Unmanned weeding apparatus for photovoltaic plant

Abstract

The present invention relates to an unmanned weeding device for a solar power generation facility, wherein, in an embodiment in which the wheels of a movable body receive power from a first drive transmission system and drive while a weeding unit performs weeding operations, and such driving and weeding operations are operated unmanned by automatic control of an autonomous behavior control unit, it is possible to prevent fires caused by weeds in a solar power plant, promote efficiency of weeding operations, maximize the power generation efficiency of solar panels, move freely in a desired direction even on unpaved roads between solar panels, and perform effective weeding operations through various components.

Description

Technology Field

[0001] The present invention relates to an unmanned weeding device for a solar power generation facility, and more specifically, to an unmanned weeding device for a solar power generation facility capable of autonomous driving to remove weeds while moving in a desired direction on an unpaved road between solar panels of a solar power plant. Background Technology

[0003] Mowing can be considered one of the essential management elements for solar power plants during the summer.

[0004] In the summer, weeds grow long enough to cover the solar modules, creating shade and negatively affecting power generation, so mowing is essential at solar power plants.

[0005] In particular, since spring and summer are periods when temperatures gradually rise at solar power plants, it is necessary to secure a large amount of power generation capacity.

[0006] During this period, weeds grow very rapidly due to frequent rain, including the monsoon season, so it is of utmost importance to minimize or block shading factors on solar modules by carrying out periodic mowing.

[0007] Above all, in the case of weeds growing at a very rapid rate in solar power plants, if they grow so tall that they cast shade on the solar modules, there is a very high risk of fire caused by the high temperatures of the modules they come into contact with.

[0008] Examples of inventions created from the above perspective include the "Drone for mowing solar power generation facilities" (hereinafter referred to as prior art) of Registered Patent No. 10-2427259.

[0009] Prior art adopts a method of using a drone to spray herbicides from a drone flying over densely grown weeds to kill the weeds or inhibit their growth.

[0010] However, the method of spraying herbicides as in the prior art had the problem of causing significant adverse effects not only on weeds but also on the growth of various organisms inhabiting the surrounding area, as well as negatively affecting the health of humans approaching the area, such as solar power plant managers. Prior art literature

[0012] Registered Patent No. 10-2427259 The problem to be solved

[0013] The present invention was developed to improve upon the aforementioned problems and aims to provide an unmanned weeding device for solar power generation facilities that can prevent fires caused by weeds in solar power plants and promote the efficiency of weeding operations.

[0014] In addition, the present invention is intended to provide an unmanned weeding device for a solar power generation facility that can maximize the power generation efficiency of a solar panel.

[0015] In addition, the present invention aims to provide an unmanned weeding device for a solar power generation facility that can move freely in a desired direction even on unpaved roads between solar panels and enables effective weeding through various components. means of solving the problem

[0017] To achieve the above objectives, the present invention comprises: a movable body having a wheel that makes rolling contact with the ground between one of a plurality of solar panels (hereinafter referred to as the first panel) and an adjacent panel (hereinafter referred to as the second panel); a first drive transmission system including a first drive motor formed on one side of the movable body and transmitting driving force to the wheel; and a weeding unit including a blade formed on one side of the movable body and removing weeds on both the left and right sides of the movable body's driving path. An unmanned weeding device for a solar power generation facility can be provided, characterized by comprising: a camera provided on a movable body traveling on the ground between the first panel and the second panel to monitor in real time a detection object including an end of the first panel or the second panel or a column supporting the first panel or the second panel; and an autonomous behavior control unit including an AI controller formed on one side of the movable body, electrically connected to the camera, the first drive transmission system, and the weeding unit, and receiving distance information from the detection object calculated by the camera to control the movable body to autonomously drive between the first panel and the second panel and to perform weeding work when weeds are detected by the camera on the ground between the first panel and the second panel.

[0018] Here, the moving body comprises: a base frame having two ends formed in the forward and backward directions of the driving path; a front wheel rotatably provided on each of the front left and right sides of the base frame among the wheels; a rear wheel rotatably provided on each of the rear left and right sides of the base frame among the wheels; a vision box disposed on the front side of the base frame on which the camera is mounted; a control box disposed on the rear side of the vision box, mounted on the base frame, and having the AI ​​controller built in; a second drive transmission system including a second drive motor disposed on one side of the base frame and transmitting driving force required for steering the moving body to the front wheel; a shock absorber that absorbs shock from the ground, comprising a first spring disposed between the base frame and the front wheel and a second spring disposed between the base frame and the rear wheel; a first support frame extending from one side of the upper side of the base frame to support the vision box; a second support frame disposed on the rear side of the first support frame, mounted on the base frame, and supporting the control box; and the first support frame and the It is characterized by including a front lower portion positioned between the second support frames and mounted on the base frame, and a rear lower portion positioned on the rear side of the second support frame and mounted on the base frame, a main frame extending from one side of the upper part of the base frame, and a protective cover body that is supported by the main frame while allowing exposure of a portion including the front of the vision box, and covers the first drive transmission system, a part of the weeding unit excluding the blade, the control box, the second drive transmission system, the buffer, the first support frame, and the second support frame from the upper part of the base frame.

