KR102384216B1 - Apparatus and method for remotely controlling autonomous driving of agricultural machinery through an application of a user terminal in a communication system - Google Patents

Abstract

The present invention relates to an apparatus and a method for remotely controlling autonomous driving of agricultural machinery through an application of a user terminal in a communication system. Concretely, the present invention relates to an apparatus and a method, wherein the method comprises the steps of: allowing a server to receive state information of agricultural machinery from a control device electrically connected to the agricultural machinery in a communication system; allowing the server to provide environmental information of the agricultural machinery based on the state information of the agricultural machinery to an application based user terminal; allowing the server to receive control information from the user terminal; allowing the server to transmit a detailed control command message to the control device of the agricultural machinery; allowing the server to receive feedback information of a work performed in real from the control device of the agricultural machinery; and allowing the server to transfer the feedback information of the work to the user terminal. The present invention may enhance safety in autonomous driving.

Description

Apparatus and method for remotely controlling autonomous driving of agricultural machinery in a communication system via an application on a user terminal

The present invention relates to an apparatus and method for remotely controlling autonomous driving of an agricultural machine through an application of a user terminal in a communication system. Specifically, in the present invention, in a communication system, the server receives from a control device electrically connected to the agricultural machine, the server provides the environmental information of the agricultural machine based on the state information of the agricultural machine to the application-based user terminal, and the server provides control information from the user terminal , the server sends a detailed control command message to the control device of the agricultural machine, the server receives feedback information of the work actually performed from the control device of the agricultural machine, and the server delivers the feedback information of the job to the user terminal It relates to an apparatus and method.

Agricultural machinery is being treated as a very important factor in order to reduce the high labor burden and production cost in response to the labor shortage caused by the decline of the rural labor force and aging population. Agricultural machinery is intended to perform various agricultural tasks and enables various types of work such as plow, rotary, pest control, and rice transplanting work. It is classified as a passenger working machine that operates agricultural machinery by riding in the driver's seat.

With the development of wireless communication technology, telematics devices that are electrically coupled to agricultural machines and perform wireless communication with servers such as agricultural machine manufacturers and agricultural machine-related status and control information are being distributed. If the telematics device is used, the user can control the operation of the agricultural machine without going directly to the agricultural machine.

Recently, a technology for performing autonomous driving of agricultural machines by controlling the steering wheel of agricultural machines has been popularized. Control of the steering wheel for agricultural machinery can be used as a remote steering wheel control by combining with a communication system.

With the development of wireless communication technology such as smartphones, using applications to communicate with the server to obtain information about the current state and surrounding environment of remote agricultural machines and to control autonomous driving of agricultural machines to perform farmland work wirelessly was able to do

Accordingly, there is a need for an apparatus and method for remotely controlling autonomous driving of agricultural machinery through an application of a user terminal in a communication system.

Registered Patent No. 10-2129110 (Agricultural machinery safety accident detection device with accident prevention function)

Based on the above discussion, various embodiments of the present invention provide an apparatus and method for remotely controlling autonomous driving of agricultural machinery through an application of a user terminal in a communication system.

According to various embodiments of the present disclosure, in a communication system, a server receives from a control device electrically connected to the agricultural machine, the server provides the environment information of the agricultural machine based on the state information of the agricultural machine to the application-based user terminal, and the server controls from the user terminal Receive information, the server sends a detailed control command message to the control device of the agricultural machine, the server receives feedback information of the work actually performed from the control device of the agricultural machine, and the server delivers the feedback information of the job to the user terminal An apparatus and method are provided.

Various embodiments of the present invention provide an apparatus and method for determining whether an accident has occurred of an agricultural machine based on the type of land on which the agricultural machine is located, the moving speed of the agricultural machine and the inclination of the agricultural machine, and transmitting whether the control of the agricultural machine is possible to the user terminal. to provide.

Various embodiments of the present invention provide a method and apparatus for automatically controlling the start-off when at least one of a plurality of preset start-off conditions is satisfied after the start of the agricultural machine is controlled to be on.

Various embodiments of the present disclosure provide a method and apparatus for controlling autonomous driving to be safely performed according to the type of land by adjusting the rotational angular speed of the agricultural machine based on the type of land on which the agricultural machine is located.

