公开(公告)号：KR101341793B1

公开(公告)日：2013-12-17

申请号：KR1020120096884

申请日：2012-09-03

Applicant: 한국과학기술원

Inventor： 김수현 ,  박광호 ,  김영국 ,  박종원 ,  윤병호 ,  이진이

IPC: A01B39/18 ,  A01B41/04 ,  A01C13/00 ,  B25J13/08

CPC classification number: A01D34/008 ,  A01D2101/00 ,  B25J13/086

Abstract: The present invention relates to an automated robot with a weeding function which prevents weeds from being grown between rice seeding on a rice paddy with water which rice planting is completed. The automated robot of the present invention includes a movable member; an intrarow spacing recognizing member; a flipper; a flipper driving member; a battery; and a camera. The movable member includes wheels on the underside, the left side, and the right side and is moved by the rotation of left and right wheels along the intrarow spacing thereof. A motor which moves the movable unit by rotating the wheels is formed on the top of the movable member to prevent the motor from being dipped into water. The intrarow spacing recognizing member recognizes the intrarow spacing between rice seedlings positioned between the left and right wheels when the movable member is moved. The flipper pushes weeds while the left and right wheels are vertically moved in the intrarow spacing and makes mid splash when the movable member is moved. The flipper driving member vertically moves the flipper. The battery supplies power for the operation of various kinds of components including the movable member and the flipper. The camera is positioned on the top of the movable member and photographs the surroundings of the movable member. The automated robot of the present invention obtains excellent energy efficiency and excellent weeding effect; can monitor the state of a rice paddy by photographing the surroundings of the movable member with the camera.

Abstract translation: 本发明涉及一种具有除草功能的自动机器人，该机器人防止在水稻上播种水稻之间的水稻种植完成之后种植杂草。 本发明的自动机器人包括可动构件， 内部间隔识别构件; 襟翼 导板驱动构件; 一个电池 和相机。 可移动部件包括下侧，左侧和右侧的轮，并且通过左右轮的旋转间隔沿其内侧间隔移动。 通过旋转车轮使可移动单元移动的电动机形成在可动构件的顶部上，以防止电动机被浸入水中。 当可移动部件移动时，内侧间距识别构件识别位于左右轮之间的秧苗间的间距。 襟翼推动杂草，同时左右轮子在内部间距中垂直移动，并且当可移动部件移动时中间飞溅。 导板驱动构件垂直移动导板。 电池为包括可移动部件和导板的各种部件的动作提供动力。 相机位于可移动部件的顶部并照相可移动部件的周围。 本发明的自动机器人具有优异的能量效率和优异的除草效果; 可以通过用相机拍摄可移动部件的周围来监视稻田的状态。

公开(公告)号：KR1020160014958A

公开(公告)日：2016-02-12

申请号：KR1020140097190

申请日：2014-07-30

Applicant: 한국과학기술원

Inventor： 김수현 ,  박광호 ,  최근하 ,  한상권 ,  윤병호 ,  이진이 ,  한상훈 ,  이진우

IPC: G06T7/00 ,  G05D1/02

CPC classification number: G05D1/0212 ,  G05D1/0246 ,  G05D2201/0201 ,  G06K9/00798

Abstract: 본발명은모의형태학적특징을이용한논 잡초방제로봇의주행기준선추출방법에관한것으로, 상세하게는로봇에기구비된카메라로부터모열(rice row)의이진영상(binary image)을획득하는영상획득단계(S100), 상기영상획득단계(S100)에서획득한상기이진영상의차영상(SDI, Sequential Difference Image)을획득하고, 데이터를군집화(Clustering rice pixels)하는영상처리단계(S200), 상기영상처리단계(S200)를수행한상기이진영상을이용하여중앙기준선(guidance lines)을추출하는중앙기준선추출단계(S300) 및상기중앙기준선추출단계(S300)에서추출한상기중앙기준선에의해상기로봇의동작을제어하는로봇제어단계(S400)로이루어지는것을특징으로하는모의형태학적특징을이용한논 잡초방제로봇의주행기준선추출방법에관한것이다.

Abstract translation: 本发明涉及一种使用米饭形态特征提取稻谷中的杂草控制机器人的驱动线的方法，更具体地，涉及一种方法，包括：获得步骤（S100），获得二进制图像 从机器人中预先装备的相机的米排 图像处理步骤，获得通过图像获取步骤（S100）获得的二值图像的顺序差分图像（SDI），并且对水稻像素（数据）进行聚类; 引导线提取步骤（S300），其通过使用通过图像处理步骤的二值图像来提取引导线（S200）; 以及通过由引导线提取步骤提取的引导线来控制机器人的操作的机器人控制步骤（S400）（S300）。