[0019] At this time, the protective cover body is characterized by further including an installation slot formed through one side of the front of the protective cover body to allow a portion of the vision box, including the front of the vision box, to be exposed, an inspection slot formed through the upper surface of the protective cover body to allow access to the internal space of the protective cover body, including the vision box and the control box, and a finishing plate that closes the inspection slot so as to be openable and closable.

[0020] In addition, the camera is characterized as being a stereo camera comprising a first camera positioned on the front left side of the vision box installed in the front of the movable body, and a second camera positioned on the front right side of the vision box.

[0021] And, the first drive transmission system further comprises a first worm gear assembly connected to the first drive motor, a drive sprocket that rotates by receiving driving force from the first worm gear assembly, a left rear shaft extending from the center of the left rear wheel among the rear wheels, a differential gear connecting the left rear shaft extending from the center of the right rear wheel among the rear wheels, a driven sprocket formed on one side of the differential gear, and a drive transmission chain connecting the drive sprocket and the driven sprocket.

[0022] In addition, the second drive transmission system further comprises a second worm gear assembly connected to the second drive motor, a steering shaft that is orthogonal to the base frame and positioned on the front side of the base frame, and receives driving force from the second worm gear assembly to rotate in forward and reverse directions, a steering linkage formed on the lower side of the steering shaft and interconnecting the steering shaft with a left front shaft extending from the center of the left front wheel among the front wheels and a right front shaft extending from the center of the right front wheel among the front wheels, and an encoder sensor formed on the upper side of the steering shaft and electrically connected to the AI ​​controller to convert the mechanical rotational displacement of the steering shaft into an electrical pulse.

[0023] And, the weeding unit further comprises a first bar extending from the left side of the base frame, a second bar extending from the right side of the base frame, a first bracket mounted on the end of the first bar facing the ground with respect to the front end of the first bar coupled to the base frame, a second bracket mounted on the end of the second bar facing the ground with respect to the front end of the second bar coupled to the base frame, and a third driving motor installed on the first bracket and the second bracket to generate a driving force necessary for the rotation of the blade, wherein the blade is mounted on the lower end of a driving shaft extended toward the ground and provided in the third driving motor.

[0024] In addition, the blade is characterized by being made of plastic or metal.

[0025] In addition, the autonomous behavior control unit further comprises a stereo camera comprising a first camera positioned on the front left side of the mobile body and a second camera positioned on the front right side of the mobile body, which constitutes the camera; a motor driver provided on one side of the mobile body or on a charging deck for charging a battery provided on the mobile body, which controls the operation of the first drive motor for driving the mobile body, the second drive motor for steering the mobile body, and the third drive motor for rotating the blade; and a wireless control unit provided on one side of the mobile body or on the charging deck, which includes a communication module capable of communicating with a manager's portable terminal or a server of a control center.

[0026] In addition, a battery provided on one side of the mobile body and supplying power for the operation of the mobile body, including driving the mobile body; a first charging terminal provided on one side of the mobile body and electrically connected to the battery; a charging deck electrically connected to an external power source; a second charging terminal provided on the charging deck and supplying electrical energy to the battery upon contact with the first charging terminal; a sensor switch disposed between the first charging terminal and the battery, or between the second charging terminal and the external power source, and detecting that the first charging terminal contacts the second charging terminal; a control board electrically connected to the sensor switch; a timer provided on the control board capable of adjusting the driving time of the mobile body so that the mobile body returns to the charging deck side after driving for a certain period according to a set value; a relay module provided on the control board and electrically connected to the timer; and a relay module provided on the control board and electrically connected to the relay module, wherein the relay module detects that the timer is activated and supplies electrical energy from the external power source to the battery. It further includes a supply charging / discharging circuit, and is characterized in that, after the timer is operated, the sensor switch detects contact between the first charging terminal and the second charging terminal, and a series of patterns in which the relay module and the charging / discharging circuit are sequentially operated are automatically performed. Effects of the invention

[0028] According to the present invention with the above-described configuration, the following effects can be achieved.

[0029] First of all, the present invention has the advantage of being able to move freely and automatically in a desired direction even on unpaved roads and enables effective weeding through various components, thereby preventing fires in solar power plants caused by neglected weeds.

[0030] If weeds grow around a solar panel, the light absorption rate of the solar panel may decrease, which can lower power generation efficiency; however, by periodically performing weeding using the device according to the present invention, there is a special advantage in that the overall power generation efficiency of the solar power plant can be significantly improved. Brief explanation of the drawing

