KR102270218B1 - A mushroom cultivating management system based on Augmented Reality by using an autonomous driving robot - Google Patents

Abstract

The augmented reality-based mushroom cultivation management system using the autonomous driving management robot of the present invention is to cultivate high value-added mushrooms by reducing management labor costs by using the smart farm cultivation function of the cultivation management system and the autonomous driving function of the management robot. , when the management robot periodically shoots the growth status of mushrooms by the autonomous driving function, the integrated growth environment management unit analyzes the image information of the taken mushrooms based on machine learning technology to determine the growth status of the mushrooms and provide necessary work instruction information transmits to the smart glass and transmits it to the user, and the smart glass outputs the instructed work content based on augmented reality when the work instruction is delivered to the invention to induce the user to accurately grasp the work content and perform the work.

Description

A mushroom cultivating management system based on Augmented Reality by using an autonomous driving robot}

The present invention relates to an augmented reality-based cultivation management system using an autonomous driving management robot, and in more detail, the present invention uses the smart farm cultivation function of the cultivation management system and the autonomous driving function of the management robot to reduce management labor costs and provide high added value. It is an invention for cultivating mushrooms of

In addition, according to the present invention, when the management robot periodically shoots the growth state of the mushroom by the autonomous driving function, the integrated growth environment management unit analyzes the image information of the mushroom photographed based on machine learning technology to determine the growth state of the mushroom, It is an invention that transmits necessary work instruction information to the smart glass and transmits it to the user.

In addition, the smart glass of the present invention is an invention inducing the user to accurately grasp the work contents and perform the work by outputting the instructed work contents based on the augmented reality when the work instruction is delivered.

With the development of science and technology in the modern era, many industrial fields are beginning to change, and many technological changes are beginning in the agricultural field as well.

Since ancient times, agriculture has been an important industry in charge of food production as a traditional primary industry. Unlike in the modern era, in the past, there were no mechanical farm tools, farming methods, fertilizers, and variety improvement, so the production of agricultural products per unit area was very small. During famine, a large number of people died of starvation, resulting in the collapse of the country or even war.

However, in the modern era, in the aftermath of the Industrial Revolution, the agricultural sector also greatly increased the production of agricultural products per unit area due to mechanical farming tools, farming methods, fertilizers, and breed improvement. Compared to the times, many conflicts and problems caused by food shortages have been resolved.

Therefore, the purpose of agriculture required in the modern era is not simply to supply agricultural products in a small-variety mass-production method to solve hunger, but to supply high-quality ingredients through small-scale production of various varieties for a healthy and affluent well-being diet. started to change into

In particular, many farms are cultivating a variety of agricultural products from grains such as rice, wheat, potatoes, sweet potatoes, and corn to fruits and vegetables. Recently, in order to cultivate high value-added agricultural products, advanced technologies such as hydroponics and smart farm systems have been developed. A farming method is being introduced.

On the other hand, recently, mushrooms are an agricultural product that is emerging as a high value-added agricultural product due to its taste, aroma, and nutrition. Fungi such as mushrooms are excellent foods containing unique taste, flavor, and nutrients that cannot be obtained from vegetable and animal foods. .

In particular, since natural mushrooms grown in the natural state have superior taste and flavor compared to mushrooms cultivated at farms, the farmhouse must control the growth environment in which mushrooms are grown to be as close to the natural state as possible in order to obtain excellent quality mushrooms close to natural mushrooms. be able to produce

However, domestic farms are experiencing difficulties such as a decrease in the labor force due to aging and labor shortages, unstable farm household income due to poor crops and plunging agricultural products, and environmental pollution caused by chemical fertilizers. Among them, the labor shortage is the biggest difficulty.

Therefore, in order to grow high value-added mushrooms while overcoming the difficult situation of domestic farmers, it is necessary to develop a technology that enables mushroom cultivation in large quantities even with a small number of personnel lacking specialized knowledge.

The following are prior art related to this.

1. Republic of Korea Patent Publication No. 10-1547560 Image-based plant growth management control system using a mobile intelligent robot 2. Republic of Korea Patent Publication No. 10-1869032 Big Data Creation Intelligent AGV-based Unmanned Plant Factory Robot System 3. Republic of Korea Patent Publication No. 10-1968759 Agricultural work cable robot

The present invention is to solve the above problems,

An object of the present invention is to cultivate high value-added mushrooms using the smart farm cultivation function of the cultivation management system and the autonomous driving function of the management robot.

In addition, according to the present invention, when the management robot periodically shoots the growth state of the mushroom by the autonomous driving function, the integrated growth environment management unit analyzes the image information of the mushroom photographed based on machine learning technology to determine the growth state of the mushroom, The purpose is to transmit necessary work order information to the smart glass and deliver it to the user.

In addition, the smart glass of the present invention aims to induce the user to accurately grasp the work contents and perform the work by outputting the instructed work contents based on augmented reality when the work instruction is delivered.

In order to achieve the above object, the augmented reality based mushroom cultivation management system using the self-driving management robot of the present invention is,

An indoor space 110 for cultivating mushrooms is formed, a plurality of cultivation beds 120 for growing mushrooms are disposed in the indoor space 110 , and an environment necessary for mushroom cultivation is created in the indoor space 110 . a cultivation room 100 in which the environment creating means 130 is disposed;

It moves by autonomous driving in the indoor space 110 of the cultivation room 100 , detects environmental information in the cultivation room 100 , and transmits it to the integrated growth environment management unit 300 , and cultivates in a plurality of cultivation beds 120 . a management robot 200 that transmits the growth state image information of the mushrooms photographed to be used to the growth environment integrated management unit 300;

By using the environmental information of the cultivation room 100 transmitted by the management robot 200, the environment creation means 130 disposed in the cultivation room 100 is controlled so that the cultivation room 100 becomes an environment suitable for mushroom cultivation, Mushroom growth status information is analyzed and identified using the mushroom growth status image information transmitted by the management robot 200 to generate mushroom growth status information for each cultivation bed and job event information for each cultivation bed, and the generated job event information and work instruction for each cultivation bed. a growth environment integrated management unit 300 for transmitting a signal to the smart glass 400;

It includes a smart glass 400 that the user wears, displays a work instruction alarm to the user, and outputs and displays work event information related to mushroom harvest or decay to the user based on augmented reality,

When transmitting environmental information to the integrated growth environment management unit 300, the management robot 200 matches and transmits the unique ID information of the cultivation room 100 to the environmental information, and transmits the mushroom growth state image information. It is characterized in that the unique identification information of the cultivation bed 120 is matched with the image information of the growth state of the mushroom and transmitted.

