Mobile robot system for modern greenhouses

Abstract

The invention relates to a mobile robot system that can move on both heating pipes (rail) and concrete floors in modern greenhouses.

Description

[0001] MOBILE ROBOT SYSTEM FOR MODERN GREENHOUSES

[0002] Technical field of the invention

[0003] The invention relates to a mobile robot system that can move on both heating pipes (rail) and concrete floors in modern greenhouses.

[0004] The State of the Art

[0005] Greenhouses are structures covered with light-permeable materials such as glass, plastic, and fibreglass, the environmental conditions of which can be controlled or regulated in order to provide suitable conditions for plant growth. Manpower is often used in greenhouses to carry out processes such as growing, maintaining and collecting products.

[0006] It is seen that in greenhouses, different robot systems are used to reduce manpower. In the state of the art, there are robot systems that can automatically switch between heating pipes and perform spraying applications in greenhouses.

[0007] In the invention that is the subject of the application numbered “CN213134045” in the state of the art, a greenhouse transport robot that can sort, separate and collect fruits of different sizes while collecting, and increase fruit sorting and collection efficiency, is presented. By means of the arrangement of the vehicle body and rollers, the robot can easily move in a greenhouse by arranging the motor, the first rotating cylinder, the second rotating cylinder and the classification conveyor belt.

[0008] The invention that is the subject of the application numbered “CN217739780U” in the state of the art relates to a mobile robot inside and outside the greenhouse to perform integrated and intelligent work inside and outside the greenhouse. The mobile robot inside and outside the greenhouse is researched and developed according to the greenhouse interior and exterior space structures and operating features, can perform intelligent movement and positioning in narrow spaces inside and outside the greenhouse, and can perform backpack type material transportation and traction type transportation operations. The invention that is the subject of the application numbered “TR2015 / 17137” in the state of the art relates to a rose harvesting robot that enables the continuous, high- yield and standard harvesting of roses in greenhouses without the need for manpower, automatically detects when the greenhouse roses are harvested, cuts these roses and transfers them to the collection conveyor. The invention relates particularly to a rose harvesting robot that determines when roses have reached the appropriate maturity, calculates the length to be cut according to the maturity of the rose, and can automatically perform the cutting process according to these calculations.

[0009] In most of the previous studies, it was stated that the transition between rows can be done with the help of a worker. There should be no worker help for fully automatic row transition. In addition, using an auxiliary robot in fully automatic row transition causes an increase in equipment. For this reason, a mobile robot system that can move both on heating pipes (rail) and concrete floors is needed in modern greenhouses.

[0010] As a result, due to the negativities described above and the inadequacy of existing solutions on the subject, a new technology is needed in the relevant technical field.

[0011] Brief Description and Aims of the Invention

[0012] The invention relates to a mobile robot system that can move on both heating pipes (rail) and concrete floors in modern greenhouses.

[0013] The most important aim of the invention is to enable automatic and manual control of the mobile robot by detecting row exit, row end and new row alignment via sensors on the mobile robot platform.

[0014] Another aim of the invention is to enable movement on concrete ground with mecanum wheels and on heating pipes with polyamide rail wheels.

[0015] Another aim of the invention is to enable integration into a ULV type sprayer system.

[0016] Another aim of the invention is to be able to carry vegetable-fruit boxes. Description of Drawings

[0017] FIGURE-1 is the drawing showing the isometric view of the mobile robot that is the subject of the invention.

[0018] FIGURE-2 is the drawing showing the inside view of the mobile robot that is the subject of the invention.

[0019] FIGURE-3 is the drawing showing the bottom view of the mobile robot that is the subject of the invention.

