KR102283262B1 - A mushroom management robot for smart-farm - Google Patents

Abstract

Mushroom growth management robot for smart farm of the present invention, while autonomously driving in the cultivation room of the smart farm to grow high value-added mushrooms, photographing the growth status of the mushrooms being cultivated, and transferring the status information of the collected mushrooms to the management server of the smart farm It automatically creates a driving route by recognizing obstacles detected during autonomous driving, automatically adjusting the shooting angle and shooting height to accurately capture the growth ecology of mushrooms, and detecting the cultivation environment inside the smart farm. And it relates to an invention that periodically transmits the sensed environmental information to the management server of the smart farm.

Description

A mushroom management robot for smart-farm

The present invention relates to a mushroom growth management robot for smart farms, and in more detail, the present invention is an image of the growth status of mushrooms that are photographed while autonomously driving in a cultivation room of a smart farm to grow high value-added mushrooms It is an invention about a mushroom growth management robot that collects information and environmental information in the cultivation room and transmits it to the management server of the smart farm.

That is, the robot of the present invention automatically changes the driving path by recognizing obstacles detected during autonomous driving, and automatically adjusts the shooting angle and shooting height in various ways to accurately capture the growth ecology of mushrooms, and This invention relates to a mushroom growth management robot that detects the cultivation environment and periodically transmits the detected environmental information to the management server of the smart farm.

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. 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. .

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, instability in farm household income due to poor crops and plunging agricultural products, and environmental pollution by chemical fertilizers.

Therefore, it is necessary to develop technology for cultivating high value-added mushrooms while overcoming the difficult situation of domestic farmers.

The following are prior art related to this.

1. Republic of Korea Patent Publication No. 10-2019-0031391 Intelligent agricultural robot system 2. Republic of Korea Patent Publication No. 10-1968759 Agricultural work cable robot 3. Republic of Korea Patent Publication No. 10-2001517 Driving robot for unmanned automation of agricultural production

The present invention is to solve the above problems,

The present invention collects image information of the growth state of mushrooms and environmental information in the cultivation room, which is a picture of the growth status of mushrooms being cultivated while autonomously driving in the cultivation room of the smart farm to grow high value-added mushrooms, and is used as a management server of the smart farm. intended to transmit.

In addition, the robot of the present invention aims to automatically change the driving route by recognizing obstacles detected during autonomous driving.

In addition, it aims to automatically adjust the shooting angle and shooting height in various ways in order to accurately photograph the growth ecology of mushrooms.

In addition, it aims to detect the cultivation environment inside the smart farm and periodically transmit the detected environmental information to the management server of the smart farm.

In order to achieve the above object, the present invention smart farm mushroom growth management robot,

a driving unit 100 configured to include a body 110 having an internal space in which the control unit 600 is installed, and autonomously driving in the cultivation room under the control of the control unit 600;

an environment sensing unit 200 installed on one side of the body unit 110 to sense the environment inside the cultivation room and provide the sensed environment information to the control unit 600;

an obstacle detecting unit 300 installed on one side of the front side of the body unit 110 to detect an obstacle existing in the front on the travel path, and to provide sensing information to the control unit 600 when the obstacle is detected;

a mushroom observation unit 400 that is installed on the upper side of the body 100 to photograph the mushroom being grown while variously adjusting the shooting angle and the shooting height, and provides image information of the growth state of the photographed mushroom to the control unit 600;

an information acquisition unit 500 for acquiring cultivation bed information or driving information from a plurality of markers installed at a plurality of locations in the cultivation room, and transmitting the acquired cultivation bed information or driving information to the controller 600;

Controls so that the environmental information transmitted by the environment detection unit 200 and the mushroom growth state image information transmitted by the mushroom observation unit 400 are transmitted to an external management server through the communication unit 700, and the obstacle detection unit 300 ) to control the driving unit 100 so that the robot can autonomously drive in the cultivation room using the obstacle detection information provided by the information acquisition unit 500 and the driving information provided by the information acquisition unit 500, and obtain the cultivation stage information from the information acquisition unit 500 City, a control unit 600 for controlling the mushroom observation unit 400 to photograph the mushrooms being grown in the corresponding cultivation bed;

It characterized in that it includes a communication unit 700 for transmitting environmental information and mushroom growth state image information to the outside under the control of the control unit 600.