The augmented reality-based mushroom cultivation management system using the autonomous driving management robot of the present invention grows mushrooms using the smart farm cultivation function of the cultivation management system and the autonomous driving function of the management robot, thereby reducing labor costs and providing high value-added mushrooms can be cultivated and harvested, thereby increasing the income of farmers.

In addition, according to the present invention, when the management robot periodically shoots the growth state of the mushroom by the autonomous driving function, the integrated growth environment management unit analyzes the image information of the mushroom photographed based on machine learning technology to determine the growth state of the mushroom, Since the necessary work instruction information is transmitted to the smart glass and delivered to the user, the user can take appropriate action according to the growing season of the mushroom so that the mushroom can be harvested without missing the optimal harvest time.

In addition, the smart glass of the present invention, when a work instruction is delivered, outputs the instructed work contents based on augmented reality to induce the user to accurately grasp the work contents and perform the work, so that users lacking expertise in mushroom cultivation can also Precise agriculture can be realized through advanced agriculture, informatization of agriculture, and eco-friendly agriculture by allowing sufficient work to be performed.

1 is a conceptual diagram of an augmented reality based cultivation management system using the autonomous driving management robot of the present invention.
2 is a block diagram of the augmented reality based cultivation management system using the autonomous driving management robot of the present invention.
3 is a state diagram of the management robot of the augmented reality-based cultivation management system using the autonomous driving management robot of the present invention;
4 is a block diagram of the management robot of the augmented reality-based cultivation management system using the autonomous driving management robot of the present invention.
5 is a detailed view of the driving unit and the environment sensing unit of the management robot of the augmented reality-based cultivation management system using the autonomous driving management robot of the present invention;
6 is a detailed view of the mushroom observation unit of the management robot of the augmented reality-based cultivation management system using the autonomous driving management robot of the present invention.
7 is a functional block diagram of the management robot of the augmented reality-based cultivation management system using the autonomous driving management robot of the present invention.
8 is an example of a marker of an augmented reality-based cultivation management system using the autonomous driving management robot of the present invention.
9 is an example diagram of an autonomous driving path of a management robot of an augmented reality-based cultivation management system using the autonomous driving management robot of the present invention;
10 is an operation state diagram of the management robot of the augmented reality-based cultivation management system using the autonomous driving management robot of the present invention.
11 is a functional block diagram of an augmented reality-based cultivation management system using the autonomous driving management robot of the present invention.
12 is an operation state diagram of the smart glass of the augmented reality-based cultivation management system using the autonomous driving management robot of the present invention.

An embodiment of the present invention will be described in detail with reference to the accompanying drawings 1 to 12.

Referring to FIG. 1 , the augmented reality-based cultivation management system (hereinafter 'system') using the autonomous driving management robot of the present invention uses the smart farm cultivation function of the system 10 and the autonomous driving function of the management robot to achieve high added value. It is an invention that can increase the income of farmers by growing and harvesting mushrooms of low management cost, high quality, and high added value because mushrooms are grown, and as shown in FIG. 2, a cultivation room 100, a management robot 200, It is configured to include an integrated growth environment management unit 300 and smart glasses 400 .

In particular, in the system 10 of the present invention, when the management robot 200 autonomously drives inside the cultivation room 100 by the autonomous driving function and periodically photographs the growth state of the mushroom, the integrated growth environment management unit 300 operates the machine. Because the image information of the mushroom taken based on the learning technology is analyzed to determine the growth status of the mushroom, and the necessary work instruction information is transmitted to the smart glass 400 to deliver it to the user, the user can use the appropriate method according to the growth period of the mushroom. This allows you to harvest mushrooms without missing the optimal harvest time.

In particular, the system 10 of the present invention, when a work instruction is transmitted to the user through the smart glass 400, outputs the instructed work contents based on augmented reality to induce the user to accurately grasp the work contents and perform the work. , precision agriculture can be realized through advanced agriculture, informatization of agriculture, and eco-friendly agriculture by enabling users who lack expertise in mushroom cultivation to perform tasks easily.

Specifically, the augmented reality based cultivation management system using the autonomous driving management robot of the present invention,

An indoor space 110 for cultivating mushrooms is formed, a plurality of cultivation beds 120 for growing mushrooms are disposed in the indoor space 110 , and an environment necessary for mushroom cultivation is created in the indoor space 110 . a cultivation room 100 in which the environment creating means 130 is disposed;

It moves by autonomous driving in the indoor space 110 of the cultivation room 100 , detects environmental information in the cultivation room 100 , and transmits it to the integrated growth environment management unit 300 , and cultivates in a plurality of cultivation beds 120 . a management robot 200 that transmits the growth state image information of the mushrooms photographed to be used to the growth environment integrated management unit 300;

By using the environmental information of the cultivation room 100 transmitted by the management robot 200, the environment creation means 130 disposed in the cultivation room 100 is controlled so that the cultivation room 100 becomes an environment suitable for mushroom cultivation, Mushroom growth status information is analyzed and identified using the mushroom growth status image information transmitted by the management robot 200 to generate mushroom growth status information for each cultivation bed and job event information for each cultivation bed, and the generated job event information and work instruction for each cultivation bed. a growth environment integrated management unit 300 for transmitting a signal to the smart glass 400;

It includes a smart glass 400 that is worn by the user, displays a work instruction alarm to the user, and outputs and displays work event information related to mushroom harvest or decay to the user based on augmented reality.

In particular, when transmitting environmental information to the integrated growth environment management unit 300, the management robot 200 matches and transmits the unique ID information of the cultivation room 100 to the environmental information, and transmits the mushroom growth state image information. , it is characterized in that the unique identification information of the corresponding cultivation bed 120 is matched with the image information of the growth state of the mushroom and transmitted.