[0032] FIG. 1 is a perspective conceptual diagram showing the overall appearance of an unmanned weeding device for a solar power generation facility according to one embodiment of the present invention. FIG. 2 is a drawing showing the overall appearance of an unmanned weeding device for a solar power generation facility according to one embodiment of the present invention as viewed from points iia, iib, and iic of FIG. 1, respectively, where FIG. 2(a) is a side view, FIG. 2(b) is a plan view, and FIG. 2(c) is a front view. FIG. 3 is a perspective conceptual diagram illustrating the overall structure of a protective cover body, which is a movable body that is a main part of an unmanned weeding device for a solar power generation facility according to one embodiment of the present invention. FIG. 4 is a perspective conceptual diagram illustrating the overall structure of an unmanned weeding device for a solar power generation facility according to one embodiment of the present invention, showing the state with the protective cover removed. FIG. 5 is a conceptual plan view showing the state in which a protective cover is removed from an unmanned weeding device of a solar power generation facility according to one embodiment of the present invention, as seen at point v of FIG. 4. FIG. 6 is a conceptual perspective diagram illustrating the coupling structure of a buffer in the movable body, which is a main part of an unmanned weeding device for a solar power generation facility according to one embodiment of the present invention. FIG. 7 is a conceptual side cross-sectional view showing the steering and drive transmission structure of an unmanned weeding device of a photovoltaic power generation facility according to one embodiment of the present invention, obtained by cutting along the viia-viia and ivvb-viib lines of FIG. 5. FIG. 8 is a bottom conceptual diagram showing the state in which a protective cover has been removed from an unmanned weeding device of a solar power generation facility according to one embodiment of the present invention, as viewed from point viii of FIG. 4. FIG. 9 is a perspective conceptual diagram for understanding the power transmission structure of the first drive transmission system in an unmanned weeding device of a solar power generation facility according to one embodiment of the present invention. FIG. 10 is a conceptual perspective diagram illustrating the state of an unmanned weeding device of a solar power generation facility according to one embodiment of the present invention driving in a solar power plant. FIG. 11 is a flowchart illustrating the general operation algorithms, such as driving and steering, of an unmanned weeding device for a solar power generation facility according to one embodiment of the present invention. FIG. 12 is a block diagram illustrating the overall hardware logic of an unmanned weeding device for a solar power generation facility according to one embodiment of the present invention. Specific details for implementing the invention

[0033] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described in detail below together with the accompanying drawings.

[0034] However, the present invention is not limited to the embodiments disclosed below but will be implemented in various different forms.

[0035] The embodiments described in this specification are provided to ensure that the disclosure of the invention is complete and to fully inform those skilled in the art of the scope of the invention.

[0036] And the present invention is defined only by the scope of the claims.

[0037] Accordingly, in some embodiments, well-known components, well-known operations, and well-known techniques are not specifically described to avoid the invention being interpreted ambiguously.

[0038] Additionally, throughout the specification, the same reference numerals refer to the same components, and the terms used (mentioned) in this specification are for describing embodiments and are not intended to limit the invention.

[0039] In this specification, the singular form includes the plural form unless specifically stated otherwise in the text, and components and operations referred to as 'comprising (or comprising)' do not exclude the presence or addition of one or more other components and operations.

[0040] Unless otherwise defined, all terms used in this specification (including technical and scientific terms) may be used in a meaning that is commonly understood by those skilled in the art to which the present invention belongs.

[0041] Also, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless otherwise defined.

[0043] Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings.

[0044] First, FIG. 1 is a perspective conceptual diagram showing the overall appearance of an unmanned weeding device for a solar power generation facility according to one embodiment of the present invention.

[0045] Also, FIG. 2 is a drawing showing the overall appearance of an unmanned weeding device for a solar power generation facility according to one embodiment of the present invention as viewed from points iia, iib, and iic of FIG. 1, respectively, where FIG. 2(a) is a side view, FIG. 2(b) is a plan view, and FIG. 2(c) is a front view.

[0046] And, FIG. 3 is a perspective conceptual diagram illustrating the overall structure of a protective cover body (180) of a movable body (100), which is a main part of an unmanned weeding device for a solar power generation facility according to one embodiment of the present invention.

[0047] And, FIG. 4 is a perspective conceptual diagram showing the overall structure of an unmanned weeding device for a solar power generation facility according to one embodiment of the present invention, with the protective cover (180) removed.

[0048] And, FIG. 5 is a planar conceptual diagram showing the state in which the protective cover (180) is removed from the unmanned weeding device of a solar power generation facility according to one embodiment of the present invention, as viewed from point v of FIG. 4.

[0049] And, FIG. 6 is a perspective conceptual diagram illustrating the coupling structure of a buffer (150) in a movable body (100), which is a main part of an unmanned weeding device of a solar power generation facility according to one embodiment of the present invention.

[0050] And, FIG. 7 is a conceptual side cross-sectional view showing the steering and drive transmission structure of an unmanned weeding device of a photovoltaic power generation facility according to one embodiment of the present invention, which is shown by cutting along the viia-viia and ivvb-viib lines of FIG. 5.

[0051] And, FIG. 8 is a bottom conceptual diagram showing the state in which the protective cover (180) has been removed from the unmanned weeding device of a solar power generation facility according to one embodiment of the present invention, as viewed from point viii of FIG. 4.

[0052] And, FIG. 9 is a perspective conceptual diagram for understanding the power transmission structure of the first drive transmission system (200) in an unmanned weeding device of a solar power generation facility according to one embodiment of the present invention.

[0053] And, FIG. 10 is a conceptual perspective diagram illustrating the state of an unmanned weeding device of a solar power generation facility according to one embodiment of the present invention driving in a solar power plant.

[0054] In addition, FIG. 11 is a flowchart illustrating the general operation algorithms, such as driving and steering, of an unmanned weeding device of a solar power generation facility according to one embodiment of the present invention.

[0055] In addition, FIG. 12 is a block diagram illustrating the overall hardware logic of an unmanned weeding device for a solar power generation facility according to one embodiment of the present invention.