[0020] Reference numbers

[0021] 1. Mecanum wheel

[0022] 2. Rail wheel

[0023] 3. Reducer

[0024] 4. Front limit switch

[0025] 5. Lower limit switch

[0026] 6. Infrared distance sensor

[0027] 7. Paco switch

[0028] 8. Siren

[0029] 9. Monitor

[0030] 10. Emergency stop button

[0031] 11 .Tension latch

[0032] 12. Handle

[0033] 13. Processor

[0034] 14. Battery

[0035] 15.SSR relay

[0036] 16. Inverter

[0037] 17. DC motor controller

[0038] 18. IMU sensor

[0039] 19. Voltage regulator

[0040] 20. Control card

[0041] 21 . DC motor Detailed Description of the Invention

[0042] The invention relates to a mobile robot system that can move on both heating pipes (rail) and concrete floors in modern greenhouses.

[0043] The mecanum wheels (1 ) enable the mobile robot to move on the concrete floor. The mecanum wheels (1 ) also provide side movement during the transition between rows. When the mobile robot goes on the rail, the mecanum wheels (1 ) remain in the air. The rail wheels (2) are located on the surface of the mobile robot facing the ground, allowing the mobile robot to move on the rail. The mobile robot has a total of 8 wheels, 4 mecanum wheels (1 ) and 4 rail wheels (2).

[0044] The mobile robot makes a full right or full left movement in the direction determined by the user after exiting the row. In the full right movement, the front right wheel moves backward, the rear right wheel moves forward, the front left wheel moves forward, and the rear left wheel moves backward. In the full left movement, the front right wheel moves forward, the rear right wheel moves backward, the front left wheel moves backward, and the rear left wheel moves forward. Due to the structural feature of the mecanum wheels (1 ), the mobile robot can make full right and full left movements without manoeuvring.

[0045] DC motor (21 ) is located in the mobile robot and provides power to the mecanum wheel (1 ) and rail wheels (2). Reducers (3) are connected to the shafts of DC motors (21 ). Reducers (3) reduce the rotation speed of the DC motors (21 ) output shaft and increase their torque. There is an emergency stop button (10) on the mobile robot to intervene in case of an unexpected movement. When the stop button (10) is activated by the user, the robot stops. In addition, a siren (8) is placed so that the mobile robot can warn its surroundings while it is working. The user can select when the siren will work. Handles (12) are mounted on the front and back of the mobile robot to be able to open and close it. There are paco switches (7) for the system's energy to be turned on and off. One of the paco switches controls the energy of the ULV device. The other controls the energy of the rest of the system.

[0046] There is a front limit switch (4) for the mobile robot to detect the new row when it passes between rows. In addition, the lower limit switch (5) detects the exit of the mobile robot from the row. There is an infrared distance sensor (6) on the front of the mobile robot to detect the end of the row. In addition, there are infrared distance sensors (6) on the left, right and back of the mobile robot to detect obstacles. There is a monitor (9) to show the movement status of the mobile robot platform, the status of the sensors and the control interface.

[0047] In case the normally open status of the front limit switch (4) and lower limit switches (5) changes, the DC motors (21 ) stop after the time determined by the user. The front limit switch (4) provides alignment for the transition to the next rail row, while the lower limit switch (5) provides detection of the mobile robot exiting the rail row. According to the distance information received from the infrared distance sensors (6), whether the end of the row has been reached and whether there is an obstacle in front of the mobile robot during its forward, backward, right and left movements are determined. The user can set the distance at which the mobile robot will stop after detecting an obstacle.

[0048] The system is powered by two 12V 72AH batteries (14). Since the ULV type sprayer operates with 220V, the required voltage is provided by connecting the inverter (16) to the battery (14). The ULV type sprayer can be turned on and off with SSR (Solid State Relay) relay (15). The data coming from the sensors are collected by the control card (20) and sent to the processor (13). In the preferred embodiment of the invention, the control card is Arduino UNO. The processor (13) sends commands to both the control card (20) and the DC motor controllers (17) according to the incoming data. The DC motor controllers (17) adjust the rotation speed and direction of the DC motors (21 ) according to the incoming data. A voltage regulator (19) is used to receive supply voltage from the battery (14) to the control card (20). Tension latches (11 ) are mounted to make the mobile robot platform modular. In this way, the carrying apparatus or the ULV type sprayer can be easily mounted to the mobile robot. The IMU (Inertial Measurement Unit) sensor (18) was also used to detect the orientation angle of the mobile robot.