Referring to FIG. 1 , in the cultivation room 100 , an indoor space 110 for cultivating mushrooms is formed, and a plurality of cultivation stages 120 on which mushrooms are grown are disposed in the indoor space 110 , and the The indoor space 110 has a configuration in which the environment creating means 130 for creating an environment necessary for mushroom cultivation is disposed.

Here, the indoor space 110 refers to a space that is blocked from the external environment in which an environment suitable for mushroom cultivation is created.

In addition, each of the plurality of cultivation stages 120 arranged in the indoor space 110 has a shelf-type multi-layer structure, and a medium containing mushroom spawns is located on each layer, and in the cultivation environment created by the environment creation means 130 . Mushrooms are grown in

At this time, the medium positioned on the cultivation bed 120 is configured to include at least one of elvan, zeolite, vermiculite, and charcoal components to promote the growth of mushrooms.

The environment creating means 130 is configured to control the illuminance, temperature, humidity, Co2, air volume, etc. of the indoor space 110 to provide optimal growth conditions to the mushrooms being grown in the indoor space 110, and at least illuminance control It is configured to include a module 131 and a temperature and humidity control module 132 .

Here, the illuminance control module 131 controls the illuminance of a plurality of lights installed in the indoor space 110 where mushrooms are grown under the control of the integrated growth environment management unit 300 .

In addition, the temperature and humidity control module 132 controls the temperature, humidity, Co2, air volume, etc. of the indoor space 110 in which mushrooms are grown under the control of the integrated growth environment management unit 300 .

Referring to FIG. 3 , the management robot 200 moves to autonomous driving in the indoor space 110 , detects the environmental information of the indoor space 110 and transmits it to the integrated growth environment management unit 300 , and the cultivation bed ( 120), the image information of the growth state of the mushrooms grown in the photograph is transmitted to the integrated growth environment management unit 300. As shown in FIG. 4, the driving unit 210, the environment sensing unit 220, and the obstacle sensing unit 230 , a mushroom observation unit 240 , an information acquisition unit 250 , a control unit 260 , and a communication unit 270 .

4 and 5 , the driving unit 210 is a kind of bogie that autonomously travels in the cultivation room 100 under the control of the controller 260 , and includes a body 211 , a plurality of wheels 212 , and a driving force. It is configured to include a generating module 213 and an auxiliary wheel 214 .

Here, the body portion 211 is an installation space in which the control unit 260, the environment detection unit 220, the obstacle detection unit 230, the mushroom observation unit 240, the information acquisition unit 250, and the communication unit 270 are installed. It is the body of the management robot 200 that provides

At this time, the material of the body portion 211 must be a metal material or synthetic resin having excellent mechanical properties, so that each component can be stably autonomously driven in the cultivation room 100 in a state in which the components are installed in the body portion 211 .

The plurality of wheels 212 are provided one by one on both left and right sides of the body 211 and are rotated by receiving a driving force from the driving force generating module 213 to drive the body 211 .

In addition, the diameter of the wheel 212 should be larger than the diameter of the auxiliary wheel 214 to be described later in order to move the body portion 211 quickly.

On the other hand, the driving force generating module 213 is individually mounted on the plurality of wheels 210 to enable various motions such as linear running, reverse running, and rotational running by rotation in a limited space under the control of the controller 260 . As a configuration that provides rotational power, an individual wheel drive method is applied.

Here, the driving force generating module 213 is applied to a power generating device for generating a precise driving force, such as a brushless direct current motor (BLDC) or a step motor, it is preferable to apply a BLDC motor in the present invention. .

In particular, the characteristic of BLDC motor is that it can achieve high torque density and high power density in a small size, so it is sensitive to size, but it is widely used even when high output is required. It is widely used in airplanes, RC helicopters, direct drive washing machines, and CNC machine tools.

The auxiliary wheel 214 is installed on one side of the lower side of the body 211 to help a plurality of wheels 212 while in contact with the floor of the cultivation chamber 100 to support the body 211 to maintain a horizontal state, The auxiliary wheel 214 is rotated by assisting the rotational movement of the plurality of wheels 212 that are rotated by receiving the driving force from the driving force generating module 213 by free rotation without a separate driving force.

In this case, it is preferable that the number of the auxiliary wheels 214 is at least one in proportion to the size of the traveling unit 210 .

Referring to FIG. 5 , the environment sensing unit 220 is installed on one side of the body unit 211 to periodically sense the environment of the indoor space 110 of the cultivation room 100, and control the sensed environment information to the control unit ( 260) as an environmental monitoring sensor, which detects temperature, illuminance, humidity, Co2, air volume, etc., which are the optimal growth conditions for mushrooms.

Here, when the environmental information detected by the environment sensing unit 220 is transmitted to the control unit 260 , the control unit 260 sends the environment to the integrated growth environment management unit 300 through the communication unit 270 , as shown in FIG. 5 . The information is transmitted, and the transmitted environmental information is used as basic data for making an optimal environment for mushroom growth under cultivation in the cultivation room 100 .

That is, when the environment sensing unit 220 detects the cultivation environment inside the cultivation room 100 and periodically transmits the sensed environment information to the integrated growth environment management unit 300, the integrated growth environment management unit 300 is This is to effectively promote the growth of mushrooms by appropriately controlling the environment creating means 130 of the cultivation room 100 to maintain a cultivation environment suitable for the mushrooms being grown in the cultivation bed 120 .

On the other hand, the environment sensing unit 220 may be configured to further include a function of detecting the aroma of mushrooms, and the purpose of the environment sensing unit 220 to detect the aroma of mushrooms is to accurately determine the harvest time of mushrooms or In order to use it as an auxiliary data for judging rotten mushrooms, this is because mushrooms emit a unique fragrance during harvest or decay.

Therefore, the environment sensing unit 220 detects a characteristic odor emitted when the mushroom being cultivated in the cultivation room 100 at the right time to harvest or the characteristic odor emitted when the mushroom under cultivation is decaying. The first detection signal is transmitted if the characteristic smell is emitted, and the second detection signal is transmitted to the integrated growth environment management unit 300 if the characteristic smell is the characteristic smell emitted during decay.