[0056] For reference, in FIGS. 1 to 9, arrow F indicates the front side, arrow E indicates the rear side, arrow L indicates the left side, arrow R indicates the right side, arrow U indicates the upper side, and arrow D indicates the lower side.

[0058] As illustrated in FIGS. 1 to 10, the present invention may apply an embodiment in which the wheel (101) of the mobile body (100) receives power from the first drive transmission system (200) and drives while the weeding unit (300) performs weeding work, and such driving and weeding work are operated unmanned by automatic control of the autonomous action control unit (500).

[0059] First, the movable body (100) is equipped with a wheel (101) that rolls in contact with the ground (900, see FIG. 10) between one of the plurality of solar panels (400) (hereinafter the first panel (410, see FIG. 10)) and an adjacent panel (hereinafter the second panel (420, see FIG. 10)).

[0060] Additionally, the first drive transmission system (200) may include a first drive motor (201) formed on one side of the moving body (100) to transmit driving force to the wheel (101).

[0061] Additionally, the weeding unit (300) may be formed on one side of the movable body (100) and may include a blade (301) for removing weeds (910) on both the left and right sides of the driving path of the movable body (100) (see the dashed line in FIG. 10 below).

[0062] In addition, the autonomous behavior control unit (500) may largely include a camera (510) and an AI controller (see FIG. 12 below).

[0063] A camera (510) is provided on a mobile body (100) that travels on the ground (900) between the first panel (410) and the second panel (420) and monitors in real time a detection object including an end of the first panel (410) or the second panel (420) or a pillar (411, 421, see FIG. 10 hereinafter) that supports the first panel (410) or the second panel (420).

[0064] The AI ​​controller is formed on one side of the mobile body (100) and is electrically connected to the camera (510), the first drive transmission system (200), and the weeding unit (300). It receives distance information from the detected object calculated by the camera (510) and controls the mobile body (100) to drive autonomously between the first panel (410) and the second panel (420), and when weeds (910) are detected by the camera (510) on the ground (900) between the first panel (410) and the second panel (420), it controls the mobile body (100) to perform weeding work.

[0065] The present invention is applicable to the above-described embodiments, and it goes without saying that it is also applicable to various embodiments as follows.

[0067] First, the moving body (100) may include a base frame (110) having two ends formed in the forward and backward directions of the driving path, a front wheel (1011) rotatably provided on each of the front left and right sides of the base frame (110) among the wheels (101), and a rear wheel (1012) rotatably provided on each of the rear left and right sides of the base frame (110) among the wheels (101).

[0068] Additionally, the movable body (100) may include a vision box (120) positioned on the front side of the base frame (110) and on which a camera (510) is mounted.

[0069] And, the mobile body (100) may include a control box (130) that is positioned at the rear of the vision box (120), mounted on the base frame (110), and has an AI controller built into it.

[0070] Additionally, the moving body (100) may include a second drive transmission system (140) comprising a second drive motor (1401) that is provided on one side of the base frame (110) and transmits the driving force required for steering the moving body (100) to the front wheel (1011).

[0071] And, the moving body (100) may include a shock absorber (150) that absorbs shock from the ground (900), including a first spring (1501) disposed between the base frame (110) and the front wheel (1011) and a second spring (1502) disposed between the base frame (110) and the rear wheel (1012).

[0072] Additionally, the movable body (100) may include a first support frame (161) that extends from one side of the upper part of the base frame (110) to support a vision box (120), and a second support frame (162) that is positioned on the rear side of the first support frame (161), mounted on the base frame (110), and supports a control box (130).

[0073] Additionally, the movable body (100) may include a front lower portion positioned between the first support frame (161) and the second support frame (162) and mounted on the base frame (110), a rear lower portion positioned on the rear side of the second support frame (162) and mounted on the base frame (110), and may include a main frame frame (170) extending from one side of the upper part of the base frame (110).

[0074] In addition, the movable body (100) may include a protective cover body (180) supported by a main frame frame (170) while allowing exposure of a portion including the front of the vision box (120).

[0075] The protective cover (180) can cover the first drive transmission system (200), a part of the mowing unit (300) excluding the blade (301), the control box (130), the second drive transmission system (140), the buffer (150), the first support frame (161), and the second support frame (162) from the top of the base frame (110) to protect them from external impact, dust, rain, or snow.

[0077] Meanwhile, the base frame (110), with reference to FIG. 7, may include a pair of upper vertical bars (112), a plurality of upper horizontal bars (1121) connecting the pair of upper vertical bars (112), a pair of lower vertical bars (111) positioned on the lower side of the pair of upper vertical bars (112), and a plurality of lower horizontal bars (1111) connecting the pair of lower vertical bars (111).

[0078] Additionally, the base frame (110) may include a pivot support frame (113) that is pivotably coupled to the rearmost lower crossbar (1111) among a plurality of lower crossbars (1111).

[0079] And, the base frame (110) may include a plurality of vertical bars (114, see FIG. 7 below) that vertically connect each of a pair of upper vertical bars (112) and a pair of lower vertical bars (111).

[0080] Here, it can be seen that a pair of upper vertical bars (112) are positioned on the rear side of the base frame (110) and at the same time, a pair of lower vertical bars (111) are positioned on the front side of the base frame (110).