Mushroom growth management robot for smart farm of the present invention, the present invention is to grow high value-added mushrooms while autonomously driving in the cultivation room of the smart farm, the growth state image information of the mushroom that is being grown while photographing the growth state of the mushroom and Since environmental information is collected and transmitted to the management server of the smart farm, high value-added mushrooms can be grown and harvested without the need for additional manpower, thereby increasing the income of farmers.

In addition, since the mushroom growth management robot of the present invention automatically changes the driving route by recognizing obstacles detected during autonomous driving, it not only prevents accidents caused by collision with obstacles while driving, but also prevents the growth of mushrooms through an accurate driving route. can be filmed.

In addition, the mushroom growth management robot of the present invention automatically adjusts the shooting angle and shooting height in various ways in order to accurately photograph the growth ecology of the mushroom, so the management server of the smart farm uses the image information of the mushroom growth state of the mushroom. It is possible to harvest mushrooms without missing the optimal harvest time by analyzing the exact growth condition and taking appropriate action according to the growth period of the mushroom.

In addition, the mushroom growth management robot of the present invention detects the cultivation environment inside the smart farm and periodically transmits the detected environmental information to the management server of the smart farm, so that the cultivation environment suitable for mushrooms being grown inside the smart farm can be maintained. This can effectively promote the growth of mushrooms.

1 is a state diagram of a mushroom growth management robot for smart farms of the present invention;
2 is a block diagram of a mushroom growth management robot for smart farms of the present invention;
3 is a detailed view of the driving unit and the environment sensing unit of the mushroom growth management robot for smart farms of the present invention;
4 is a detailed view of the mushroom observation part of the mushroom growth management robot for smart farms of the present invention.
5 is a functional block diagram of the mushroom growth management robot for smart farms of the present invention.
6 is an example of autonomous driving path recognition of the mushroom growth management robot for smart farms of the present invention.
7 is an example of autonomous driving path recognition of the mushroom growth management robot for smart farms of the present invention 2
8 is an operational state diagram of the mushroom growth management robot for smart farms of the present invention;

An embodiment of the present invention will be described in detail with reference to the accompanying Figures 1 to 8.

1 is a state diagram of the mushroom growth management robot for smart farms of the present invention, FIG. 2 is a block diagram of the mushroom growth management robot for smart farms of the present invention, and FIG. 3 is a driving part of the mushroom growth management robot for smart farms of the present invention It is a detailed view of the environment sensing unit, and FIG. 4 is a detailed view of the mushroom observation unit of the mushroom growth management robot for smart farms of the present invention.

Referring to Figure 1, the mushroom growth management robot for smart farms of the present invention (hereinafter, 'management robot') is, while autonomously driving in the cultivation room of the smart farm, the growth status image information of mushrooms and cultivation Since it is a mushroom growth management robot that collects indoor environmental information and transmits it to the management server of the smart farm, it is an invention that can grow and harvest high value-added mushrooms without the need for additional manpower, thereby increasing the income of farmers.

In addition, since the management robot 10 of the present invention recognizes obstacles detected during autonomous driving and automatically changes the driving route, it not only prevents accidents caused by obstacle collisions while driving, but also prevents the growth of mushrooms at various heights and angles. It is an invention that can overcome the difficult situation of domestic farms lacking in labor because it allows the cultivation of high value-added mushrooms without the need for management personnel by allowing the state to be photographed.

Therefore, the management robot 10 of the present invention, as shown in FIGS. 1 and 2, the driving unit 100, the environment sensing unit 200, the obstacle sensing unit 300, the mushroom observation unit 400, and the information acquisition unit 500. , a control unit 600 , and a communication unit 700 .

Specifically, the mushroom growth management robot for smart farms of the present invention,

a driving unit 100 configured to include a body 110 having an internal space in which the control unit 600 is installed, and autonomously driving in the cultivation room under the control of the control unit 600;

an environment sensing unit 200 installed on one side of the body unit 110 to sense the environment inside the cultivation room and provide the sensed environment information to the control unit 600;

an obstacle detecting unit 300 installed on one side of the front side of the body unit 110 to detect an obstacle existing in the front on the travel path, and to provide sensing information to the control unit 600 when the obstacle is detected;

a mushroom observation unit 400 that is installed on the upper side of the body 100 to photograph the mushroom being grown while variously adjusting the shooting angle and the shooting height, and provides image information of the growth state of the photographed mushroom to the control unit 600;

an information acquisition unit 500 for acquiring cultivation bed information or driving information from a plurality of markers installed at a plurality of locations in the cultivation room, and transmitting the acquired cultivation bed information or driving information to the controller 600;

