KR102015411B1 - AGV, environment control system and method using the same - Google Patents

Abstract

The present invention discloses an unmanned transportation apparatus, an environmental control system and method using the same. The unmanned transportation apparatus according to the present invention is installed in the main body, the main body for moving the interior of the cultivation facility equipped with a plurality of sensors for measuring environmental information, the communication unit for communicating with the cultivation facility and the management server, the main body is installed Is installed in the camera and the main body that captures the image of the interior of the cultivation facility and generates the image information, and transmits at least one of the environmental information received from the cultivation facility and the image information generated from the camera to the management server. And a control unit for controlling the monitoring of the cultivation facility based on a work instruction instructing a job corresponding to the monitored result received from the management server.

Description

Unmanned transport system, environment control system and method using same {AGV, environment control system and method using the same}

The present invention relates to an environmental control system of a cultivation facility, and more particularly, to an unmanned transportation device that performs environmental control in real time by using an unmanned transportation device that collects environmental information and image information while moving inside of the cultivation facility, An environmental control system and method.

In general, bulky and heavy cargos are lifted by forklifts or cranes to load, unload or transport. However, in the case of a forklift or a crane, as the amount of work increases, there is a problem of accidents such as collision, falling due to driver's fatigue, operation error, etc., and it is difficult to operate in a narrow area. In order to solve these problems, developed countries such as the US, Japan, and Europe have been intensively developing technologies for unmanned transportation systems in line with the trend of logistics automation.

Since an autonomous guided vehicle (AGV) does not require an operator, it can play a role in increasing the price competitiveness of a product or service by reducing manpower, productivity, and working environment in the logistics field.

In particular, unmanned transportation devices are also used in agricultural sites such as cultivation facilities that produce crops, thereby increasing the efficiency of work. However, the practical unmanned transportation device currently plays only the role of transporting logistics.

Korea Patent Publication No. 10-1510250 (2015.04.02.)

The technical problem to be achieved by the present invention is to provide an unmanned transportation device, and environmental control system and method using the same to collect the environmental information and image information on the inside of the cultivation facility in real time, and to control the environment using the collected information. have.

In order to achieve the above object, the unmanned transportation apparatus according to the present invention is installed in the main body, the main body for moving the inside of the cultivation facility equipped with a plurality of sensors for measuring environmental information, the communication with the cultivation facility and management server A communication unit for performing a, is installed in the main body, the camera for generating the image information by taking an image of the inside of the cultivation facility and installed in the main body, the environmental information received from the cultivation facility and the image generated from the camera Transmitting at least one of the information to the management server to control monitoring of the cultivation facility, and based on a work instruction indicating a job corresponding to the monitored result received from the management server. It includes a control unit for environmental control.

In addition, the camera, characterized in that for taking images of at least one direction of the front, rear and both sides of the main body is moved.

In addition, the control unit, upon confirming the work instruction, estimates the current position of the main body, calculates the shortest moving distance between the estimated current position and the position for performing the environmental control, generates a movement path, and the environment information. It is characterized in that for estimating the current location using the location information included in the most recently received environmental information.

The control unit may be configured to control at least one of the environment information and the image information to communicate with the management server in a portion of the cultivation facility in which communication is possible.

In addition, it is installed on the lower portion of the main body, characterized in that it further comprises a cleaning unit for cleaning the foreign substances present on the bottom of the plant.

The environmental information may include measurement information of at least one of temperature, humidity, carbon dioxide, quantity of light, soil moisture, and leaf temperature measured by the plurality of sensors, and location information of each location of the plurality of sensors. Characterized in that.

In addition, the environmental control is at least one of temperature control, water supply control, carbon dioxide concentration control, illuminance control, ventilation control, ventilation window opening and closing control, shading curtain opening and closing control, thermal insulation opening and closing control and zone blocking door opening and closing control for the cultivation facility. It is characterized by.