According to various embodiments of the present disclosure, in a method of operating a server in a communication system, the server includes a memory, a transceiver, and a processor, and transmits and receives state information of the agricultural machine from a control device electrically connected to the agricultural machine by the transceiver and, the state information is information related to the agricultural machine, including movement speed of the agricultural machine, the tilt of the agricultural machine, GPS location information of the agricultural machine, and information on whether or not parts of the agricultural machine are defective, and to the user terminal of the agricultural machine A process of transmitting the state information and the environmental information of the agricultural machine based on the state information by the transceiver, and the environment information is a location on the map data of the agricultural machine, whether an accident has occurred, and driving control for the agricultural machine is possible Whether or not, including the type of land on which the agricultural machinery is located, the type of land is at least one of a paved road, an unpaved road, a field, a paddy field, and a reclaimed land, and the type of the land is the GPS location information and map data stored in the memory is determined by the processor based on a process of receiving, by the transceiver, control information for the agricultural machine from the user terminal, and the control information is a work flow of the agricultural machine on the map data, and the operation of the agricultural machine on the map data. A process of transmitting, by the transceiver, a control command message based on the environmental information and the control information to the agricultural machine, including a movement path setting, remote starting control, and remote starting automatic off condition, and the control command message is sent to the agricultural machine For start-on, straight-line movement, straight-line speed, rotational movement, rotational angular velocity, start-off, path generation, movement of the agricultural machine on the generated route, detailed operation instructions of checking information of the work performed by the agricultural machine, the The process of receiving, by the transceiver, feedback information on the state after operation according to the control command message from the agricultural machine, and the feedback information includes information on the work performed by the agricultural machine, the work A method comprising the process of including the actual movement line by time of the agricultural machine in up, the time actually spent in the operation, and GPS location information of the agricultural machine after the operation, and transmitting the feedback information to the user terminal by the transceiver provided

According to various embodiments of the present invention, in a server in a communication system, a transceiver; Memory; and a processor, wherein the processor is configured to perform a method of operating a server according to various embodiments of the present disclosure.

According to various embodiments of the present disclosure, there is provided a computer program configured to perform the method of operating a server according to various embodiments of the present disclosure in a computer program and recorded in a computer-readable storage medium.

Various embodiments of the present disclosure may provide an apparatus and method for remotely controlling autonomous driving of an agricultural machine through an application of a user terminal in a communication system.

According to various embodiments of the present disclosure, in a communication system, a server receives from a control device electrically connected to the agricultural machine, the server provides the environment information of the agricultural machine based on the state information of the agricultural machine to the application-based user terminal, and the server controls from the user terminal Receive information, the server sends a detailed control command message to the control device of the agricultural machine, the server receives feedback information of the work actually performed from the control device of the agricultural machine, and the server delivers the feedback information of the job to the user terminal It is possible to provide an apparatus and method for

Various embodiments of the present invention provide an apparatus and method for determining whether an accident has occurred of an agricultural machine based on the type of land on which the agricultural machine is located, the moving speed of the agricultural machine and the inclination of the agricultural machine, and transmitting whether the control of the agricultural machine is possible to the user terminal. can provide

Various embodiments of the present invention may provide a method and apparatus for automatically controlling the start-off when at least one of a plurality of preset start-off conditions is satisfied after the start of the agricultural machine is controlled to be on.

Various embodiments of the present disclosure may provide a method and apparatus for controlling autonomous driving to be safely performed according to the type of land by adjusting the rotational angular speed of the agricultural machine based on the type of land on which the agricultural machine is located.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art to which the present disclosure belongs from the description below. will be.

1 illustrates a configuration of a communication system according to various embodiments of the present disclosure.
2 illustrates a configuration of a communication system according to various embodiments of the present disclosure.
Figure 3 shows the configuration of an agricultural machine control apparatus according to various embodiments of the present invention.
4 illustrates a configuration of a server according to various embodiments of the present disclosure.
5 illustrates a configuration of a user terminal according to various embodiments of the present disclosure.
6 illustrates an operation process of a server according to various embodiments of the present disclosure.
7 is a diagram illustrating a signal flow between an agricultural machine control device, a server, and a user terminal in a communication system according to various embodiments of the present disclosure.

Terms used in the present invention are only used to describe specific embodiments, and may not be intended to limit the scope of other embodiments. The singular expression may include the plural expression unless the context clearly dictates otherwise. