weeds in paddy field weeds. Therefore, it is desirable to suppress weed occurrence by disturbing the soil before or at the beginning of weed occurrence.

In farms, sickles or weeders are widely used to remove weeds. However, the work difficulty was high, the work was complicated, and it had to be handled by personnel with skills and experience. When the area required to remove weeds increased, it required a lot of work time even for experienced personnel. The work is more difficult due to the freshwater of the paddy fields, and the aging of farm households in particular exacerbates this problem.

Various techniques have been developed to overcome the problems of such a conventional weed removal method.

Japanese Patent Application Laid-Open No. 2011-205967 discloses a robot for preventing the generation of paddy weeds. In the present prior art, a robot for preventing weed generation that can prevent weed generation by controlling a small air boat equipped with a stirrer for preventing weeds with a computer and moving freely in a paddy field to avoid obstacles (rice) is disclosed. Since it is directly controlled by humans, personnel are constantly required during operation hours. Depending on the handling ability, paddy weed removal efficiency may decrease or damage to rice may occur.

In addition, if the control ability is inexperienced, there was a problem that crops could be harmed by the collision between the robot and obstacles.

In addition, because it is controlled by the manipulator, it is subject to climatic and time constraints, and if the battery provided in the robot runs out of electricity, it cannot be driven, so it was impossible to continue the removal of paddy weeds for a long period of time.

JP 2011-205967 A CN 102696294 B CN 110421580 A JP 2019-170347 A

The present invention has been devised to solve the above problems.

Specifically, it is intended to solve the problem that the ability to remove weeds in paddy fields varies according to the skill level of the farmers and damage to the rice occurs.

We propose a weed management robot that considers the mechanically transplanted characteristics and considers the planting density of rice. In particular, we would like to propose a weed management robot suitable for a 30 cm breakfast.

In order to solve the problem of short working time due to the large climatic and temporal constraints and the need for a separate electricity supply when the provided battery is discharged.

In addition, it is intended to solve the problem of damage to rice due to the collision between the robot and the obstacles in front including rice. In addition, it is difficult to distinguish even an experienced farmer by recognizing weeds such as blood weeds or weedy rice. To solve the problem of low efficiency of paddy weed removal by applying a uniform paddy weed removal method.

In one embodiment of the present invention for solving the above problems, the control signal of the rotary driving member 350 and the robot driving member 310 using the planting characteristics of the rice paddy sensed by the sensor unit 20 as an input layer. a floating boat 100 having a body 110 mounted with an Al module 50 as an output layer; a first wheel 130 and a second wheel 140 positioned on the floating boat 100; a central rotary 240 provided on the shaft of the second wheel 140; and a horizontal rotary assembly 200 connected to the rotary driving member 350 provided in the floating boat 100 and positioned at the rear of the floating boat 100 and capable of pressurization and friction; including, the horizontal rotary assembly (200), the first horizontal rotary 210; and a pair of second horizontal rotary 220 located on both sides of the first horizontal rotary 210 and partially overlapping in the horizontal direction, wherein the AI module 50 drives the rotary through the control signal The first wheel 130 and the second wheel are controlled by controlling the member 350 to control the driving of the central rotary 240 and the horizontal rotary assembly 200 , and the robot driving member 310 is controlled. (140) to control the drive, provides a paddy field weed management robot.

In addition, the planting characteristics of the rice paddy that the AI module 50 uses as an input layer includes the planting density of rice, and the AI module 50 further uses the generation information of weeds, and the distance to the front obstacle as an input layer. And, the AI module 50 controls the rotary drive member 350 according to the planting density of the rice, controls the rotary drive member 350 according to the generation information of the weeds, and up to the front obstacle It is preferable to control the driving and rotation of the robot by controlling the robot driving member 310 according to the distance of .

In addition, the first horizontal rotary 210, the first cover portion 211 having an opening at the lower side; and a first rotating unit 215 rotatable by a first power transmission shaft 351 connected to the rotary driving member 350 , wherein each of the second horizontal rotary units 220 includes the first cover unit 211 . ) is formed with a smaller diameter, the second cover portion 221 having an opening at the lower side; and a second rotating part 225 rotatable by a second power transmission shaft 352 formed separately from the first power transmission shaft 151 .

In addition, it is preferable to further include; a solar module 170 spaced apart from the upper surface of the floating boat 100 .

In addition, the sensor unit 20, the first sensor module 112 provided in the body 110; and a second sensor module 172 positioned to be spaced apart from the upper portion of the first sensor module 112 , and the planting characteristics of the rice paddy by the first sensor module 112 and the second sensor module 172 . , the generation information of the weeds, and the distance to the front obstacle are collected, and it is preferable that any one or more of the first sensor module 112 and the second sensor module 172 include a camera module.

In addition, it is preferable that the first wheel 130 is a pitchfork wheel, and the diameter of the second wheel 140 is larger than that of the first wheel 130 .

In addition, the width of the floating boat 100 is 30 cm or less, the diameter of the first horizontal rotary 210 is 25 cm or less, the diameter of the second horizontal rotary 220 is 10 cm or less, and the horizontal rotary assembly ( 200) is preferably 28 cm or less in width.

As a method using the paddy field weed management robot 1000 according to an embodiment of the present invention for solving the above problems, (a) the AI module 50 planting the rice paddy detected by the sensor unit 20 Collecting characteristics, the occurrence information of the weeds, and the distance to the front obstacle; and (b) the AI module 50 uses the pre-learned result to control the rotary drive member 350 according to the planting density of the rice, and the rotary drive member 350 according to the generation information of the weeds. ) and controlling the driving and rotation of the paddy weed management robot 1000 by controlling the robot driving member 310 according to the distance to the front obstacle; including; providing a method.

The present invention obtains the following effects through solving the above problems.

First, because it is unmanned driving, it is possible to effectively suppress and remove the occurrence of weeds in paddy fields regardless of the control ability.

Second, the problem of damage to rice due to collision with obstacles can be prevented because the robot automatically recognizes obstacles in front including rice by artificial intelligence and corrects the path without additional manipulation of the operator.

Third, it is not subject to climatic and time constraints, and it is generated by a solar module without a separate power supply, so it can drive for a long time and remove weeds in the paddy field.

Fourth, since weed generation information is used when removing paddy weeds, it is possible to effectively remove paddy weeds by providing pressure and friction suitable for the state of weeds.

1 is a perspective view of a paddy field weed management robot according to the present invention.
2 is a system diagram of a paddy field weed management robot according to the present invention.
Figure 3 is a view for schematically explaining the appearance of the rice paddy weed management robot according to the present invention multi-run by the AI module.
Figure 4 is a flowchart for explaining a paddy weed removal method using the paddy weed management robot according to the present invention.

The above objects, features and other advantages of the present invention will become more apparent by describing preferred embodiments of the present invention in detail with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of the user or operator. Therefore, definitions of these terms should be described based on the content throughout this specification.

In addition, the described embodiments are provided by way of example for the description of the invention, and do not limit the technical scope of the present invention.

Hereinafter, a paddy field weed management robot according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Here, the “planting characteristics” in the discussion refers to the planting density of breakfast or rice.

The configuration of the paddy field weed management robot 1000 according to the present invention will be described with reference to FIG. 1. The floating boat 100 provides buoyancy to the paddy field weed management robot 1000 . Accordingly, buoyancy is applied to the fresh water of the paddy field. In addition, the floating boat 100 facilitates movement by reducing frictional force when the fresh water depth is 1 to 2 cm or less.

A body 110 is provided on the floating boat 100 .

The body 110 preferably includes a housing 111 made of a waterproof material to protect the mounted modules and systems. In one embodiment, the housing 111 is formed to protect the AI module 50 and the robot driving member 310, which are systems located on the upper part of the main body 110, from fresh water or foreign substances, and a door is provided to allow the operator to check the system. Easy to use.

In another embodiment, it is possible to transport agricultural materials such as seeds, pesticides and fertilizers, including a loading box (not shown) in the main body 110 .

In another embodiment, the body 110 may include a night driving indicator light.

The Al module 50 is mounted on the body 110 . The AI module 50 controls the driving of the central rotary 240 and the horizontal rotary assembly 200 by controlling the rotary driving member 350 , a detailed description will be given later.

The first wheel 130 is positioned on both sides of the floating boat 100 as a pair.

The first wheel 130 is a rake wheel. This makes driving in mud and water easier.

The second wheel 140 is located on both sides of the floating boat 100 from the rear than the first wheel 130 as a pair.

The second wheel 140 preferably has a wider width and diameter than the first wheel 130 . Accordingly, it is possible not only to facilitate the driving of the second wheel 140 in mud and water, but also to suppress the occurrence of weeds.

The central rotary 240 is provided on the shaft of the second wheel 140 and rotates with the force of rotating the second wheel 140 when necessary to remove leveling work and paddy weeds. In one embodiment, a plurality of blades with a length of 5 cm are provided in the central rotary 240 to cultivate within 3 cm of the surface, but the length of the blade may be variously changed.

The robot driving member 310 provides power to the first wheel 130 , the second wheel 140 , or both, and may be an internal combustion engine such as an engine or an electric motor. In the case of an electric motor, electricity charged by the solar module 170 may be used.

The rotary driving member 350 may be provided in the floating boat 100 to provide a driving force to the horizontal rotary assembly 200 . It may be an electric motor, and the solar energy charged in the solar module 170 may be used.

The solar module 170 is spaced apart from the upper surface of the floating boat 100 to charge electricity. The photovoltaic module 170 is formed to be spaced apart from the upper surface of the floating boat 100 by a plurality of support legs 171 , but may be variously modified. The aforementioned housing 111 may be positioned in a spaced apart space to provide a waterproof effect to system components such as the AI module 50 .

The horizontal rotary assembly 200 is connected to the rotary driving member 350 and located at the rear of the floating boat 100 to press and rub paddy weeds toward the ground. Specifically, the horizontal rotary assembly 200 is raised and lowered by the rotary driving member 350 to press the paddy weeds, and to give friction to the paddy weeds by rotating the rotating parts to be described later by receiving a driving signal.

In one embodiment, the horizontal rotary assembly 200 can press and rub the topsoil by 2-3 cm, and recognize the topsoil by the AI module 50 to be described later, and thus the pressing force is multi-stage (for example, three stages) is regulated with The horizontal rotary coarse chip body 200 can provide only pressurization without friction (rotation) when the state of the paddy field is even.

The horizontal rotary assembly 200 includes a first horizontal rotary 210 and a pair of second horizontal rotary 220 . The first horizontal rotary 210 and the pair of second horizontal rotary 220 are disposed to partially overlap in the horizontal direction on the horizontal rotary assembly 200 .

The first horizontal rotary 210 includes a first cover part 211 and a first rotation part 215 .

The first cover part 211 has an open part on the lower side, and prevents dust scattered when the first rotating part 215 is rotated from splashing. The shape of the first cover part 211 may be any, but preferably, as shown in FIG. 1 , the upper part may be a gentle hemispherical shape and the lower part may have a cylindrical shape. Of course, other shapes, such as a hemispherical shape, a cylindrical shape, or a combination thereof are also possible.

The first rotating part 215 is a rotating blade rotatable by the first power transmission shaft 351 connected to the rotary driving member 350, and provides frictional force to the paddy weeds to suppress the occurrence of paddy weeds. It is preferable that the first rotating part 215 is exposed to the lower side of the first cover part 211 and has a shape in which a plurality of blades are overlapped with each other.

The second horizontal rotary 220 includes a second cover part 221 and a second rotation part 225 .

The second cover part 221 may have any shape like the first cover part 211 , and preferably, the upper part may have a gentle hemispherical shape and the lower part may have a cylindrical shape. Of course, other shapes or combinations thereof are possible. Although the diameter of the second cover part 221 is smaller than that of the first cover part 211 , it has an open part on the lower side, and the function of preventing dust scattered when the second rotating part 225 is rotated from splashing is common.

The second rotating part 225 is a rotating blade rotatable by the second power transmission shaft 352, and it is possible to suppress the occurrence of paddy weeds by providing frictional force to the paddy weeds. The second rotating part 225 is exposed to the lower side of the second cover part 221 , and it is preferable that a plurality of blades are formed by overlapping each other .

In an embodiment of the present invention, the first power transmission shaft 351 and the second power transmission shaft 352 may be separated or integrated.

In another embodiment of the present invention, the first power transmission shaft 351 and the second power transmission shaft 352 may form an angle to each other as shown in FIG. 1 , or may be formed in parallel.

In another embodiment of the present invention, the first power transmission shaft 351 and the second power transmission shaft 352 may operate independently.

In one embodiment, in consideration of the planting characteristics of the rice paddy, the width of the floating boat 100 is 30 cm or less, the diameter of the first horizontal rotary 210 is 25 cm or less, and the diameter of the second horizontal rotary 220 is 10 cm or less, and , it is preferable that the width of the horizontal rotary assembly 200 is 28 cm or less. In general, machine-transferred paddy fields reflect that the row spacing (intertidal) due to the planting density of rice is around 30 cm.

The system of the paddy weed management robot 1000 according to the present invention will be described with further reference to FIG. 2 .

The system of the paddy weed management robot 1000 according to the present invention is capable of autonomous driving including the AI module 50, and for this, the control unit 10, the sensor unit 20, the communication unit 30, and the driving unit 300 includes

The control unit 10 is connected to the sensor unit 20 , the communication unit 30 , the driving unit 300 , and the AI module 50 , and the information sensed by the sensor unit 20 becomes an input layer of the AI module 50 . , a control signal that is an output layer is calculated using the result previously learned from the AI module 50 , and the driving unit 300 is controlled using this. Also, the controller 10 may manually control the driving unit 300 using information input through the terminal 31 wirelessly connected to the communication unit 30 .

In the sensor unit 20, the planting characteristics of the rice paddy are sensed. Specifically, the sensor unit 20 includes an image sensor 21 such as a camera, and detects any one or more of a speed sensor 22 , a GPS sensor 23 , an ultrasonic sensor 24 , and a distance measurement sensor 25 . may include more.

The sensor unit 20 further includes a first sensor module 112 provided in the main body 110 and a second sensor module 172 positioned above the first sensor module 112 . This is for the image sensor 21 to sense an image of a more accurate and wide angle of view. The image sensor 21 senses an image of a wide angle of view to recognize and classify paddy crops, thereby sensing planting characteristics of paddy fields.

In addition to the planting characteristics of the rice paddy by the first sensor module 112 and the second sensor module 172, information on the growth of rice, information on the occurrence of weeds, and the distance to the front obstacle may be further collected.

In other embodiments, there may be additional sensors positioned adjacent to the horizontal rotary assembly 200 . Since it is located close to the paddy crop, the accuracy is increased by adding the detection result to the calculation result of the AI module 50 .

The AI module 50 uses the planting characteristics of the rice paddy sensed by the sensor unit 20 as an input layer, and uses the control signals of the rotary driving member 350 and the robot driving member 310 as an output layer.

In addition, the AI module 50 controls the rotary driving member 350 to control the driving of the central rotary 240 and the horizontal rotary assembly 200 . Specifically, by controlling the driving of the rotation direction and speed of the central rotary 240 using the rotation of the second wheel 140, the pressure strength of the horizontal rotary assembly 200, the rotation speed, etc., pressure and friction on paddy weeds give

In addition, the AI module 50 controls the driving of the first wheel 130 and the second wheel 140 by controlling the robot driving member 310 . Specifically, by controlling the driving of the first wheel 130 and the second wheel 140, such as straight forward, backward, directional rotation, it is possible to move by driving and rotating in an area requiring paddy weed removal.

A specific control method will be further described with reference to FIGS. 3 to 4 .

The AI module 50 serves two functions. The first is to determine the entire boundary of the area to remove paddy weeds, and the second is to control the path by calculating the path in real time while the paddy weed management robot 1000 is running.

In order to perform the method according to the present invention, first, the AI module 50 determines the boundary by checking the entire image (ie, the entire region image) of the area to remove paddy weeds from the sensor unit 20 (S100). ).

Various images and pre-determined boundaries were used as training data, and the AI module can automatically determine the boundaries when receiving an image of the entire area using artificial intelligence.

Next, the AI module 50 determines a work area using the boundary determined in step S100 and determines a path (S200).

Next, when the AI module 50 receives an image of the entire area using artificial intelligence, it identifies rice in the image, automatically checks the planting characteristics of paddy fields such as planting density of rice, and uses the confirmed paddy planting characteristics to determine the area The entire path is determined (S300).

To this end, the AI module 50 learns using various images including a predetermined position of rice as learning data. The AI module 50 determines the path of the entire area by using the planting characteristics of the paddy field identified using the received image, which is preferably in the form of an L as shown in FIG. 3 .