Environmental control system using an unmanned transportation device according to the present invention is unmanned to receive the environmental information, while generating the image information for the cultivation facility while moving inside the cultivation facility equipped with a plurality of sensors for measuring environmental information Receive at least one of the environment information and the image information from a transport device and the unmanned transport device, monitor the cultivation facility using the received information, and sends a work order for the monitoring to the unmanned transport device Including a management server for transmitting, The unmanned transport apparatus, the main body to move the inside of the cultivation facility, is installed in the main body, a communication unit for communicating with the cultivation facility and the management server, is installed in the main body And a camera for generating image information by capturing an image in at least one direction and installed in the main body. At least one of the environmental information received from the exhaust facility and the image information generated from the camera is transmitted to the management server to control the monitoring to be performed, and instructs a job corresponding to the monitored result received from the management server. It characterized in that it comprises a control unit for controlling the environment of the cultivation facility based on the work instruction.

In addition, a portion of the cultivation facility is characterized in that it further comprises a communication network that is built to support wireless communication between the unmanned transport device and the management server.

In addition, the management server, if there is an error in the environmental conditions of some areas of the cultivation facilities in the monitored result, after the unmanned transportation device moves to the area where there is an error, the work instruction to retransmit the environmental information of the area And reconfirming the abnormality by using the retransmitted environmental information, and if the reconfirmed environmental state also has an abnormality, a work instruction for environmental control of the corresponding area is provided.

In an environmental control method using an unmanned transport apparatus according to the present invention, the unmanned transport apparatus moves inside a cultivation facility equipped with a plurality of sensors for measuring environmental information, and the unmanned transport device receives environmental information from the cultivation facility. And generating image information by capturing an image of the inside of the cultivation facility, wherein the unmanned transportation apparatus uses at least one of the environment information and the image information so that the management server monitors the cultivation facility. Transmitting to the management server, receiving, by the unmanned transportation device, a work instruction instructing a work corresponding to the monitored result from the management server, and the unmanned transportation device of the cultivation facility based on the work instruction. Performing environmental control.

According to the present invention, there is provided an unmanned transportation apparatus and an environmental control system and method using the same, wherein the management server receives environmental and image information from sensors and cameras installed inside a cultivation facility and transmits the received information to a management server. Real-time monitoring of environmental conditions inside the plant is possible.

In addition, the management server can use the received information to direct the environmental control of the cultivation facility to the unmanned transportation device.

1 is a schematic diagram illustrating an environment control system according to an embodiment of the present invention.
2 is a block diagram illustrating an unmanned transportation apparatus according to an embodiment of the present invention.
3 is a view for explaining the configuration of the unmanned transport apparatus according to an embodiment of the present invention.
4 is a block diagram illustrating a management server according to an embodiment of the present invention.
5 is a view for explaining the environmental clearance of the unmanned transport apparatus according to an embodiment of the present invention.
6 is a view for explaining the opening and closing control of the ventilation window of the unmanned transportation apparatus according to the embodiment of the present invention.
7 is a view for explaining the opening and closing control of the light shielding film of the unmanned transport apparatus according to an embodiment of the present invention.
8 is a view for explaining the illumination control of the unmanned transport apparatus according to an embodiment of the present invention.
9 is a view for explaining the blowing control of the unmanned transport apparatus according to an embodiment of the present invention.
10 is a flowchart illustrating an environmental control method according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in adding reference numerals to the components of each drawing, it is noted that the same reference numerals are assigned to the same components as much as possible, even if displayed on different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function is apparent to those skilled in the art or may obscure the gist of the present invention, the detailed description thereof will be omitted.

The present invention collects the environment information and image information on the inside of the cultivation facility 10 in real time, and controls the environment using the collected information. Here, the cultivation facility 10 is a facility for producing a crop 11, preferably a smart farm, a greenhouse or the like.

The cultivation facility 10 is a crop 11 is produced to be spaced at regular intervals. The crop 11 may be vegetables such as tomatoes, paprika, potatoes, peppers, tobacco, mushrooms, or the like, or fruits such as apples, pears, grapes, tangerines, persimmons, bananas, or the like, or flowers grown for ornamental purposes.

The cultivation facility 10 is provided with a plurality of sensors 13 at regular intervals. The plurality of sensors 13 may include a temperature sensor, a humidity sensor, a carbon dioxide sensor, an optical sensor, a soil moisture sensor, a leaf temperature sensor, and the like. The temperature sensor measures the temperature inside the plant 10. The humidity sensor measures the humidity inside the plant 10. The carbon dioxide sensor measures the amount of carbon dioxide inside the cultivation facility 10. The optical sensor measures the amount of sunshine inside the plant 10. Soil moisture sensor measures the moisture contained in the soil inside the cultivation facility (10). The leaf temperature sensor measures the temperature of the crop leaves in the cultivation facility 10.