Referring to FIG. 5 , the obstacle detecting unit 230 is installed on one side of the front side of the body 211 to detect an obstacle existing in the front on the driving path, and when the obstacle is detected, the detected information is sent to the control unit 260 . As a sensor provided, the controller 260 appropriately controls the driving of the driving unit 210 to avoid or stop the obstacle when the obstacle is detected by the obstacle detecting unit 230 .

Here, the sensor applied to the obstacle detection unit 230 is at least one of an infrared sensor and an ultrasonic sensor, and either one of the infrared sensor and the ultrasonic sensor is applied alone, or both of the infrared sensor and the ultrasonic sensor are mixed and applied. You may.

Referring to FIG. 6 , the mushroom observation unit 240 is installed on the upper side of the body 211 to photograph the mushroom being grown while variously adjusting the photographing angle and the photographing height, and controls the growth state image information of the photographed mushroom. As a configuration to be transmitted to the 260, it is configured to include an observation camera 241, a guide rail 242, and a moving rotating unit 243.

The observation camera 241 is a camera for photographing mushrooms being grown in a plurality of cultivation beds 120 disposed in the indoor space 110 of the cultivation room 100 , and a camera product having excellent resolution and pixels should be used.

That is, when the resolution of the picture taken by the observation camera 241 is too low or the pixel is too low, the growth condition of the mushroom is accurately analyzed through the picture taken by the integrated growth environment management unit 300 to harvest the mushroom. Because there are cases where it cannot be judged.

Therefore, the performance of the observation camera 241 of the mushroom observation unit 240 has at least a resolution of 1280 × 960 dpi and a product of 1.3 million pixels or more, so that the growth state of the mushroom can be accurately confirmed. It is recommended to use the latest camera products.

Referring to FIG. 6 , the guide rail 242 is a configuration for guiding the vertical movement of the moving rotating unit 243 in which the observation camera 241 is installed, and is formed with a predetermined length and height on the upper side of the body unit 211 , It provides an exercise section in which the moving rotating unit 243 can move in the vertical and vertical directions.

Therefore, through the guide rail 242, the mushroom being cultivated is photographed while variously adjusting the photographing height of the observation camera 241.

6, an observation camera 241 is installed on one side of the moving rotating unit 243, a hollow is formed in the center of the moving rotating unit 243, and the moving rotating unit 243 is a guide rail 242. ) so that it can be through-coupled to

That is, the moving rotation unit 243 is a camera installation bracket that allows the observation camera 241 to move vertically or rotate horizontally on the guide rail 242 .

Therefore, the moving rotating unit 243 vertically moves up to a specific height on the guide rail 242 so that the mushroom being grown can be photographed while variously adjusting the shooting angle and the shooting height, and the observation camera 241 picks up the mushroom at various angles. It rotates horizontally on the guide rail 242 to be photographed.

The image information of the growth state of the mushrooms photographed by the observation camera 241 is transmitted to the integrated growth environment management unit 300, and the integrated growth environment management unit 300 determines the harvest time of the mushrooms through comparative analysis with the reference image. It is used as a basic data for

4 and 5 , the information acquisition unit 250 obtains cultivation bed information and driving information from a plurality of markers 140 installed at a plurality of locations in the indoor space 110 of the cultivation room 100 , As a configuration for transmitting the acquired rearing stage information and driving information to the controller 260 , it is configured to include a marker camera 251 and a marker reader 252 .

The plurality of markers 140 are respectively formed on the bottom of the cultivation stage 120 and the indoor space 110 , and in more detail, the marker 140 is a configuration that stores a kind of code information, and is a barcode. (Barcode), QR code (Quick Response code), NFC code (Near Field Communication code), RFID code (Radio Frequency IDentification code), may be any one of MST code (Minimum Spanning Tree code).

Accordingly, the management robot 200 of the present invention obtains driving information necessary for autonomous driving from the marker 140 installed on the floor inside the cultivation room 100 , and obtains the cultivation bed information from the marker 140 installed in the cultivation bed 120 . will acquire

As shown in FIG. 7 , driving-related information is stored in the plurality of markers 140 formed on the floor of the indoor space 110 .

When the marker camera 251 of the information acquisition unit 250 photographs the marker 140 formed on the floor of the indoor space 110 , the marker reader 252 reads driving information from the image photographed by the marker camera 251 . to obtain it

The driving information obtained by the marker camera 251 from the marker 140 formed on the floor of the indoor space 110 is for turn left, trun right, charge, and snapshot. It may be a stop, and when the obtained information is provided to the controller 260 , the controller 260 controls the driving unit 210 according to the acquired driving information.

8 shows an example of the marker 140 formed on the floor of the indoor space 110. The markers include driving information necessary for autonomous driving of the management robot, such as turn left, trun right, and charge. , information such as a stop for taking a picture (snapshot) is stored.

Accordingly, the management robot 200 obtains driving information from the marker 140 formed on the floor of the indoor space 110 and autonomously drives as in the example shown in FIG. 9 .

Meanwhile, as shown in FIG. 10 , in the marker 140 installed for each cultivation bed 120 where mushrooms are grown, cultivation bed information, which is information related to the cultivation bed 120 , is stored, and the cultivation bed information includes a plurality of cultivation beds. Culture group unique identification information (eg, #1, #2, #3...#N) that allows to individually identify 120 , information on mushrooms growing in the corresponding cultivation bed 120 , and mushroom cultivation It includes information such as the highest medium height and the lowest medium height located in the cultivation bed 120 for the purpose of the present invention.

In addition, when the management robot 200 autonomously drives in the cultivation room 100 and the marker camera 251 takes a picture of the marker 140 formed on the cultivation stage 120, the marker reader 252 displays the marker camera ( 251) is obtained by reading the cultivation bed information from the image taken.

7, the control unit 260 transmits the environmental information transmitted by the environment sensing unit 220 and the mushroom growth state image information transmitted by the mushroom observation unit 240 through the communication unit 270 to the integrated growth environment management unit ( 300), so that the management robot 200 autonomously drives in the cultivation room 100 using the obstacle detection information provided by the obstacle detection unit 230 and the driving information provided by the information acquisition unit 250 In the configuration of controlling the driving unit 210 and controlling the mushroom observation unit 240 to photograph the mushrooms being cultivated in the corresponding cultivation stage 120 when information on the cultivation bed 120 is obtained from the information acquisition unit 250, It is configured to include an information transmission control module 261 , an autonomous driving control module 262 , and a shooting control module 263 .