[0081] At this time, it can be seen that the front wheel (1011) is connected by a steering linkage (143) of the second drive transmission system (140) to be described later, which is mounted on a pair of lower vertical bars (111), and the rear wheel (1012) is connected to a rotational support frame (113).

[0082] Additionally, it can be seen that the first support frame (161) and the second support frame (162) extend outward from a pair of lower vertical bars (111).

[0083] In addition, it can be seen that the lower front portion of the main frame (170) is connected to a pair of lower vertical bars (111), and the lower rear portion of the main frame (170) is connected to a pair of lower vertical bars.

[0085] Meanwhile, the main frame (170), as seen with reference to FIGS. 3, 4, 6, and 7, may include a front frame cross bar (171) mounted on a pair of lower vertical bars (111) having a lower surface facing the upper surface of a pair of lower vertical bars (111), and a rear frame cross bar (172) mounted on a pair of upper vertical bars (112) having a lower surface facing the upper surface of a pair of upper vertical bars (112).

[0086] Here, the main frame (170) may include a front frame vertical bar (173) that is formed protruding from both ends of the upper surface of the front frame horizontal bar (171) and is perpendicular to the front frame horizontal bar (171), and a rear frame vertical bar (174) that is formed protruding from both ends of the upper surface of the rear frame horizontal bar (172) and is perpendicular to the rear frame horizontal bar (172).

[0087] At this time, the main frame (170) may include a left connecting bar (175) that interconnects the upper portions of the front frame vertical bar (173) and the rear frame vertical bar (174) on the left, and a right connecting bar (176) that interconnects the upper portions of the front frame vertical bar (173) and the rear frame vertical bar (174) on the right.

[0088] Additionally, the main frame (170) may include an upper connecting bar (177) that interconnects the left connecting bar (175) and the right connecting bar (176).

[0090] Meanwhile, the protective cover body (180), when examined more specifically with reference to FIGS. 1 to 3, may further include an installation slot (181) formed through one side of the front of the protective cover body (180) to allow a part of the vision box (120), including the front of the vision box (120), to be exposed.

[0091] Additionally, the protective cover (180) may further include an inspection slot (182) penetrating the upper surface of the protective cover (180) to allow access to the internal space of the protective cover (180), including the vision box (120) and the control box (130).

[0092] Additionally, the protective cover body (180) may further include a finishing plate (183) that closes the inspection slot (182) so that it can be opened and closed.

[0094] Meanwhile, referring to FIGS. 1, FIGS. 2 and FIGS. 4, it can be seen that the camera (510) is a stereo camera (510) including a first camera (511) positioned on the front left side of the vision box (120) and a second camera (512) positioned on the front right side of the vision box (120).

[0095] The stereo camera (510) can detect the ends or pillars (411, 421) of the first and second panels (410, 420), and by using two lenses such as the first and second cameras (511, 512) to acquire three-dimensional visual information, more accurate distance measurement and object recognition become possible.

[0097] Meanwhile, the first drive transmission system (200), as seen with reference to FIGS. 4, FIGS. 5, FIGS. 7 through 9, may further include a first worm gear assembly (210) connected to a first drive motor (201) and a drive sprocket (220) that rotates by receiving driving force from the first worm gear assembly (210).

[0098] Here, the first drive transmission system (200) may further include a differential gear (230) that interconnects a left rear shaft (1014) extending from the center of the left rear wheel (1012) among the rear wheels (1012) and a right rear shaft (1014) extending from the center of the right rear wheel (1012) among the rear wheels (1012).

[0099] At this time, the first drive transmission system (200) may further include a driven sprocket (240) formed on one side of the differential gear (230).

[0100] Additionally, the first drive transmission system (200) may further include a drive transmission chain (250, see FIG. 9 below) that interconnects the drive sprocket (220) and the driven sprocket (240).

[0102] Meanwhile, the shock absorber (150) may further include a second shock absorber (152) having an upper portion rotatably coupled to the foremost upper crossbar (1121) among a plurality of upper crossbars (1121) as shown in FIGS. 5 to 8, and a lower portion rotatably coupled to a pivot support frame (113) rotatably coupled to the rearmost lower crossbar (1111) among a plurality of lower crossbars (1111).

[0103] Here, it can be seen that the inner surface of the second spring (1502) faces the outer surface of the second shock absorber (152).

[0105] Meanwhile, the base frame (110) may further be provided with first and second axis support brackets (1131, 1132).

[0106] The first shaft support bracket (1131) rotatably supports the left rear shaft (1014) extending from the center of the left rear wheel (1012) among the rear wheels (1012), and extends from the left end of the rear left and right ends of the rotation support frame (113).

[0107] The second shaft support bracket (1132) rotatably supports the right rear shaft (1014) extending from the center of the right rear wheel (1012) among the rear wheels (1012), and extends from the right end of the rear left and right ends of the rotation support frame (113).

[0108] Therefore, it can be seen that a differential gear (230) is positioned between the first shaft support bracket (1131) and the second shaft support bracket (1132).

[0110] Meanwhile, with reference to FIGS. 5 and FIGS. 7 to 9, the second drive transmission system (140) may further include a second worm gear assembly (142) connected to a second drive motor (1401), and a steering shaft (141) that is orthogonal to the base frame (110) and positioned on the front side of the base frame (110), and receives driving force from the second worm gear assembly (142) to rotate in forward and reverse directions.