Controls so that the environmental information transmitted by the environment detection unit 200 and the mushroom growth state image information transmitted by the mushroom observation unit 400 are transmitted to an external management server through the communication unit 700, and the obstacle detection unit 300 ) to control the driving unit 100 so that the robot can autonomously drive in the cultivation room using the obstacle detection information provided by the information acquisition unit 500 and the driving information provided by the information acquisition unit 500, and obtain the cultivation stage information from the information acquisition unit 500 City, a control unit 600 for controlling the mushroom observation unit 400 to photograph the mushrooms being grown in the corresponding cultivation bed;

It characterized in that it includes a communication unit 700 for transmitting environmental information and mushroom growth state image information to the outside under the control of the control unit 600.

2 and 3 , the driving unit 100 is a kind of bogie that autonomously travels in the cultivation room 20 under the control of the control unit 600 , and includes a body unit 110 , a plurality of wheels 120 , and a driving force. It is configured to include a generating module 130, an auxiliary wheel (140).

The body unit 110 provides an installation space in which the control unit 600, the environment sensing unit 200, the obstacle sensing unit 300, the mushroom observation unit 400, the information acquisition unit 500, and the communication unit 700 are installed. It is the body of a robot that does

At this time, the material of the body part 110 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 20 in a state in which the body part 110 is installed.

The plurality of wheels 120 are installed one by one on both left and right sides of the body 110 , and are rotated by receiving a driving force from the driving force generating module 130 to drive the body 110 .

In addition, the diameter of the wheel 120 should be larger than the diameter of the auxiliary wheel 140 to be described later in order to move the body portion 110 quickly.

On the other hand, the driving force generating module 130 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 600 . As a configuration that provides rotational power, an individual wheel drive method is applied.

Here, the driving force generating module 130 is applied to a power generating device that generates 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 140 is installed on one side of the lower side of the body part 110 to help the plurality of wheels 120 while in contact with the bottom of the cultivation chamber 20 to support the body part 110 to maintain a horizontal state, The auxiliary wheel 140 is rotated by assisting the rotational movement of the plurality of wheels 120 that are rotated by receiving the driving force from the driving force generating module 130 by free rotation without a separate driving force.

At this time, the number of the auxiliary wheels 140 is preferably installed in proportion to the size of the body portion 100 at least one or more.

Referring to the enlarged view at the top of FIG. 3 , the environment sensing unit 200 is installed on one side of the body unit 110 to periodically sense the environment inside the cultivation room, and provide the sensed environment information to the control unit 600 . As an environmental monitoring sensor, it basically includes an illuminance sensor 210 , a temperature and humidity sensor 220 , a Co2 sensor 230 , and a wind volume sensor 240 .

Here, the environmental information measured by the environment sensing unit 200 is temperature, illuminance, humidity, carbon dioxide, and air volume, which are optimal growth conditions required for mushrooms, and the environment sensing unit 200 is the management robot 10 of the present invention. While autonomously driving in the cultivation room 20 , the environmental information in the cultivation room 20 is sensed and transmitted to the control unit 600 .

At this time, the control unit 600 transmits the environmental information to the external management server 30 as shown in FIG. 5 through the communication unit 700, and the transmitted environmental information is such that the cultivation room 20 becomes an optimal environment for mushroom growth. It is used as a basis for

The illuminance sensor 210 is a sensor for detecting the illuminance in the cultivation room 20, and in more detail, a sensor ( photoresistor).

In particular, since the growth state of mushrooms is determined according to the illuminance of light, the cultivation room 20 needs to be appropriately illuminated according to the growth state of the mushrooms, and for this purpose, the illuminance in the current cultivation room is sensed. .

The temperature and humidity sensor 220 is a temperature and humidity sensor for detecting the temperature and humidity in the cultivation room 20 , and detects the temperature and humidity in the cultivation room 20 .