The information transmission control module 261 receives environmental information from the environment sensing unit 220 or mushroom growth state image information from the mushroom observation unit 240, the environmental information received through the communication unit 270 or mushrooms of the growth state image information is controlled to be transmitted to the growth environment integrated management unit (300).

In particular, when transmitting the environmental information, the information transmission control module 261 matches and transmits the unique ID information of the cultivation room 100 to the environmental information, and transmits the mushroom growth state image information when transmitting the mushroom growth state. The unique identification information of the corresponding cultivation bed 110 related to the image information is matched with the image information of the growth state of the mushroom and transmitted.

To this end, when the mushroom observation unit 240 provides the image information of the growth state of the photographed mushroom to the control unit 260 , the mushroom observation unit 240 provides unique identification information of the corresponding cultivation bed 120 photographing the mushroom together with the information transmission control module 261 . ), when transmitting the growth status image information of this mushroom, the identification information related to the growth status of the mushroom is matched with the mushroom growth status image information and transmitted.

The integrated growth environment management unit 300 to be described later compares the environmental information transmitted by the information transmission control module 261 with the reference environmental information to adjust the temperature, illuminance, humidity, carbon dioxide, and air volume, which are the cultivation environment conditions of the cultivation room 100 . The environment creating means 130 is controlled as much as possible.

In addition, the growth environment integrated management unit 300 compares and analyzes the growth state image information of the mushrooms transmitted by the information transmission control module 261 with the reference image to determine the harvest time or decay of the mushrooms.

In addition, the integrated growth environment management unit 300 uses the above-described first and second detection signals regarding the characteristic fragrance of the mushroom from the management robot 200 to analyze the mushroom growth state image information to determine the mushroom harvest time or decay. Increase the credibility of judgment.

Referring to FIG. 7 , when obstacle detection information is provided from the obstacle detection unit 230, the autonomous driving control module 262 includes the driving unit 210 (specifically, the driving force generating module 213) to avoid the obstacle and autonomously drive. ), and when driving information is provided from the information acquisition unit 250, the driving unit 210 (specifically, the driving force generating module 213) is controlled so that the robot drives autonomously according to the provided driving information.

The autonomous driving control module 262 controls the driving unit 210 so that the robot autonomously drives using driving information obtained from the marker 140 formed on the floor of the indoor space 110 provided by the information acquisition unit 250 . However, for example, the information stored in the marker 140 formed on the floor of the indoor space 110 is turned left, trun right, charge, and photo-taking according to the installation location as shown in FIG. 8 . It may be a stop for (snapshot) or the like.

That is, as shown in FIG. 8 , a marker 140 storing information such as a turn left, a trun right, a charge, and a stop for taking a picture is located at various places on the floor of the indoor space 110 . installed and used for autonomous driving of robots.

For example, if the mushroom cultivation stage 120 is arranged as shown in FIG. 9 in the indoor space 110, the robot must autonomously drive as shown in FIG. 9 for mushroom photography, and for this purpose, turn left, turn right ( Markers 140 storing information such as trun right), forward (charge), and stop for taking a picture (snapshot) are installed in various places on the floor of the indoor space (110).

On the other hand, when the user enters the indoor space 110, the autonomous driving control module 262 moves to the 'management robot waiting area' shown in FIG. 9 in order to prevent the management robot 200 from colliding with the user. The driving unit 210 is controlled to move and wait.

The photographing control module 263 controls the mushroom observation unit 240 to photograph the mushrooms grown in the corresponding cultivation bed 120 in the cultivation bed information when the cultivation bed information is provided from the information acquisition unit 250 .

Specifically, the shooting control module 263 extracts the height of the uppermost medium in which mushrooms are grown from the cultivation bed information, and the mushroom observation unit ( After controlling the moving and rotating part 243 of 240), the first control is performed so that the observation camera 241 captures the mushrooms grown in the corresponding medium (top medium).

After the first control, the shooting control module 263 controls the moving and rotating part 243 of the mushroom observation unit 240 so that the observation camera 241 moves to the height of the medium immediately below the uppermost medium, and then in the medium. A second control is performed so that the observation camera 241 captures the mushrooms being cultivated.

After the second control, the shooting control module 263 controls the N-th so that the observation camera 241 shoots the mushrooms grown in the next sub-media in the same manner as above, but the N-th control is as shown in FIG. It proceeds until the mushroom being grown in the lowest medium is photographed by the observation camera 241 .

5 and 7, the communication unit 270 is a communication device for transmitting environmental information and mushroom growth state image information to the external growth environment integrated management unit 300 under the control of the control unit 260, the present invention In order for the management robot 200 to move smoothly within the cultivation room 100 , a wireless communications method is applied.

At this time, the management robot 200 is basically autonomously driving in the indoor space 110 of the cultivation room 100 while photographing the growth state of the mushroom being cultivated, and the collected mushroom status information is transferred to the growth environment integrated management unit 300 . However, the user may switch the management robot 200 to the manual remote control mode according to other needs such as function check and charging.

Referring to FIG. 1 , the growth environment integrated management unit 300 uses the environmental information transmitted by the management robot 200 autonomously driving in the indoor space 110 of the cultivation room 100 to grow mushrooms in the cultivation room 100 . The environment creation means 130 disposed in the cultivation room 100 is controlled so as to provide an environment suitable for .

In addition, the growth environment integrated management unit 300 analyzes and grasps the growth state of the mushroom using the image information of the growth state of the mushroom transmitted by the management robot 200 to determine the mushroom growth state information for each cultivation bed 120 and the work event for each cultivation group. As a configuration for generating information, it is configured to include a cultivation environment control module 310 , a mushroom growth state determination module 320 , and an information transmission module 330 .

Referring to FIG. 11 , the cultivation environment control module 310 uses the environment information provided from the management robot 200 to create an environment creating means 130 of the cultivation room 100 to create an environment necessary for mushrooms being grown. Control.