[0111] Additionally, the second drive transmission system (140) may further include a steering linkage (143) formed on the lower side of the steering shaft (141) and connecting the left front shaft (1013) extending from the center of the left front wheel (1011) among the front wheels (1011) and the right front shaft (1013) extending from the center of the right front wheel (1011) among the front wheels (1011) to the steering shaft (141).

[0112] In addition, the second drive transmission system (140) may further include an encoder sensor (145) formed on the upper side of the steering shaft (141) and electrically connected to an AI controller to convert the mechanical rotational displacement of the steering shaft (141) into an electrical pulse.

[0113] Here, the steering linkage (143) may include a left knuckle arm (1431) connected to the left front shaft (1013) and a right knuckle arm (1432) connected to the right front shaft (1013).

[0114] At this time, the steering linkage (143) may include a left tie rod (1433) having a left rod end (1435) provided at both ends and rotatably coupled to the end of the left knuckle arm (1431), and a right tie rod (1434) having a right rod end (1436) provided at both ends and rotatably coupled to the end of the right knuckle arm (1432).

[0115] Additionally, the steering linkage (143) may include a steering link piece (1437) to which the lower end of the steering shaft (141) is connected, while the left rod end (1435) and the right rod end (1436) are rotatably connected.

[0116] Additionally, the steering linkage (143) may include a left control arm (1438) rotatably connected to a left knuckle arm (1431) from the left side of the steering link member (1437), and a right control arm (1439) rotatably connected to a right knuckle arm (1432) from the right side of the steering link member (1437).

[0118] Meanwhile, the shock absorber (150) may further include first left and right shock absorbers (1511, 1512), as shown in FIG. 6.

[0119] The first left and right shock absorbers (1511, 1512) are provided to provide a protective function for the entire device according to the present invention by absorbing or dispersing the shock applied to the device from the ground (900) together with the second shock absorber (152) described above.

[0120] The first left shock absorber (1511) includes a lower portion rotatably coupled to the left lower vertical bar (111) of a pair of lower vertical bars (111), and an upper portion rotatably coupled to the left side of the main frame (170).

[0121] The first right shock absorber (1512) includes a lower portion rotatably coupled to the right lower vertical bar (111) of a pair of lower vertical bars (111), and an upper portion rotatably coupled to the right side of the main frame (170).

[0122] It can be seen that the inner surface of the first spring (1501) faces the outer surface of the first left shock absorber (1511) and the second right shock absorber.

[0123] Here, it can be seen that the upper part of the first left shock absorber (1511) is rotatably connected through the left connecting bar (175) and the left upper connecting piece (153), and the upper part of the first right shock absorber (1512) is rotatably connected through the right connecting bar (176) and the right upper connecting piece (154).

[0125] Meanwhile, the weeding unit (300) may further include a first bar (310) extending from the left side of the base frame (110) and a first bracket (330) mounted on the end of the first bar (310) facing the ground (900) with respect to the front end of the first bar (310) coupled to the base frame (110).

[0126] And, the weeding unit (300) may further include a second bar (320) extending from the right side of the base frame (110), and a second bracket (340) mounted on the end of the second bar (320) facing the ground (900) with respect to the front end of the second bar (320) coupled to the base frame (110).

[0127] Additionally, the weeding unit (300) may further include a third drive motor (303) installed on the first bracket (330) and the second bracket (340) to generate the driving force required for the rotation of the blade (301).

[0128] In addition, it can be seen that the blade (301) is equipped with a third drive motor (303) and is mounted on the lower end of a drive shaft that extends toward the ground (900).

[0129] Here, the blade (301) may, of course, be made of plastic or metal.

[0131] Meanwhile, the autonomous behavior control unit (500) may further include a motor driver and a wireless control unit together with the stereo camera (510) described above, with reference to FIGS. 10 to 12 together with FIGS. 1 to 9.

[0132] The motor driver is provided on one side of the mobile body (100) or on a charging deck for charging a battery provided on the mobile body (100), and controls the operation of a first drive motor (201) for driving the mobile body (100), a second drive motor (1401) for steering the mobile body (100), and a third drive motor (303) for rotating the blade (301).

[0133] The wireless control unit may include a communication module that is provided on one side of the mobile body (100) or on a charging deck and is capable of communicating with a manager's portable terminal or a server of a control center.

[0134] The communication module is illustrated as a Bluetooth module in the present invention as shown in FIG. 12, but it is not necessarily limited to a specific communication module.

[0135] It goes without saying that depending on the scale or environment of the solar power plant, an administrator can remotely control it in the form of an app or a joystick using various wired or wireless short-range communication modules.

[0137] Meanwhile, the integrated control unit may further include an autonomous driving control unit in which the stereo camera (510) calculates the distance to the detected object and transmits the distance information to the autonomous driving algorithm of the AI ​​controller, and a control board that receives an image of the surrounding environment captured by the stereo camera (510), analyzes the image, and determines the location of the weed (910).

[0138] Accordingly, the control board can control each drive motor (201, 1401, 303) by transmitting a control signal to the first drive motor (201), the second drive motor (1401), and the third drive motor (303) according to the analysis result of the image.

[0140] Meanwhile, although not specifically illustrated, the unmanned weeding device of the solar power generation facility according to the present invention may also perform the following automatic charging function.