In addition, the cultivation facility 100 is provided with a plurality of facilities 14 at regular intervals. The plurality of facilities 14 may include a heating and cooling device, a fan device, a sprinkler, a water pump, a carbon dioxide generator, a lighting device, various switching devices, and the like.

The air conditioning unit controls the temperature inside the cultivation facility (10). The fan device regulates air circulation and air ventilation inside the plant 10. Sprinklers and feed pumps regulate the water supply inside the plant 10. The carbon dioxide generator adjusts the concentration of carbon dioxide in the cultivation facility 10. The lighting device adjusts the illuminance inside the cultivation facility 10. At this time, the lighting device is composed of an LED lighting device can be irradiated to illuminance including the spectrum required for the plant. Various switchgear can control the opening and closing of the facility, such as a ventilation window, a light shielding film, a thermal insulation film, an area blocking door of the cultivation facility (10).

On the other hand, the cultivation facility 10 may be classified into a plurality of zones, each sensor 11 and the facility 14 may be provided. In addition, the communication network 15 may be established in some areas of the cultivation facility 10 to support wireless communication between the unmanned transportation device 30 and the management server 50. In this case, the communication network 15 may be a wireless communication network such as wireless fidelity (WIFI), Long Range (LoRa), Radio Frequency (RF), Long Term Evolution (LTE), or the like.

1 is a schematic diagram illustrating an environment control system according to an embodiment of the present invention.

Referring to FIG. 1, the environmental control system 100 includes an unmanned transportation device 30 and a management server 50.

The unmanned transportation device 30 moves inside the cultivation facility 10. The unmanned transportation device 30 is moved using the set movement path 12, but can be changed according to the site situation. The unmanned transportation device 30 receives environmental information measured by a plurality of sensors 13 included in the cultivation facility 10 while moving the cultivation facility 10, and photographs an image of the interior of the cultivation facility 10. To generate video information. Here, the environmental information includes measurement information and location information. The measurement information is information measured from the plurality of sensors 13 and includes at least one of temperature, humidity, carbon dioxide, light quantity, soil moisture content, and leaf temperature. The position information is information on each position where the plurality of sensors 13 are provided.

The unmanned transportation apparatus 30 may transmit at least one information of the received environmental information and the generated image information to the management server 50 so that the management server 50 may perform monitoring. Preferably, the unmanned transportation apparatus 30 transmits to the management server 50 in real time when the data capacity is small, and moves to the area where the communication network 15 is constructed when the data capacity is large. , Can be transmitted to the management server 50. More preferably, the unmanned transportation device 30 may move to the area where the communication network 15 is constructed, and then transmit environmental information and image information to the management server 50. The unmanned transportation device 30 performs environmental control of the cultivation facility based on a work instruction instructing a job corresponding to the monitored result received from the management server 50. Here, the environmental control is at least one of temperature control, water supply control, carbon dioxide concentration control, illumination control, ventilation control, ventilation window opening and closing control, light curtain opening and closing control, thermal insulation opening and closing control and zone blocking door opening and closing control for the cultivation facility (10). Can be.

The management server 50 receives at least one of environmental information and image information from the unmanned transportation device 30, and monitors the cultivation facility 10 using the received information. In detail, the management server 50 monitors the abnormality of the environmental condition of the cultivation facility (10). Preferably, the management server 50 may monitor the cultivation facility 10 for each zone. The management server 50 generates a work order using the monitored results, and transmits the generated work order to the unmanned transportation device 30. Here, the work instruction is an instruction reflecting the monitored result, and includes information on environmental control of the unmanned transportation apparatus 30. The management server 50 may be a desktop, a laptop, a tablet PC, a smartphone, or the like.

Meanwhile, although the positions of the sensors 13 and the facilities 14 of the cultivation facility 10 are shown to be regularly spaced apart from each other, the present invention is not limited thereto, and the positions provided according to the environment of the cultivation facility 10 may be changed. Can be.

2 is a block diagram illustrating an unmanned transport apparatus according to an embodiment of the present invention, Figure 3 is a view for explaining the configuration of the unmanned transport apparatus according to an embodiment of the present invention.