In one embodiment of the present invention, as shown in Figure 3, multi-operation is also possible for a large area using a plurality of paddy weed management robot 1000 at the same time. In this case, a separate control terminal for multi-operation may be used.

Now, the paddy field weed management robot 1000 starts to operate (S400).

As the paddy field weed management robot 1000 runs, the sensor unit 20 checks the image in real time, and the AI module 50 checks the planting characteristics of the paddy field in the confirmed image (S500).

The confirmed rice planting characteristics are used as an input layer in the AI module 50, and an output layer for controlling the rotary driving member 350 and the robot driving member 310 is calculated through this (S600).

To this end, the AI module 50 learns in advance the planting characteristics of various rice fields and a rotary driving method and a robot driving method optimized therefor. For example, when the AI module 50 confirms that there are 8 breakfasts as a planting characteristic of paddy, and the spacing by the planting density of rice is 30 cm, the rotary driving member 350 is both the central rotary 240 and the horizontal rotary assembly 200. and calculates a control signal for controlling the robot driving member 310 to the output layer so that the robot driving member 310 moves between each row in which rice is grown. If the AI module 50 checks the line spacing of 25 cm or less, it determines that it is impossible to travel and calculates a control signal to stop the rotary drive member 350 and the robot drive member 310 as an output layer, and moves to the next line .

On the other hand, the AI module 50 may further use the generation information of weeds. For example, if the AI module 50 confirms that the coverage of weeds is 10% as the generation information of weeds through the real-time image confirmed by the sensor unit 20, the rotary driving member 350 drives the central rotary 240 and At the same time, a control signal for controlling all of the horizontal rotary assemblies 200 to be driven to the maximum output is calculated as an output layer.

In another embodiment, the AI module 50 may further use the distance to the front obstacle. For example, when the AI module 50 confirms that there is an obstacle at 100 cm as the distance to the front obstacle through the real-time image confirmed by the sensor unit 20 and that the distance decreases in real time, the robot driving member 310 rotates A control signal that performs an operation is calculated as an output layer. At this time, the rotation direction refers to the path set in step S300.

Next, when it is determined that the AI module 50 is the provided route driven through the image confirmed in real time, it is determined that the driving is completed and the control unit 10 calculates an end signal as an output layer.

When the method according to the present invention is applied to an actual paddy field, it can be operated as follows.

About 3 to 5 days after the mechanical rice transplantation, when the water in the paddy field is about 1 to 2 cm, the first operation starts before or at the beginning of weeds. The operation of the paddy weed management robot 1000 is periodically repeated at intervals of 5 to 7 days according to the state of the discussion. A multi-run may be performed.

Repeat until the highest tillage stage where the rice is sufficiently colonized. That is, after transplanting the machine, the rice paddy weed management robot 1000 is operated 5 to 7 times. In this case, it is effective to operate at the same time as water management of paddy fields. For example, when the freshwater depth is 1cm to 2cm, it is more effective to operate the paddy weed management robot 1000 according to the present invention.

Of course, the operator can freely adjust the number of operation of the paddy field weed management robot 1000 according to the rice paddy situation or the generation of weeds.

In the above, the present specification has been described with reference to the embodiments shown in the drawings so that those skilled in the art can easily understand and reproduce the present invention, but these are merely exemplary, and those skilled in the art may make various modifications and equivalent other modifications from the embodiments of the present invention. It will be appreciated that embodiments are possible. Therefore, the protection scope of the present invention should be defined by the claims.

10: control
20: sensor unit
21: image sensor
22: speed sensor
23: GPS sensor
24: ultrasonic sensor
25: distance measuring sensor
30: communication department
31: terminal
50: AI module
100: floating boat
110: body
130: first wheel
140: second wheel
170: solar module
200: horizontal rotary assembly
210: first horizontal rotary
211: first cover part
215: first rotating part
220: second horizontal rotary
221: second cover part
225: second rotation unit
240: central rotary
300: driving member
310: robot driving member
350: rotary driving member
351: first power transmission shaft
352: second power transmission shaft

Claims (8)