[0141] That is, the unmanned weeding device (hereinafter weeding device) of the solar power generation facility according to the present invention may further be provided with a battery that is provided on one side of the mobile body (100) and supplies power for the operation of the mobile body (100), including the driving of the mobile body (100).

[0142] In addition, the weeding device may further be provided with a first charging terminal that is electrically connected to a battery and is provided on one side of the mobile body (100).

[0143] In addition, the weeding device may further include a charging deck electrically connected to an external power source and a second charging terminal provided on the charging deck that supplies electrical energy to a battery when in contact with a first charging terminal.

[0144] In addition, the weeding device may further include a sensor switch positioned between the first charging terminal and the battery, or between the second charging terminal and the external power source, which detects when the first charging terminal comes into contact with the second charging terminal.

[0145] Additionally, the weeding device may further include a control board electrically connected to a sensor switch and a timer provided on the control board that can adjust the driving time of the mobile body (100) so that the mobile body (100) returns to the charging deck side after driving for a certain period of time according to a set value.

[0146] In addition, the weeding device may further include a relay module provided on a control board and electrically connected to a timer, and a charging / discharging circuit provided on a control board and electrically connected to the relay module, which supplies electrical energy to a battery from an external power source when the relay module detects that the timer is activated.

[0147] Therefore, after the timer is activated, the sensor switch detects contact between the first charging terminal and the second charging terminal, and a series of patterns in which the relay module and the charging / discharging circuit are sequentially operated will be performed automatically.

[0149] As described above, it can be seen that the basic technical concept of the present invention is to provide an unmanned weeding device for a solar power generation facility that can prevent fires caused by weeds in advance at a solar power plant, promote the efficiency of weeding operations, maximize the power generation efficiency of solar panels, allow free movement in a desired direction even on unpaved roads between solar panels, and enable effective weeding operations through various components.

[0150] And, it goes without saying that many other variations and applications are also possible for those skilled in the art within the scope of the basic technical concept of the present invention. Explanation of the symbols

[0152] 100...Moving main body 101...wheel 1011...Front wheel 1012...rear wheel 1013...Front shaft 1014...Rear shaft 110...Base frame 111...Lower vertical bar 1111...Lower horizontal bar 112...Upper vertical bar 1121...Upper horizontal bar 113...Meeting support frame 1131...1st shaft support bracket 1132...2nd shaft support bracket 114...vertical bar 120...Vision Box 130...control box 140...2nd drive transmission system 1401...2nd drive motor 141...steering shaft 142...2nd worm gear assembly 143...steering linkage 1431...Left knuckle arm 1432...Right knuckle arm 1433...Left tie rod 1434... Right tie rod 1435...Left load end 1436...Right load end 1437... Steering Link Part 1438...Left control arm 1439...Right control arm 145... Encoder sensor 150...buffer 1501...1st spring 1511...1st left shock absorber 1512...1st right shock absorber 1502...2nd spring 152...2nd shock absorber 153...Upper left connecting piece 154...Upper right connecting piece 161...1st support frame 162...2nd support frame 170...Main frame 171...Front frame horizontal bar 172...Rear frame horizontal bar 173...Front frame vertical bar 174...Rear frame vertical bar 175...Left connecting bar 176...Right connecting bar 177...Upper connecting bar 180...Protective cover 181...Installation slots 182... Maintenance slot 183...Finishing plate 200...1st drive transmission system 201...1st drive motor 210...1st worm gear assembly 220...drive sprocket 230...differential gear 240...driven sprocket 250...drive transmission chain 300... Weeding Department 301...Blade 303...3rd drive motor 310...1st bar 320...2nd Bar 330...1st bracket 340...2nd bracket 400...solar panels 410...1st panel 411...pillar 420...2nd panel 421...pillar 500...Autonomous Action Control Unit 510...camera (stereo camera) 511...1st Camera 512...2nd camera 900... surface 910...weeds