1 to 3, the unmanned transportation device 30 includes a main body 31, a communication unit 32, a camera 33, and a control unit 36. In addition, the unmanned transportation apparatus 30 may further include a cleaning unit 34, an illumination unit 35, an input unit 37, a storage unit 38, and an alarm unit 39.

The main body 31 moves inside the cultivation facility 10 where crops are produced. At this time, the main body 31 can load an object. The main body 31 includes a support part 41, a mounting part 42, and a conveying part 43.

The support part 41 corresponds to the body of the main body 31 and may be formed in various shapes such as a plate shape, a stepped shape, a b shape, a c shape, and the like. For example, if the support part 41 is n-shaped, it may be divided into a horizontal support part 45 formed in a plate shape and a vertical support part 46 extending vertically from one end of the horizontal support part 45. Here, the horizontal support part 45 may be provided with a cleaning part 34, an illumination part 35, and an input part 37, and the vertical support part 46 may include a communication part 32, a camera 33, a control part 36, and storage. The unit 38 and the alarm unit 39 may be installed. Preferably, the vertical support portion 46 may be installed to the camera 33 on the top to widen the viewing angle to be photographed, the alarm unit 39 may be installed on the top to maximize the alarm effect.

The mounting part 42 is installed in at least one part of the upper part of the support part 211, and an object is loaded. The stacking portion 42 is formed to be horizontal to the ground to facilitate loading of the object. In addition, the loading part 42 may include grooves formed at regular intervals on an upper surface thereof to prevent slipping.

The transfer part 43 is installed below the support part 41 and moves the support part 41. The transfer part 43 includes at least a pair of wheels 47 and a motor 48 for rotating the wheels 47. Here, the motor 48 may include at least one.

The communication unit 32 is installed in the main body 31 and performs communication with the cultivation facility 10 and the management server 50. At this time, the communication unit 32 may perform short-range, medium-range and long-range wireless communication. In detail, when the communication unit 32 receives environment information from the cultivation facility 10, the communication unit 32 may perform short-range or medium-range wireless communication, and transmit at least one information of environment information and image information to the management server 50. In this case, medium or long distance wireless communication can be performed.

The camera 33 is installed in the main body 31, and captures an image of the interior of the cultivation facility 10 to generate image information. The camera 33 may capture an image of at least one of front, rear, and both sides in which the main body 31 is moved. Preferably, the camera 33 may capture an image of the omnidirectional while rotating 360 degrees, including a panorama (PAN) function, a tilting (tilting) function, a zoom (zoom) function. Through this, the camera 33 may improve the quality of the image and continuously capture the image suitable for the situation while moving.

The cleaning unit 34 is installed at the lower portion of the main body 31 and cleans the foreign substances existing at the bottom of the cultivation facility 10. The cleaning unit 34 may include at least one of a brush, a blower, and a vacuum. Here, when the cleaning unit 34 includes a vacuum cleaner, the cleaning unit 34 may further include a separate foreign matter storage box (not shown).

The lighting unit 35 is installed in the main body 31, and when the illuminance of the cultivation facility 10 is lower than the preset illuminance, the light emits light so that the image photographed from the camera 33 can be recognized. That is, the lighting unit 35 is driven in an environment such as night or cloudy weather. The lighting unit 35 may include at least one of infrared rays and white light.

The control unit 36 is installed in the main body 31, and transmits at least one of the environmental information received from the cultivation facility 10 and the image information generated from the camera 33 to the management server 50 to the cultivation facility ( Control to perform monitoring for 10). Preferably, the control unit 36 controls to be transmitted to the management server 50 in real time when the data capacity is small, and the communication network 15 of the cultivation facility 10 is constructed when the data capacity is large After moving to a predetermined zone, it can be controlled to be transmitted to the management server (50). More preferably, the control unit 36 moves to the area where the communication network 15 is constructed in the cultivation facility 10, and then controls to transmit at least one of environmental information and image information to the management server 50. Can be. Here, the environmental information includes not only the environmental state of the cultivation facility 10 but also the location information where the environmental information is measured. Therefore, the controller 36 may estimate the current position of the main body 31 using the environmental information.