Al module 50 which uses the planting characteristics and weed generation information sensed by the sensor unit 20 as an input layer and the control signals of the rotary driving member 350 and the robot driving member 310 as an output layer is mounted a floating boat 100 having a main body 110;
a first wheel 130 and a second wheel 140 positioned on the floating boat 100;
a central rotary 240 provided with a plurality of blades on the axis of the second wheel 140 to rotate; and
A horizontal rotary assembly 200 connected to the rotary driving member 350 provided in the floating boat 100 and located at the rear of the floating boat 100 and capable of pressurization and friction; includes;
The horizontal rotary assembly 200,
a first horizontal rotary 210; and
It includes a pair of second horizontal rotary 220 located on both sides of the first horizontal rotary 210 and overlapping in the horizontal direction,
The first horizontal rotary 210,
It is rotatable by a first power transmission shaft 351 connected to the rotary driving member 350, and includes a first rotating part 215 formed by overlapping a plurality of blades,
Each of the second horizontal rotary 220,
The first horizontal rotary 210 has a smaller diameter, is rotatable by a second power transmission shaft 352 formed independently of the first power transmission shaft 151, and is formed by overlapping a plurality of blades. Rotating part 225; including,
The AI module 50 controls the driving of the central rotary 240 and the horizontal rotary assembly 200 by controlling the rotary driving member 350 through the control signal, and the robot driving member 310 ) to control the driving of the first wheel 130 and the second wheel 140,
The planting characteristics of the rice paddy to the AI module 50 as an input layer include planting density of breakfast and rice,
The AI module 50,
By recognizing the planting density of the breakfast and rice to control the rotation direction and speed of the central rotary 240, and at the same time independently control the first power transmission shaft 351 and the second power transmission shaft 352 , independently control the pressing strength and rotation speed of the first horizontal rotary 210 and the second horizontal rotary 220,
Controlling the rotary driving member 350 to control the output of the central rotary 240 and the horizontal rotary assembly 200 according to the generation information of the weeds,
Paddy weed management robot.
The method of claim 1,
The AI module 50 further uses the distance to the front obstacle as an input layer,
The AI module 50,
Controlling the driving and rotation of the robot by controlling the robot driving member 310 according to the distance to the front obstacle,
Paddy weed management robot.
The method of claim 1,
The first horizontal rotary 210,
Further comprising a first cover portion 211 having an opening on the lower side,
Each of the second horizontal rotary 220,
Formed with a smaller diameter than the first cover portion 211, and further comprising a second cover portion 221 having an opening at the lower side,
Paddy weed management robot.
The method of claim 1,
Further comprising; a photovoltaic module 170 spaced apart from the upper surface of the floating boat 100;
Paddy weed management robot.
3. The method of claim 2,
The sensor unit 20,
a first sensor module 112 provided in the body 110; and
and a second sensor module 172 positioned to be spaced apart from the upper portion of the first sensor module 112,
The planting characteristics of the rice paddy, the generation information of the weeds, and the distance to the front obstacle are collected by the first sensor module 112 and the second sensor module 172,
Any one or more of the first sensor module 112 and the second sensor module 172 includes a camera module,
Paddy weed management robot.
The method of claim 1 .
The first wheel 130 is a pitchfork,
The diameter of the second wheel 140 is larger than the first wheel 130,
Paddy weed management robot.
4. The method of claim 3,
The horizontal width of the floating boat 100 is 30 cm or less,
The diameter of the first horizontal rotary 210 is 25 cm or less,
The diameter of the second horizontal rotary 220 is 10 cm or less,
Each of the first horizontal rotary 210 and the second horizontal rotary 220 is disposed to overlap in the horizontal direction on the horizontal rotary assembly 200, and the horizontal width of the horizontal rotary assembly 200 is 28 cm or less,
Paddy weed management robot.
As a method using the paddy weed management robot 1000 according to any one of claims 2 to 7,
(a) collecting, by the AI module 50, the planting characteristics of the rice paddy detected by the sensor unit 20, the generation information of the weeds, and the distance to the front obstacle; and
(b) the AI module 50 uses the pre-learned result, and controls the rotary drive member 350 according to the planting density of the rice, and the rotary drive member 350 according to the generation information of the weeds. and controlling the driving and rotation of the paddy weed management robot 1000 by controlling the robot driving member 310 according to the distance to the front obstacle.
Way.

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