Since the growth state of mushrooms is determined according to temperature and humidity, the cultivation room 20 needs to be appropriately adjusted in temperature and humidity according to the growth state of the mushrooms, and for this purpose, the temperature and humidity in the current cultivation room are sensed. will do

The Co2 detection sensor 230 is a sensor for detecting the concentration of Co2 in the cultivation room 20. During the growth of mushrooms, oxygen is a factor that fattens the mushroom caps and stems, and carbon dioxide is a factor that suppresses the mushroom caps and stems. Therefore, for the stable growth of mushrooms, an appropriate amount of Co2 must be constantly maintained in the cultivation chamber 20 without being excessive.

Therefore, in the cultivation room 20, there is a need to appropriately control Co2 according to the growth state of the mushrooms, and for this purpose, Co2 in the current cultivation room is sensed.

The air volume detecting sensor 240 is a sensor for detecting the air volume in the cultivation room 20 , and in detail, is configured to detect an appropriate ventilation state by a ventilator operating in the cultivation room 20 .

Meanwhile, the environment sensing unit 200 may further include a mushroom odor sensing sensor 250 .

Mushrooms emit a unique odor that is different from usual during harvest or decay. The mushroom odor detection sensor 250 detects a characteristic odor emitted from mushrooms grown in the cultivation room 20, that is, a characteristic odor emitted during harvest or a characteristic odor emitted during decay, and a characteristic odor. Upon detection, the sensing information is provided to the control unit 600 , and the control unit transmits a sensing signal according to the sensing information to the external management server 30 through the communication unit 700 .

Specifically, if the characteristic smell is a characteristic smell emitted at the right time to harvest, the first detection information is provided to the control unit 600 , and the control unit transmits the first detection signal according to the first detection information to the outside through the communication unit 700 . to be transmitted to the management server 30 of In addition, if the characteristic odor is a characteristic odor emitted during decay, the second detection information is provided to the control unit 600 , and the control unit transmits a second detection signal according to the second detection information to the external management server through the communication unit 700 . (30) to be transmitted.

At this time, the purpose of further including the mushroom odor detection sensor 250 in the environment detection unit 200 is to use it as an auxiliary data for accurately determining the harvest time of mushrooms.

That is, the external management server 30 determines the harvest time or decay of mushrooms using the image taken by the mushroom observation unit 400, which will be described later. Accordingly, when the control unit 600 provides the detection signal, it is possible to determine the mushroom harvest time or decay more accurately than the mushroom harvest time only with the image captured by the mushroom observation unit 400 .

Therefore, the growth management robot 10 of the present invention senses the cultivation environment inside the cultivation room 20 through the environment sensing unit 200 and periodically transmits the detected environmental information to the management server 30, so that the cultivation room ( 20) It is possible to effectively promote the growth of mushrooms by maintaining a suitable growing environment for the mushrooms being grown inside.

Referring to FIG. 3 , the obstacle detecting unit 300 is installed on one side of the front side of the body unit 110 to detect an obstacle existing in the front on the driving path, and when the obstacle is detected, the sensing information is sent to the control unit 600 . As a sensor to provide, the controller 600 appropriately controls the driving of the driving unit 100 to avoid or stop the obstacle when the obstacle is detected by the obstacle detecting unit 300 .

Here, the sensor applied to the obstacle detecting unit 300 is at least one of an infrared sensor and an ultrasonic sensor, and the infrared sensor detects an obstacle existing in the front in an infrared method. On the other hand, there is a disadvantage that noise is generated by ambient light.

In addition, the ultrasonic sensor has a disadvantage in that it detects an obstacle at a relatively long distance compared to the infrared sensor and generates less noise, but has a disadvantage in that it lacks straightness compared to the infrared sensor.

Therefore, the obstacle detecting unit 300 may apply either one of the infrared sensor and the ultrasonic sensor alone, or both may be applied by mixing the infrared sensor and the ultrasonic sensor.

Referring to FIG. 4 , the mushroom observation unit 400 is installed on the upper side of the body part 100 to photograph the mushroom being grown while variously adjusting the photographing angle and photographing height, and controls the growth state image information of the photographed mushroom. As a configuration to be transmitted to (600), it is configured to include an observation camera (410), a guide rail (420), and a moving rotating unit (430).

Here, the observation camera 410 is a camera for photographing mushrooms grown in a plurality of cultivation beds disposed in the cultivation room 20, 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 410 is too low or the pixel is too low, the mushroom growth state is accurately analyzed through the picture taken by the management server 30 to determine the mushroom harvest time. Because there are cases where it cannot.