The control unit 36 controls the movement path 12 of the main body 31. The controller 36 determines whether an obstacle exists in the movement path 12 using the image information generated from the camera 33. The controller 36 temporarily stops the movement of the main body 31 or changes the movement path 12 when an obstacle is detected. For example, the controller 36 may pause the main body 31 when an obstacle is detected in front of the moving path 12, and bypass the preset moving path when the obstacle is still detected after a predetermined time. . In addition, the controller 36 may control to immediately bypass the moving path when an obstacle is detected in front of the moving path 12.

The controller 36 controls the environmental cleanup of the cultivation facility 10. The controller 36 determines the presence or absence of foreign substances on the bottom of the cultivation facility 10 using the image information generated from the camera 33. When the foreign matter is detected, the control unit 36 cleans the foreign matter by driving the cleaning unit 34. The controller 36 performs environmental cleanup, thereby increasing the amount of reflection on the bottom of the cultivation facility 10 to help the growth of the crop 11 located at the bottom. Therefore, it is possible to increase the production of crops, and to reduce the cleaning cost among the maintenance costs of the cultivation facility 10.

The control unit 36 controls the environment of the cultivation facility using a work instruction for monitoring received from the management server 50. Here, the environmental control is at least one of temperature control, water supply control, carbon dioxide concentration control, illumination control, ventilation control, ventilation window opening and closing control, light curtain opening and closing control, thermal insulation opening and closing control and zone blocking door opening and closing control for the cultivation facility (10). Can be.

When the control unit 36 confirms the work order, the controller 36 generates a movement route for the area in which the work order is to be performed. In this case, the controller 36 may generate a movement route so that the movement distance is minimal. That is, when confirming the work instruction, the controller 36 estimates the current position of the main body, calculates the shortest moving distance between the estimated current position and the position at which the work instruction is performed, and generates a movement route. Here, the controller 36 may estimate the current position of the main body 31 by using the location information included in the most recently received environmental information among the environmental information. Here, the location information may be location information of the sensor 13 measuring measurement information of the environment information.

For example, when the control unit 36 confirms the work instruction for the temperature control of the zone A, the current position of the main body 31 is estimated by using the position information included in the most recently received environmental information, and the estimated The shortest travel distance is calculated by using the current location and the location information on the air conditioner of the district A and the travel path is generated.

The input unit 37 is installed in the main body 31, and user input is input. Here, the user input may be a control signal including at least one of power on / off, work order, and movement path of the unmanned transportation device 30. Preferably, the input unit 37 may include a status display window for displaying a current user input status.

The storage unit 38 stores the environment information received from the communication unit 32 and the image information generated from the camera 33. In this case, the controller 36 may automatically delete the transmitted information when the environmental information and the image information are transmitted to the management server 50 for data capacity management of the storage 38. The storage unit 38 stores position information about the sensor 13 and the facility 14 provided in the cultivation facility 10. In addition, the storage unit 38 stores the movement path of the main body 31. In addition, the storage unit 38 stores work instructions received from the management server 50. The storage unit 38 may include a flash memory type, a hard disk type, a media card micro type, a card type memory (for example, SD or XD memory), It may include at least one storage medium of a magnetic memory, a magnetic disk, and an optical disk.

The alarm unit 39 is installed in the main body 31, and preferably installed at the top of the main body 31 to maximize the alarm effect. When an abnormality is detected in the environmental information inside the cultivation facility 10, an alarm is generated to transmit an alarm message. In this case, the alarm unit 39 may transmit an alarm message using at least one of a visual effect and an auditory effect. The alarm unit 39 may include an alarm light, an alarm bell, a speaker, and the like.

Although not shown in the drawing, the unmanned transportation device 30 may further include a battery (not shown). The battery supplies power to the unmanned transportation device 30 and may be charged by an external power source. On the other hand, the controller 36 generates an alarm in the alarm unit 39 so that the need for battery charging is recognized when the battery has a lower charging rate than the preset reference. In addition, the control unit 36 may control to display the state of charge on the state display window included in the input unit 260 to check the state of charge of the battery.

4 is a block diagram illustrating a management server according to an embodiment of the present invention.

1 and 4, the management server 50 includes a server communication unit 51, a server control unit 52, a server output unit 53, and a server storage unit 54.

The server communication unit 51 performs wireless communication with the unmanned transportation device 30. The server communication unit 51 receives at least one of environment information and image information from the unmanned transportation device 30. In addition, the server communication unit 51 transmits a work order to the unmanned transportation device 30. Although not shown in the drawing, the server communication unit 310 may transmit the monitored result to the manager terminal or a terminal designated by the manager.