That is, the cultivation environment control module 310 compares and analyzes the current environmental information of the cultivation room transmitted by the environment sensing unit 220 of the management robot 200 with the standard cultivation environment information, and as a result of the analysis, the current growth conditions of mushrooms When the human illuminance, temperature, humidity, Co2, air volume, etc. exceed or lack the standard cultivation environment, the operation of the illuminance control module 131 and the temperature and humidity control module 132 of the environment creation means 130 is controlled respectively to control the current conditions of the cultivation room. Controlling the environment to become a standard environment.

The mushroom growth state determination module 320 analyzes and grasps the growth state of mushrooms using the mushroom growth state image information transmitted by the management robot 200 and the state information DB for each growth period stored in advance to determine the mushroom growth by each cultivation stage. Creates and stores state information.

For example, when the cultivation bed 120 is composed of #1, #2, #3 ... #N cultivation bed 120, mushroom growth status information in the #1 cultivation bed, mushroom growth status information in the #2 cultivation bed , #3 cultivation group mushroom growth status information, ... #N cultivation group mushroom growth status information is created and stored.

Here, the mushroom growth state information for each cultivation stage generated by the mushroom growth state determination module 320 includes determination of whether the growth state of the currently cultivated mushroom is the harvest time, and whether the state of the mushroom is normal (growth) or abnormal (decaying). ), including information that determines whether it is

In addition, since the mushroom growth state determination module 320 determines the growth state of mushrooms using a machine learning analysis technique, the longer the period of use of the system 10 of the present invention, the longer the sample big data increases. Accurate judgment results are obtained.

On the other hand, the above-described management robot 200 detects a unique odor emitted from the mushroom being grown in the cultivation room 100, and if the sensed smell is a characteristic odor emitted at the right time to harvest, a first detection signal, a characteristic If the smell is a characteristic odor emitted during decay, the second detection signal is transmitted to the integrated growth environment management unit 300 .

At this time, the mushroom growth state determination module 320, when analyzing the growth state of the mushroom, transmits the image information of the growth state of the mushroom transmitted by the management robot 200 as described above and the state information DB for each growth period of the mushroom stored in advance. It is used to determine the harvest time of mushrooms or rotten mushrooms, and in this case, the growth state of the mushrooms is more accurately analyzed and grasped using the first and second detection signals.

That is, when the first detection signal is received when it is determined that the mushroom is harvest time using image information, it is determined that it is definitely harvest time, and when it is determined that the mushroom is decaying using the image information, the second detection signal is When received, it can be determined that the mushroom is decomposing with certainty, increasing the reliability of the judgment.

The information transmission module 330 allows the user to take action when there is an event related to mushroom harvest or mushroom decay based on the mushroom growth status information for each cultivation bed generated from the mushroom growth status determination module 320 . Work event information for each cultivation bed, which is information about a cultivation bed in which an event related to mushroom harvest or mushroom decay has occurred, is generated, and the generated work event information for each cultivation bed and a work instruction signal are transmitted to the smart glass 400 .

At this time, the work event information for each cultivation bed generated by the information transmission module 330 includes information on the cultivation bed in which the mushroom harvest or decay event occurred, and the mushroom medium in which the event occurred among the mushroom media installed on each floor of the corresponding cultivation bed in which the mushroom harvest or decay event occurred. Information about the event, characterized in that it includes image information displayed so that the mushroom in which the harvest or decay event has occurred among the mushrooms grown in the corresponding mushroom medium in which the event has occurred can be identified.

11 and 12 , the smart glass 400 is a type of work glasses worn by the user, and displays a work instruction alarm to the user, and outputs work event information related to mushroom harvest or decay to the user based on augmented reality. As a display configuration, it is configured to include an alarm unit 410 , a smart camera unit 420 , a smart control unit 430 , a display unit 440 , and a smart communication unit 450 .

Referring to FIG. 12 , the alarm unit 410 is formed on one side of the smart glass 400 and displays a work instruction alarm. When a work instruction signal is received from the growth environment integrated management unit 300, a work instruction is given to the user. A configuration in which an alarm is displayed to notify the user that a mushroom harvest or decay event has occurred.

The alarm unit 410 is configured to include at least one of an LED visually notifying an alarm and a speaker notifying an alarm audibly.

The smart camera unit 420 is installed on one side of the smart glass 400 to photograph the marker 140 installed on the cultivation stage 120 of the cultivation room 100, and the captured marker image to the smart control unit 430. to provide.

The smart control unit 430 controls so that a work order alarm is displayed on the alarm unit 410 when a work instruction signal and work event information for each cultivation bed are received from the integrated growth environment management unit 300 through the smart communication unit 450 . Stores and processes the received job event information for each cultivation bed.

For example, as shown in figure A of FIG. 12 , the alarm unit 410 notifies the user that a mushroom harvest or decay event has occurred.

In addition, the smart control unit 430 extracts information about the cultivation bed in which the job event has occurred from the job event information for each cultivation bed and controls the display unit 440 to be displayed.

That is, when the user recognizes the work instruction alarm and wears the smart glasses 400 , information on the cultivation stage on which the operation event has occurred (eg, the cultivation stage 1 and 17 as shown in Fig. 12B) is displayed on the display unit 440 . will become

In addition, the smart control unit 430 obtains the cultivation bed information from the marker image captured by the smart camera unit 420, extracts the obtained operation event information of the corresponding cultivation bed from the stored operation event information for each cultivation bed, and displays it ( 440) to be displayed.

That is, the user who has checked the information on the cultivation bed in which the work event displayed on the display unit 440 has occurred moves to the corresponding cultivation bed 120 , and then moves the marker 140 installed on the corresponding cultivation bed 120 to the smart camera unit 420 . When shooting using the smart camera unit 420, the smart camera unit 420 obtains the cultivation bed information from the photographed marker 140 image, and the acquired operation event information of the corresponding cultivation bed from the stored operation event information for each cultivation bed. Control to be extracted and displayed on the display unit 440 based on augmented reality.