Therefore, the performance of the observation camera 410 used in the management robot 10 of the present invention is as high as possible with high resolution and high pixels, because at least a product with a resolution of 1280×960 dpi or more and a product of 1.3 million pixels or more can be used to accurately check the growth status of mushrooms. It is recommended to use the latest camera products with camera performance.

Referring to FIG. 4 , the guide rail 420 is a configuration for guiding the vertical movement of the moving rotating part 430 in which the observation camera 410 is installed. It provides an exercise section in which the moving rotating unit 430 can move in the vertical direction.

Accordingly, through the guide rail 420 , the mushroom being grown is photographed while variously adjusting the photographing height of the observation camera 410 .

4, an observation camera 410 is installed on one side of the moving rotating unit 430, and a hollow is formed in the center of the moving rotating unit 430, so that the moving rotating unit 430 is a guide rail 420. ) so that it can be through-coupled to

That is, the moving rotation unit 430 is a camera installation bracket that allows the observation camera 410 to move vertically or rotate horizontally on the guide rail 420 .

Therefore, the moving rotating unit 430 vertically moves up to a specific height on the guide rail 420 so as to photograph the mushroom being grown while variously adjusting the shooting angle and the shooting height, and the observation camera 410 rotates the mushroom at various angles. It rotates horizontally on the guide rail 420 to take a picture.

The mushroom growth state image information photographed by the observation camera 410 is transmitted to the external management server 30, and the management server 30 is used as basic data for determining the harvest time of mushrooms through comparative analysis with the reference image. is utilized

Figure 5 is a functional block diagram of the mushroom growth management robot for smart farms of the present invention, Figure 6 is an example of autonomous driving path recognition of the mushroom growth management robot for smart farms of the present invention 1, Figure 7 is mushroom growth for smart farms of the present invention 2 is an example of autonomous driving path recognition of the management robot, and FIG. 8 is an operational state diagram of the mushroom growth management robot for smart farms of the present invention.

The information acquisition unit 500 constituting the robot according to the present invention obtains cultivation bed information and driving information from a plurality of markers 21 installed at a plurality of locations in the cultivation room 20, and uses the acquired cultivation bed information and driving information. As a configuration for transmitting to the controller 600 , it is configured to include a marker camera 510 and a marker reader 520 .

The plurality of markers 21 are respectively formed on the bottom of the cultivation stage 22 and the cultivation chamber 20, and in more detail, the marker 21 is a configuration that stores a kind of code information, and 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 10 of the present invention obtains driving information necessary for autonomous driving from the marker 21 installed on the inner floor of the cultivation room 20 , and obtains the cultivation bed information from the marker 21 installed on the cultivation bed 22 . will acquire

5, 6, and 7, the plurality of markers 21 respectively formed on the floor in the cultivation chamber 20 store driving-related information.

As shown in FIGS. 6 and 7 , when the marker camera 510 of the information acquisition unit 500 photographs the marker 21 formed on the floor in the cultivation room 20 , the marker reader 520 captures the marker camera 510 . It is obtained by reading driving information from an image.

Driving information obtained by the marker camera 510 from the marker 21 formed on the floor in the cultivation room 20 is for turn left, trun right, charge, and snapshot. It may be a stop or the like, and when the obtained information is provided to the controller 600 , the controller 600 controls the driving unit 100 according to the acquired driving information.

In addition, as shown in FIG. 8 , in the marker 21 installed for each cultivation bed 22 where mushrooms are grown, cultivation bed information, which is information related to the cultivation bed 22 , is stored, and the cultivation bed information identifies the cultivation bed. Unique identification information (eg #1, #2, #3...#N) that allows the cultivation of mushrooms, information on which mushrooms are growing in that growing bed, and the height and lowest height of the highest medium located on the cultivation bed for mushroom cultivation. including the height of the badge, etc.

When the management robot 10 of the present invention autonomously drives inside the cultivation room 20 and the marker camera 510 takes a picture of the marker 21 formed on the cultivation stage 22, the marker reader 520 uses the marker camera. The 510 reads and acquires the cultivation bed information from the captured image.

The growth state image information of the mushroom photographed through the mushroom observation unit 400 constituting the management robot 10 of the present invention is transmitted to the management server 30, and the management server 30 uses the mushroom growth state image information The mushroom harvest time or decay is determined, and when a mushroom harvest or decay event occurs, related work instruction information is provided to the manager. When providing work support information to the manager, use the unique identification information (eg, #1, #2, #3...