Claims

Claim 1 A movable body having a wheel that makes rolling contact with the ground between one of a plurality of solar panels (hereinafter referred to as the first panel) and an adjacent panel (hereinafter referred to as the second panel); a first drive transmission system including a first drive motor formed on one side of the movable body and transmitting driving force to the wheel; and a weeding unit including a blade formed on one side of the movable body and removing weeds on both the left and right sides of the movable body's driving path. The autonomous behavior control unit comprises: a camera provided on the mobile body traveling on the ground between the first panel and the second panel for real-time monitoring of a detection object including an end of the first panel or the second panel or a column supporting the first panel or the second panel; and an AI controller formed on one side of the mobile body and electrically connected to the camera, the first drive transmission system, and the weeding unit, receiving distance information to the detection object calculated by the camera, and controlling the mobile body to autonomously drive between the first panel and the second panel and to perform weeding operations when weeds are detected by the camera on the ground between the first panel and the second panel. The mobile body comprises: a base frame having two ends formed in the forward and backward directions of the driving path; a front wheel among the wheels, rotatably provided on both the front left and right sides of the base frame; a rear wheel among the wheels, rotatably provided on both the rear left and right sides of the base frame; a vision box disposed on the front side of the base frame on which the camera is mounted; and a rear-mounted vision box disposed on the rear of the vision box A second drive transmission system comprising a control box mounted on a base frame and having the AI ​​controller built therein, a second drive motor provided on one side of the base frame and transmitting the driving force required for steering the moving body to the front wheel, and a first spring disposed between the base frame and the front wheel,A shock absorber comprising a second spring disposed between the base frame and the rear wheel and absorbing shock from the ground; a first support frame extending from one side of the upper part of the base frame and supporting the vision box; a second support frame disposed on the rear side of the first support frame and mounted on the base frame, supporting the control box; a front lower portion disposed between the first support frame and the second support frame and mounted on the base frame; a rear lower portion disposed on the rear side of the second support frame and mounted on the base frame; a main frame extending from one side of the upper part of the base frame; a protective cover body that covers the first drive transmission system, a part of the mowing unit excluding the blade, the control box, the second drive transmission system, the shock absorber, the first support frame, and the second support frame from the upper part of the base frame, while allowing exposure of a portion including the front of the vision box, and the camera is located at the front of the mobile body An unmanned weeding device for a solar power generation facility, characterized by including a first camera installed in a deployed vision box and positioned on the front left side of the vision box, and a second camera positioned on the front right side of the vision box. Claim 2 delete Claim 3 An unmanned weeding device for a solar power generation facility according to claim 1, wherein the protective cover further comprises: an installation slot formed through one side of the front of the protective cover to allow a portion of the vision box, including the front of the vision box, to be exposed; an inspection slot formed through the upper surface of the protective cover to allow access to the internal space of the protective cover, including the vision box and the control box; and a finishing plate that closes the inspection slot so as to be openable and closable. Claim 4 delete Claim 5 An unmanned weeding device for a solar power generation facility according to claim 1, wherein the first drive transmission system further comprises: a first worm gear assembly connected to the first drive motor; a drive sprocket that rotates by receiving driving force from the first worm gear assembly; a differential gear that interconnects a left rear shaft extending from the center of the left rear wheel among the rear wheels and a right rear shaft extending from the center of the right rear wheel among the rear wheels; a driven sprocket formed on one side of the differential gear; and a drive transmission chain that interconnects the drive sprocket and the driven sprocket. Claim 6 An unmanned weeding device for a solar power generation facility according to claim 1, wherein the second drive transmission system further comprises: a second worm gear assembly connected to the second drive motor; a steering shaft that is orthogonal to the base frame and disposed on the front side of the base frame, and receives driving force from the second worm gear assembly to rotate in forward and reverse directions; a steering linkage formed on the lower side of the steering shaft and interconnecting the steering shaft with a left front shaft extending from the center of the left front wheel among the front wheels and a right front shaft extending from the center of the right front wheel among the front wheels; and an encoder sensor formed on the upper side of the steering shaft and electrically connected to the AI ​​controller to convert mechanical rotational displacement of the steering shaft into an electrical pulse. Claim 7 The unmanned weeding device of claim 1, wherein the weeding unit further comprises a first bar extending from the left side of the base frame, a second bar extending from the right side of the base frame, a first bracket mounted on the end of the first bar facing the ground with respect to the front end of the first bar coupled to the base frame, a second bracket mounted on the end of the second bar facing the ground with respect to the front end of the second bar coupled to the base frame, and a third drive motor installed on the first bracket and the second bracket to generate a driving force necessary for the rotation of the blade, wherein the blade is mounted on the lower end of a drive shaft extended toward the ground and provided on the third drive motor. Claim 8 An unmanned weeding device for a photovoltaic power generation facility according to claim 7, wherein the blade is made of plastic or metal. Claim 9 The unmanned weeding device for a solar power generation facility according to claim 1, wherein the autonomous action control unit further comprises a stereo camera comprising a first camera positioned on the front left side of the mobile body and a second camera positioned on the front right side of the mobile body, constituting the camera; a motor driver provided on one side of the mobile body or on a charging deck for charging a battery provided on the mobile body, which controls the operation of the first drive motor for driving the mobile body, the second drive motor for steering the mobile body, and the third drive motor for rotating the blade; and a wireless control unit provided on one side of the mobile body or on the charging deck, which includes a communication module capable of communicating with a manager's portable terminal or a server of a control center. Claim 10 In claim 1, a battery provided on one side of the mobile body and supplying power for operation of the mobile body, including driving of the mobile body; a first charging terminal provided on one side of the mobile body and electrically connected to the battery; a charging deck electrically connected to an external power source; a second charging terminal provided on the charging deck and supplying electrical energy to the battery when in contact with the first charging terminal; a sensor switch disposed between the first charging terminal and the battery or between the second charging terminal and the external power source and detecting that the first charging terminal is in contact with the second charging terminal; a control board electrically connected to the sensor switch; a timer provided on the control board capable of adjusting the driving time of the mobile body so that the mobile body returns to the charging deck side after driving for a certain period of time according to a set value; a relay module provided on the control board and electrically connected to the timer; and a relay module provided on the control board and electrically connected to the relay module so that the relay module detects that the timer is activated and from the external power source An unmanned weeding device for a solar power generation facility, further comprising a charging / discharging circuit that supplies electrical energy to a battery, and characterized in that, after the timer is operated, the sensor switch detects contact between the first charging terminal and the second charging terminal, and a series of patterns in which the relay module and the charging / discharging circuit are sequentially operated are automatically performed.

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