In particular, the work event information of the corresponding cultivation bed displayed on the display unit 440 based on augmented reality is information about the cultivation bed in which a mushroom harvest or decay event has occurred, and the corresponding mushroom harvest or decay event, as shown in Figure C of FIG. 12 . It includes information on the mushroom medium where the event occurred among the mushroom mediums installed on each floor of the cultivation bed, and image information displayed so that the mushrooms that have harvested or decayed among the mushrooms grown in the mushroom medium where the event has occurred can be identified.

Accordingly, the user checks the information on the cultivation bed where the event has occurred displayed on the smart glass 400, and accesses the cultivation bed where the event has occurred to perform necessary tasks (harvesting mushrooms, removing rotten mushrooms).

Thereafter, when the work on the work target cultivation bed is completed, the smart control unit 430 controls so that the work completion signal for the work target cultivation bed 120 is transmitted to the integrated growth environment management unit 300 .

Referring to FIG. 12 , the display unit 440 is a display that is formed on both left and right lenses of the smart glass 400 to output and display job event information based on augmented reality. visually guide you to do it.

In particular, in recent years, domestic farms lack labor, and as the number of returning farmers increases, there are few users with expertise in agriculture, so if the smart glass 400 is used, even users lacking expertise in mushroom cultivation can do enough work. make it possible to perform

The smart communication unit 450 is a wireless communication device formed on one side of the smart glass 400, and receives job event information for each cultivation bed from the growth environment integrated management unit 300, and generates a job completion signal for the target cultivation bed. It is transmitted to the integrated environment management unit (300).

At this time, the reason for transmitting the work completion signal is to prevent the growth environment integrated management unit 300 from transmitting work event information for the cultivation bed on which the work has been completed.

In the above, the technical idea of the present invention has been described with the accompanying drawings, but the preferred embodiment of the present invention is exemplarily described and does not limit the present invention. In addition, it is a clear fact that anyone with ordinary skill in the art can make various modifications and imitations within the scope of the technical idea of the present invention.

10: system
100: cultivation room
200: management robot
300: Growth Environment Integrated Management Department
400: smart glass

Claims (9)

In the augmented reality based cultivation management system using the autonomous driving management robot,
An indoor space 110 for cultivating mushrooms is formed, a plurality of cultivation beds 120 for growing mushrooms are disposed in the indoor space 110 , and an environment necessary for mushroom cultivation is created in the indoor space 110 . a cultivation room 100 in which the environment creating means 130 is disposed;
It moves by autonomous driving in the indoor space 110 of the cultivation room 100 , detects environmental information in the cultivation room 100 , and transmits it to the integrated growth environment management unit 300 , and cultivates in a plurality of cultivation beds 120 . The image information of the growth state of the mushrooms that have been photographed is transmitted to the integrated growth environment management unit 300, and the characteristic smell emitted by the mushroom being cultivated at the right time to harvest or the characteristic smell emitted when the mushroom being cultivated is decaying is detected. , a management robot that transmits a first detection signal to the integrated growth environment management unit 300 if the characteristic odor is a characteristic odor emitted at the right time to harvest, and a second detection signal if the characteristic odor is a characteristic odor emitted during decay 200) and;
By using the environmental information of the cultivation room 100 transmitted by the management robot 200, the environment creation means 130 disposed in the cultivation room 100 is controlled so that the cultivation room 100 becomes an environment suitable for mushroom cultivation, Mushroom growth status information for each cultivation bed and work event information for each cultivation bed are generated by analyzing and understanding the growth status of mushrooms using the growth status image information and the first and second detection signals transmitted by the management robot 200, and the generated cultivation a growth environment integrated management unit 300 for transmitting step-by-step work event information and work instruction signal to the smart glass 400;
It includes a smart glass 400 that the user wears, displays a work instruction alarm to the user, and outputs and displays work event information related to mushroom harvest or decay to the user based on augmented reality,

When transmitting environmental information to the integrated growth environment management unit 300, the management robot 200 matches and transmits the unique ID information of the cultivation room 100 to the environmental information, and transmits the mushroom growth state image information. Augmented reality-based cultivation management system using an autonomous driving management robot, characterized in that the unique identification information of the cultivation bed 120 is matched with the mushroom growth state image information and transmitted.
The method according to claim 1,
The environment creating means 130,
An illuminance control module 131 for controlling the illuminance of the indoor space 110 of the cultivation room 100 in which mushrooms are grown according to the control signal of the integrated growth environment management unit 300;
Includes a temperature and humidity control module 132 for controlling at least one of temperature, humidity, Co2, and air volume of the indoor space 110 of the cultivation room 100 in which mushrooms are grown according to the control signal of the integrated growth environment management unit 300 Augmented reality-based cultivation management system using an autonomous driving management robot, characterized in that
The method according to claim 1,
The management robot 200,
a driving unit 210 configured to include a body 211 having an internal space in which the control unit 260 is installed, and autonomously traveling in the cultivation room 100 under the control of the control unit 260;
an environment sensing unit 220 installed on one side of the body unit 211 to sense the environment of the indoor space 110 of the cultivation room 100 and provide the sensed environment information to the control unit 260;
an obstacle detecting unit 230 installed on one side of the front side of the body unit 211 to detect an obstacle existing in the front on the driving path, and to provide sensing information to the control unit 260 when the obstacle is detected;
a mushroom observation unit 240 installed on the upper side of the body portion 211 to photograph the mushroom being grown while variously adjusting the photographing angle and photographing height, and providing image information of the growth state of the photographed mushroom to the control unit 260;
an information acquisition unit 250 for acquiring cultivation bed information or driving information from a plurality of markers installed at a plurality of locations in the cultivation room 100 and transmitting the acquired cultivation bed information or driving information to the controller 260;
Control so that the environmental information transmitted by the environment sensing unit 220 and the growth state image information of the mushroom transmitted by the mushroom observation unit 240 are transmitted to the integrated growth environment management unit 300 through the communication unit 270, the sense of obstacle Using the obstacle detection information provided by the branch 230 and the driving information provided by the information acquisition unit 250 to control the driving unit 210 so that the management robot 200 autonomously drives in the cultivation room 100, information a control unit 260 for controlling the mushroom observation unit 240 to photograph mushrooms being grown in the corresponding cultivation bed when the cultivation bed information is acquired from the acquisition unit 250;
Augmented reality-based cultivation management using an autonomous driving management robot, characterized in that it includes a communication unit 270 for transmitting environmental information and mushroom growth state image information to the growth environment integrated management unit 300 according to the control of the control unit 260 . system.
4. The method according to claim 3,
The mushroom observation unit 240,
An observation camera 241 for photographing mushrooms being grown in the cultivation bed 120,
A guide rail 242 for guiding the vertical movement of the moving rotating unit 243,
An observation camera 241 is installed, and the observation camera 241 moves vertically to a certain height on the guide rail 242 so that the mushroom being cultivated at a certain height of the cultivation bed 120 can be photographed, and the observation camera 241 is Augmented reality-based cultivation management system using an autonomous driving management robot, characterized in that it includes a moving rotating unit 243 that rotates horizontally on the guide rail 242 so that mushrooms can be photographed at various angles.
4. The method according to claim 3,
Markers 140 are respectively formed on the bottom of the cultivation bed 120 and the indoor space 110 where mushrooms are grown, and the cultivation bed information related to the cultivation bed is stored in the marker 140 formed on the cultivation bed 120 . and driving information related to autonomous driving is stored in the marker 140 formed on the floor of the indoor space 110,