Referring to FIG. 5 , the control unit 600 transmits the environmental information transmitted by the environment sensing unit 200 and the mushroom growth state image information transmitted by the mushroom observation unit 400 to an external management server through the communication unit 700 . control to be transmitted, and control the driving unit 100 so that the robot autonomously travels in the cultivation room using the obstacle detection information provided by the obstacle detection unit 300 and the driving information provided by the information acquisition unit 500, and information When information on the cultivation bed 22 is obtained from the acquisition unit 500, the mushroom observation unit 400 is controlled to photograph the mushrooms being grown in the corresponding cultivation bed 22. The information transmission control module 610, autonomous driving It is configured to include a control module 620 and a shooting control module 630 .

Here, the information transmission control module 610 receives environmental information from the environment sensing unit 200 or when the mushroom growth state image information is received from the mushroom observation unit 400, the environmental information received through the communication unit 700 Alternatively, control is performed so that the mushroom growth state image information is transmitted to the external management server 30 .

In particular, when transmitting the environmental information, the information transmission control module 610 matches and transmits the ID information unique to the cultivation room with the environmental information, and when transmitting the mushroom growth state image information, related to the mushroom growth state image information The identification information unique to the cultivation bed is matched with the mushroom growth status image information and transmitted.

To this end, when the mushroom observation unit 400 provides the growth state image information of the photographed mushroom to the control unit 600, it also provides unique identification information of the corresponding cultivation stage 22 photographing the mushroom to the information transmission control module 610 ), 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.

Through this, the management server 30 controls the temperature, illuminance, humidity, carbon dioxide, and air volume that are the cultivation environment conditions of the cultivation room 20 to be appropriately adjusted by comparing the transmitted environmental information and the reference environmental information, and Analyzes image information of mushroom growth status to determine harvest time or decay.

Referring to FIG. 5 , when the obstacle detection information is provided from the obstacle sensing unit 300, the autonomous driving control module 620 is configured to avoid the obstacle and autonomously drive the driving unit 100 (specifically, the driving force generating module 130). ), and when driving information is provided from the information acquisition unit 500, the driving unit 100 (specifically, the driving force generating module 130) is controlled so that the robot autonomously drives according to the provided driving information.

The autonomous driving control module 620 controls the driving unit 100 so that the robot drives autonomously using driving information obtained from the marker 21 formed on the floor in the cultivation room 20 provided by the information acquisition unit 500 . However, for example, the information stored in the marker 21 formed on the floor in the cultivation room 20 is turn left, trun right, charge, and photographing according to the installation position as shown in FIG. 6 . It may be a stop for (snapshot) or the like.

That is, as shown in FIG. 6 , the marker 21 storing information such as turn left, trun right, charge, and stop for taking a picture is located on the floor in the cultivation room 20 at various places on the floor. installed and used for autonomous driving of robots.

For example, if the mushroom cultivation stage 22 is arranged in the cultivation room 20 as shown in FIG. 7 , the robot must autonomously drive as shown in FIG. 7 for mushroom photography, and for this purpose, turn left and turn right ( Markers 21 storing information such as trun right), forward (charge), and stop for taking a picture (snapshot) are installed in various places on the floor in the cultivation room (20).

On the other hand, the autonomous driving control module 620 moves to the 'management robot waiting area' shown in FIG. 7 in order to prevent the management robot 10 from colliding with the user when the user enters the cultivation room 20. The driving unit 100 is controlled to move and wait.

5 and 8, when the cultivation bed information is provided from the information acquisition unit 500, the photographing control module 630 uses the mushroom observation unit to photograph the mushrooms being cultivated in the corresponding cultivation bed 22 in the cultivation bed information. Control (400).

Specifically, the photographing control module 630 extracts the height of the uppermost medium in which mushrooms are grown from the cultivation bed information, and moves the mushroom observation unit 400 so that the observation camera 410 moves to the extracted height of the uppermost medium. After vertically moving the rotating unit 430, a first control is performed for horizontally rotating the moving rotating unit 430 so that the observation camera 410 takes pictures of mushrooms grown in the medium at various angles.

After the first control, the moving rotation unit 430 of the mushroom observation unit 400 is vertically moved so that the observation camera 410 moves to the height of the medium immediately below the uppermost medium, and then the mushrooms grown in the medium are rotated at various angles. A second control for horizontally rotating the moving rotating unit 430 so that the observation camera 410 is photographed.