The server controller 52 monitors the cultivation facility 10 by using at least one of environment information and image information received from the server communication unit 51. That is, the server controller 52 determines whether the environmental conditions necessary for producing the crop 11 of the cultivation facility 10 are maintained in the best state. At this time, the server controller 52 may be based on the environmental conditions such as temperature, humidity, illuminance, water supply amount, carbon dioxide amount, air condition and the like as the monitoring criteria. The server controller 52 generates a work instruction of the unmanned transportation apparatus 30 by using the monitored result.

In detail, the server controller 52 compares and analyzes the environmental information and the reference environmental information, and determines that there is no abnormality in the environmental condition of the interior of the cultivation facility 10 when the errors are included in the preset error range. If is not included in the error range, it is determined that there is an abnormality in the environmental condition of the interior of the cultivation facility 10. Here, the reference environmental information may be environmental information when the environmental condition of the cultivation facility 10 is normal.

If it is determined that there is no abnormality in the environmental condition of the cultivation facility 10, the server control unit 52 transmits at least one of environmental information and image information while the unmanned transportation device 30 continues to move inside the cultivation facility 10. Create a work order. Through this, the server controller 52 may monitor the environmental state of the entire interior of the cultivation facility 10 in real time.

If the environmental condition of some zones of the cultivation facility 10 is abnormal, the server control unit 52 generates a work instruction to retransmit the environmental information of the zone after the unmanned transportation device 30 moves to the zone of abnormality. do. Through this, the server control unit 52 can minimize the error caused by the error by rechecking whether or not the abnormality with respect to the environmental state. The server controller 52 generates a work instruction for environmental control of the cultivation facility 10 by using the retransmitted environmental information.

At this time, the server controller 52 controls the temperature control, water supply control, carbon dioxide concentration control, illuminance control, ventilation control, ventilation window opening and closing control, light curtain opening and closing control, thermal insulation opening and closing control and zone blocking door opening and closing for the cultivation facility (10). A work order for at least one of the controls may be generated.

The server controller 52 analyzes the image information and recognizes the state of the facilities provided in the cultivation facility 10. That is, the server controller 52 compares and analyzes the image information and the reference image information to operate at least one of the actuator driving state, the ventilation window opening and closing state, the shielding opening and closing state, the insulating film opening and closing state, and the area blocking door opening and closing state. Recognize. In addition, the server controller 52 may recognize the damage state of the facilities for each zone.

Therefore, the server controller 52 may generate a work instruction for environmental control of the cultivation facility 10 using the recognized facility state. Here, the reference image information may be image information when the initial facility state of the cultivation facility 10.

Preferably, the server controller 52 may generate a work order so that the environmental state of the interior of the cultivation facility 10 is optimal by analyzing both the environmental information and the image information.

The server output unit 53 outputs the monitored result from the server control unit 52. Through this, the manager can monitor in real time the interior of the cultivation facility (53). The server output unit 53 may be a monitor, a liquid crystal, a projector, a speaker, or the like.

The server storage unit 54 stores reference environment information and reference image information. The server storage unit 54 may construct a database by sequentially storing the environment information and the image information received from the unmanned transportation device 30 over time. The server storage unit 54 may include at least one storage medium of a flash memory type, a hard disk type, a media card micro type, a card type memory, a magnetic memory, a magnetic disk, and an optical disk.

5 is a view for explaining the environmental clearance of the unmanned transport apparatus according to an embodiment of the present invention.

1, 3 and 5, the unmanned transportation device 30 performs the environmental cleanup using the image information of the cultivation facility 10 generated from the camera 33.

At this time, the unmanned transportation apparatus 30 processes the image information to distinguish the cleaning area from the movement avoidance area. That is, the unmanned transportation apparatus 30 classifies the components included in the image information into respective regions to classify the cleaning region and the movement avoidance region. Here, the cleaning area may be an area having foreign matters, and the movement avoidance area may be an area having obstacles.

When the unmanned transportation device 30 approaches the cleaning area, the unmanned transportation device 30 drives the cleaning unit 34 to remove foreign substances. In addition, the unmanned transportation device 30 pauses when approaching the movement avoidance area, or bypasses the movement path to avoid obstacles.