[0049] The mobile robot system has been provided with a modular structure. An apparatus can be mounted on the mobile robot system to carry fruit crates. In addition, a ULV type sprayer can be integrated into the mobile robot system. The ULV type sprayer can be opened and closed automatically or manually.

Claims

CLAIMS1. A mobile robot system that can move over heating pipes and concrete floors in greenhouses, comprising:- At least four mecanum wheels (1 ) that enable the mobile robot to move on the concrete floor and make full right or full left side movements in the direction determined by the user when passing between rows,- At least four rail wheels (2) that are located on the surface of the mobile robot facing the ground, and allow the mobile robot to move on the rail,- At least one DC motor (21 ) that is connected to the shafts of the DC motors (21 ), reduces the rotation speed on the output shaft and increases their torque, and provides power to the mecanum wheels (1 ) and rail wheels (2) within the mobile robot,- At least two paco switches (7) that can turn the energy of the mobile robot system on and off and control the energy of the ULV device that can be installed modularly,- At least one front limit switch (4) that is placed facing the direction of movement of the mobile robot, detects the new row in the transition between rows and ensures alignment for the transition to the rail row,- At least one lower limit switch (5) that is placed facing the ground from the mobile robot, and detects the robot's exit from the row,- At least one infrared distance sensor (6) on each of the surfaces perpendicular to the ground of the mobile robot so that the mobile robot can detect the end of the row and obstacles,- At least one monitor (9) that shows the movement status of the mobile robot and the status of the sensors, and comprises a control panel for the user to manage the mobile robot,At least one battery (14) that provides energy to the mobile robot,At least one control card (20) that collects the data of the infrared distance sensor (6), lower limit switch (5), front limit switch (4) and IMU sensor (18), and sends it to the processor (13),- At least one processor (13) that sends commands to the control card (20) and the DC motor controller (17) according to the data coming from the control card (20), detects whether the mobile robot has reached the end of the row and whether there are any obstacles in front of it during its forward, backward, right and left movements according to the distance information coming from the infrared distance sensors (6), and ensures that the mobile robot is stopped,- At least one DC motor controller (17) that adjusts the rotation speed and direction of the DC motors (21 ) according to the data received from the processor (13),- At least one tension latch (1 1 ) for mounting the carrying apparatus or ULV type sprayer on the mobile robot,- At least one IMU sensor (18) to detect the orientation angle of the mobile robot, and- At least one voltage regulator (19) to provide supply voltage from the battery (14) to the control card (20).

2. A mobile robot system according to Claim 1 , comprising at least one emergency stop button (10) that causes the robot to stop when activated by the user.

3. A mobile robot system according to Claim 1 , comprising at least one handle (12) mounted on the surfaces facing the direction of movement of the mobile robot and the opposite direction to enable the interior of the mobile robot to be opened and closed.

4. A mobile robot system according to Claim 1 , comprising at least one siren (8) that makes sound so that the mobile robot can warn its surroundings while it is working.

5. A mobile robot system according to Claim 1 , comprising two 12V 72AH batteries (14).

6. A mobile robot system according to Claim 1 , comprising SSR relay (15) for switching on and off the modularly mountable ULV type sprayer.

7. A mobile robot system according to Claim 1 , comprising the inverter (16) that converts 12-volt direct current energy to 220-volt alternating current.

8. A mobile robot system according to Claim 1 , comprising the monitor (9) that allows the user to determine at what distance the mobile robot will stop after detecting an obstacle.

9. A mobile robot system according to Claim 1 , comprising the processor (13) that stops the DC motors (21 ) after a time specified by the user in case the open status of the front limit switch (4) and the lower limit switches (5) changes.

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