After the second control, the shooting control module 630 controls the N-th so that the observation camera 410 shoots the mushrooms being grown in the next lower media in the same manner as above, but the N-th control is cultivated in the lowest media. It proceeds until the mushroom being photographed by the observation camera 410 .

2 and 3, the communication unit 700 is a communication device that transmits environmental information and mushroom growth state image information to an external management server 30 under the control of the control unit 600, and is a management robot of the present invention. (10) For smooth movement within the cultivation room 20, wireless communications (wireless communications) method is applied.

At this time, the management robot 10 of the present invention basically captures the growth state of the mushroom being cultivated while autonomously driving in the cultivation room 20 and transmits the collected mushroom status information to the management server 30 , but the user The management robot 10 may be switched to the manual remote control mode according to other needs such as function check and charging.

Although the technical idea of the present invention has been described together with the accompanying drawings, the preferred embodiment of the present invention is illustratively 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 without departing from the scope of the technical idea of the present invention.

10: management robot
20: cultivation room
30: management server
100: driving part
200: environment sensing unit
300: obstacle detection unit
400: mushroom observation unit
500: Information Acquisition Department
600: control unit
700: communication department

Claims (9)

In a smart farm mushroom growth management robot that collects status information related to mushroom growth while autonomously driving in a smart farm cultivation room,
a driving unit 100 configured to include a body 110 having an internal space in which the control unit 600 is installed, and autonomously driving in the cultivation room under the control of the control unit 600;
an environment sensing unit 200 installed on one side of the body unit 110 to sense the environment inside the cultivation room and provide the sensed environment information to the control unit 600;
an obstacle detecting unit 300 installed on one side of the front side of the body unit 110 to detect an obstacle existing in the front on the travel path, and to provide sensing information to the control unit 600 when the obstacle is detected;
a mushroom observation unit 400 that is installed on the upper side of the body 100 to photograph the mushroom being grown while variously adjusting the shooting angle and the shooting height, and provides image information of the growth state of the photographed mushroom to the control unit 600;
an information acquisition unit 500 that acquires cultivation bed information and driving information from a plurality of markers installed at a plurality of locations in the cultivation room, and transmits the acquired cultivation bed information and driving information to the control unit 600;
Controls so that the environmental information transmitted by the environment detection unit 200 and the mushroom growth state image information transmitted by the mushroom observation unit 400 are transmitted to an external management server through the communication unit 700, and the obstacle detection unit 300 ) to control the driving unit 100 so that the robot can autonomously drive in the cultivation room using the obstacle detection information provided by the information acquisition unit 500 and the driving information provided by the information acquisition unit 500 , and obtain the cultivation stage information from the information acquisition unit 500 . City, a control unit 600 for controlling the mushroom observation unit 400 to photograph the mushrooms being cultivated in the corresponding cultivation bed;
and a communication unit 700 for transmitting environmental information and mushroom growth state image information to the outside under the control of the control unit 600,