6 is a view for explaining the opening and closing control of the ventilation window of the unmanned transportation apparatus according to an embodiment of the present invention, Figure 7 is a view for explaining the opening and closing control of the light shielding film of the unmanned transportation apparatus according to an embodiment of the present invention, Figure 8 9 is a view for explaining the illumination control of the unmanned transport apparatus according to an embodiment of the present invention, Figure 9 is a view for explaining the blowing control of the unmanned transport apparatus according to an embodiment of the present invention.

1, 3, 6 to 9, the unmanned transportation device 30 controls the environment of the cultivation facility 10 by using the work instructions received from the management server 50.

The unmanned transportation device 30 controls the opening and closing of the ventilation window. When the unmanned transportation device 30 includes an instruction for opening and closing the ventilation window during the work order, the unmanned transportation device 30 moves to a position in which communication with the communication module included in the ventilation window is possible and transmits the work command to the communication module of the ventilation window. Through this, the ventilation window can be opened and closed according to the work order. Preferably the ventilation windows can be opened during the day or in clear weather, and closed at night or during the weather.

The unmanned transportation device 30 controls the opening and closing of the light shielding film. When the unmanned transportation device 30 includes an instruction for opening and closing the light shielding film during the work order, the unmanned transportation device 30 moves to a position in which communication with the communication module included in the light shielding film is possible, and then transmits the work order to the communication module of the light shielding film. Through this, the light shielding film can be opened and closed according to the work instruction. Preferably, the light shielding film may be opened when sunlight is needed for the crop 11 and closed when sunlight is not needed for the crop 11.

The unmanned transportation device 30 controls the illuminance. When the unmanned transportation device 30 includes an instruction for illuminance control among the work orders, the unmanned transportation device 30 moves to a position where communication is possible with the communication module included in the lighting device, and then transmits the work instruction to the communication module of the lighting device. Through this, the lighting device can adjust the illuminance according to the work order. Preferably, the lighting device may control the illumination to be bright when the weather is cloudy at night or when the weather is cloudy, and the illumination may be controlled when the weather is low or sunny.

The unmanned transportation device 30 controls the blowing. If the unmanned transportation device 30 includes an instruction for the control of the blow out of the work order, and moves to a position that can communicate with the communication module included in the blower, and transmits the work order to the communication module of the blower. Through this, the blower may adjust the blower according to the work instruction. Preferably, the blower does not open the ventilation window due to external environmental factors, and operates if the blower is required inside the cultivation facility 10.

10 is a flowchart illustrating an environmental control method according to the present invention.

1 and 10, the environmental control method controls the environmental state of the interior of the cultivation facility 10 using the unmanned transportation device 30.

In step S11, the unmanned transportation device 30 moves inside the cultivation facility (10). Here, the cultivation facility 10 is a facility in which the crop 11 is produced, and is provided with a plurality of sensors 13 and facilities 14. Preferably, the cultivation facility 10 may be a smart farm, farm, and the like.

In operation S13, the unmanned transportation apparatus 30 receives environmental information and generates image information. The unmanned transportation device 30 receives environmental information measured from the sensor 13 of the cultivation facility 10, and generates image information about an image captured by the camera 33. Preferably, the unmanned transportation apparatus 30 may simultaneously perform environmental information reception and image information generation.

In operation S15, the unmanned transportation apparatus 30 transmits at least one information of the environmental information and the image information to the management server 50. The unmanned transportation device 30 transmits at least one information of environmental information and image information so that the management server 50 monitors the cultivation facility 10. At this time, the unmanned transportation device 30 may transmit information using the communication network 15 built in the cultivation facility (10).

In operation S17, the unmanned transportation device 30 receives a work instruction from the management server 50. Here, the work order indicates the work corresponding to the monitored result, and includes information on the environmental control of the unmanned transportation device 30. At this time, the unmanned transportation device 30 may receive a work instruction using the communication network 15 built in the cultivation facility (10).

In step S19, the unmanned transportation device 30 performs the environmental control according to the work instruction. The unmanned transportation device 30 includes temperature control, water supply control, carbon dioxide concentration control, illuminance control, ventilation control, ventilation window opening and closing control, light curtain opening and closing control, thermal insulation opening and closing control, and zone blocking door opening and closing control for the cultivation facility 10. Environmental control of at least one can be performed. On the other hand, when the unmanned transportation device 30 includes the information that the environmental condition is abnormal in the work order, it may perform an environmental control and generate an alarm.