The information acquisition unit 250,
A marker camera 251 for photographing the marker 140, and
and a marker reader 252 that reads and obtains planting information or driving information from the image taken by the marker camera 251,
The cultivation bed information is an autonomous driving management robot, characterized in that it includes information such as unique identification information of the cultivation bed, information on mushrooms growing in the cultivation bed, and the height of the highest and lowest medium located in the cultivation bed for mushroom cultivation. Augmented reality based cultivation management system using
4. The method according to claim 3,
The control unit 260,
When the environmental information is received from the environment sensing unit 220 or the mushroom growth state image information is received from the mushroom observation unit 240 , the received environmental information or the mushroom growth state image information is transmitted through the communication unit 270 . An information transmission control module 261 for controlling to be transmitted to the integrated management unit 300, and
When obstacle detection information is provided from the obstacle detection unit 230, the driving unit 210 is controlled to avoid obstacles and autonomously driven, and when autonomous driving information is provided from the information acquisition unit 250, according to the provided autonomous driving information An autonomous driving control module 262 for controlling the driving unit 210 so that the management robot 200 autonomously drives;
When the cultivation bed information is provided from the information acquisition unit 250, it is configured to include a photographing control module 263 for controlling the mushroom observation unit 240 to photograph the mushrooms being grown in the corresponding cultivation bed 120,
The autonomous driving information in the autonomous driving control module 262 is based on augmented reality using an autonomous driving management robot, characterized in that it is information that causes the robot to perform any one of a straight driving, a right turning driving, a left turning driving, and a reverse driving. of cultivation management system.
7. The method of claim 6,
The shooting control module 263,
After extracting the height of the uppermost medium in which mushrooms are grown from the cultivation bed information, and controlling the moving and rotating part 243 of the mushroom observation unit 240 to move the observation camera 241 to the extracted height of the uppermost medium, the corresponding medium The first control so that the observation camera 241 shoots the mushrooms being cultivated in
After the first control, the moving and rotating part 243 of the mushroom observation unit 240 is controlled so that the observation camera 241 moves to the height of the medium immediately below the uppermost medium, and then the mushroom being grown in the medium is controlled by the observation camera ( 241) controls the second to shoot,
After the second control, the N-th control so that the observation camera 241 shoots the mushrooms being grown in the next lower media in the same manner as above, the N-th control is the observation camera ( 241), an augmented reality-based cultivation management system using an autonomous driving management robot, characterized in that it proceeds until it is photographed.
The method according to claim 1,
The growth environment integrated management unit 300,
A cultivation environment control module 310 for controlling the environment creation means 130 of the cultivation room 100 so as to create an environment necessary for the mushroom being grown by using the environmental information provided from the management robot 200;
Mushroom growth status that generates and stores mushroom growth status information for each cultivation stage by analyzing and identifying the growth status of mushrooms using the mushroom growth status image information transmitted by the management robot 200 and the status information DB for each growth period stored in advance a determination module 320, and
If there is a cultivation bed in which an event related to mushroom harvest or mushroom decay has occurred according to the generated mushroom growth status information for each cultivation bed, work event information for each cultivation bed is generated, and the generated work event information and work instruction signal for each cultivation bed are displayed through the smart glass ( 400) includes an information transmission module 330 for transmitting,
The work event information for each cultivation bed,
Information on the cultivation bed where the mushroom harvest or decay event occurred, information about the mushroom medium where the event occurred among the mushroom badges installed on each floor of the relevant cultivation bed where the mushroom harvest or decay event occurred, the harvest or growth of mushrooms in the mushroom medium where the event occurred Augmented reality-based cultivation management system using an autonomous driving management robot, characterized in that it includes image information displayed so that the mushrooms in which the decay event has occurred can be identified.
The method according to claim 1,
The smart glass 400,
An alarm unit 410 for displaying a work order alarm;
A smart camera unit 420 for photographing a marker installed on the cultivation bed 120, and
When a work instruction signal and work event information for each cultivation bed are received from the integrated growth environment management unit 300 through the smart communication unit 450, the alarm unit 410 controls so that a work order alarm is displayed and the received work event information for each cultivation bed. is controlled to be displayed on the display unit 440 by extracting the cultivation bed information in which the operation event occurred from the operation event information for each cultivation bed, and the smart camera unit 420 obtains the cultivation bed information from the photographed marker image, , control to extract the obtained work event information of the corresponding cultivation bed from the stored operation event information for each cultivation bed and display it on the display unit 440, and when the user completes the operation on the work target cultivation bed, A smart control unit 430 for controlling the job completion signal to be transmitted to the integrated growth environment management unit 300 and;
A display unit 440 for outputting and displaying work event information based on augmented reality;
Autonomous comprising a smart communication unit 450 for receiving work event information for each cultivation bed from the integrated growth environment management unit 300 and transmitting a job completion signal for the work target cultivation bed to the integrated growth environment management unit 300 Augmented reality based cultivation management system using driving management robot.

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