The environment sensing unit 200 includes a mushroom odor detection sensor 250 for detecting a unique odor emitted from mushrooms being grown in the cultivation room,
The mushroom odor detection sensor 250 provides the first detection information to the control unit 600 if the detected unique smell of the mushroom is a characteristic smell emitted at the right time to harvest, and the characteristic smell emitted when the detected characteristic smell is decayed. If it is a smell, the second detection information is provided to the control unit 600,
When the first detection information is provided, the control unit 600 transmits the first detection signal to the external management server 30 through the communication unit 700, and when the second detection information is provided, the second detection signal is transmitted to the communication unit 700 ) through the external management server 30, so that the management server 30 can use the image captured by the mushroom observation unit 400 as an auxiliary data to determine the harvest time or decay of mushrooms. A mushroom growth management robot for smart farms.
The method according to claim 1,
The driving unit 100,
A body portion 110 that provides an internal space in which the control unit 600 is installed, and an installation space in which various components are installed, and;
A plurality of wheels 120 installed on each left and right sides of the body 110 and rotated by receiving a driving force from the driving force generating module 130 to drive the body 110,
A driving force generating module 130 that individually provides rotational power to the plurality of wheels 210 to enable linear running, reverse running, and rotational running according to the control of the controller 600, and;
Installed on one lower side of the body portion 110, the body portion 110 is supported to maintain a horizontal state, and for smart farm, characterized in that it includes at least one auxiliary wheel 140 that is freely rotated without power. Mushroom growth management robot.
The method according to claim 1,
The environment sensing unit 200,
An illuminance sensor 210 for detecting illuminance in the cultivation room, and
A temperature and humidity sensor 220 for detecting the temperature and humidity in the cultivation room;
A Co2 detection sensor 230 for detecting the concentration of Co2 in the cultivation room, and
Mushroom growth management robot for smart farm, characterized in that it comprises a wind volume sensor 240 for detecting the air volume in the cultivation room.
The method according to claim 1,
The obstacle detecting unit 300,
Mushroom growth management robot for smart farms, characterized in that it comprises at least one of an infrared sensor for detecting an obstacle existing in the front by an infrared method, or an ultrasonic sensor for detecting an obstacle existing in the front by an ultrasonic method.
The method according to claim 1,
The mushroom observation unit 400,
An observation camera 410 for photographing mushrooms being cultivated in the cultivation bed;
A guide rail 420 for guiding the vertical movement of the moving rotating unit 430,
The observation camera 410 is installed, and the observation camera 410 moves vertically to a certain height on the guide rail 420 so that the mushroom being grown at a certain height of the cultivation bed can be photographed, and the observation camera 410 is rotated at various angles. Mushroom growth management robot for smart farm, characterized in that it includes a moving rotating part 430 that rotates horizontally on the guide rail 420 so as to shoot mushrooms.
The method according to claim 1,
The information acquisition unit 500,
A marker camera 510 for photographing a marker, and
and a marker reader 520 that reads and obtains planting information or driving information from the image taken by the marker camera 510,
A plurality of the markers are formed on the cultivation bed where mushrooms are grown and on the floor in the cultivation room, the cultivation bed information, which is information related to the cultivation bed, is stored in the marker formed on the cultivation bed, and the marker formed on the floor for autonomous driving. Mushroom growth management robot for smart farm, characterized in that driving information is stored.
The method according to claim 1,
The control unit 600,
When the environmental information is received from the environment sensing unit 200 or the mushroom growth state image information is received from the mushroom observation unit 400, the environmental information received through the communication unit 700 or the mushroom growth state image information is transmitted to the outside. An information transmission control module 610 that controls to be transmitted to the management server, and
When obstacle detection information is provided from the obstacle detection unit 300, the driving unit 100 is controlled to avoid obstacles and autonomously driven, and when driving information is provided from the information acquisition unit 500, the robot operates according to the provided driving information. An autonomous driving control module 620 for controlling the driving unit 100 to autonomously drive;
When cultivation bed information is provided from the information acquisition unit 500, it is configured to include a photographing control module 630 for controlling the mushroom observation unit 400 to photograph mushrooms being grown in the corresponding cultivation bed,
The driving information provided by the autonomous driving control module 620 is information that causes the robot to perform any one of a straight driving, a right rotating driving, a left rotating driving, and a reverse driving.
8. The method of claim 7,
The shooting control module 630,
After extracting the height of the uppermost medium in which mushrooms are grown from the cultivation bed information, and vertically moving the moving and rotating part 430 of the mushroom observation unit 400 so that the observation camera 410 moves to the extracted height of the uppermost medium, the corresponding The first control to horizontally rotate the moving rotation unit 430 so that the observation camera 410 shoots the mushrooms grown in the medium at various angles,
After the first control, the moving rotation unit 430 of the mushroom observation unit 400 is vertically moved so that the observation camera 410 moves to the height of the medium immediately below the uppermost medium, and then the mushrooms grown in the medium are rotated at various angles. A second control to horizontally rotate the moving rotating unit 430 so that the observation camera 410 is photographed in
After the second control, the N-th control so that the observation camera 410 shoots the mushrooms grown in the next lower media in the same manner as above, the N-th control is the observation camera ( 410), a mushroom growth management robot for smart farms, characterized in that it proceeds until being photographed.
8. The method of claim 7,
The information transmission control module 610,
When transmitting the environmental information, matching the ID information of the cultivation room with the environmental information and transmitting,
Mushroom growth management robot for smart farms, characterized in that when transmitting the image information of the growth state of the mushroom, the identification information related to the image information of the growth state of the mushroom is matched with the image information of the growth state of the mushroom and transmitted.

Images