Although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific preferred embodiments described above, and the present invention belongs to the present invention without departing from the gist of the present invention as claimed in the claims. Various modifications can be made by those skilled in the art, and such changes are within the scope of the claims.

10: Cultivation Facility 11: Crops
12: Path 13: Sensor
14: Facility 15: Network
30: unmanned transportation device 31: main body
32: communication unit 33: camera
34: cleaning unit 35: control unit
36: storage unit 37: input unit
38: alarm unit 39: battery
41: support portion 42: loading portion
43: transfer unit 44: lighting unit
45: horizontal support 46: vertical support
47: wheel 48: motor
50: management server 51: server communication unit
52: server control unit 53: server output unit
54: server storage unit 100: environmental control system

Claims (11)

Receiving the environmental information while moving inside the cultivation facility, which is classified into a plurality of zones, each of which has a plurality of sensors measuring environmental information and facilities for performing environmental control, receives the environmental information, and image information about the cultivation facility. Unmanned transportation device to generate; And
Receiving at least one of the environment information and the image information from the unmanned transportation device, the management to monitor the cultivation facility using the received information, and transmits the operation instruction for the monitoring to the unmanned transportation device Server;
The unmanned transportation device,
A body moving inside of the cultivation facility;
A communication unit installed in the main body and communicating with the cultivation facility and the management server;
A camera installed in the main body and generating image information by capturing an image of the inside of the cultivation facility;
A cleaning unit installed at a lower portion of the main body to clean foreign substances present at a bottom of the cultivation facility; And
Installed in the main body, and transmits at least one of the environmental information received from the cultivation facility and the image information generated from the camera to the management server to control the monitoring of the cultivation facility to be performed, from the management server And a controller configured to control the environment of the cultivation facility based on a work instruction indicating a work corresponding to the received monitored result.
The unmanned transportation device,
Image processing of the image information of the cultivation facility generated from the camera to distinguish between the cleaning area that is the foreign matter region and the moving avoidance area that is the obstacle region, and approaching the cleaning area to drive the cleaning unit to remove the foreign matter, When approaching the movement avoidance area, the vehicle pauses or bypasses the movement path to avoid obstacles,
The management server,
And monitoring the cultivation facility by zones, generating work orders for each zone by using the monitored results, and transmitting the generated work orders to the unmanned transportation device. The method of claim 1,
The camera,
Environmental control system using an unmanned transportation device, characterized in that for taking images of at least one direction of the front, rear and both sides of the main body is moved. The method of claim 1,
The control unit,
When confirming the work instruction, estimates the current position of the main body, calculates the shortest moving distance between the estimated current position and the position for performing the environmental control, generates a movement route, and receives the most recent of the environmental information. Environmental control system using an unmanned transportation device, characterized in that for estimating the current position using the location information included in the environmental information. The method of claim 1,
The control unit,
And at least one of the environmental information and the image information to communicate with the management server in a portion of the cultivation facility that can communicate with the management server. delete The method of claim 1,
The environmental information,
Measurement information in which at least one of temperature, humidity, carbon dioxide, light quantity, soil moisture, and leaf temperature measured by the plurality of sensors is measured; And
Location information of each location having the plurality of sensors;
Environmental control system using an unmanned transport device, comprising a. The method of claim 1,
The environmental control,
Unattended transportation, characterized in that at least one of the temperature control, water supply control, carbon dioxide concentration control, illuminance control, ventilation control, ventilation window opening and closing control, shading curtain opening and closing control, insulating film opening and closing control and zone blocking door opening and closing control for the cultivation facility. Environmental control system using the device. delete The method of claim 1,
A communication network constructed to support wireless communication between the unmanned transportation device and the management server in a part of the cultivation facility;
Environmental control system using an unmanned transport device further comprising a. The method of claim 1,
The management server,
If there is an abnormality in the environmental condition of some areas of the cultivation facilities in the monitored result, after the unmanned transportation device moves to an abnormal area, a work instruction to retransmit the environmental information of the area, and the retransmitted environment And reconfirming the abnormality using information, and if the reconfirmed environmental condition also has an abnormality, a work instruction for environmental control of the corresponding area is issued. delete

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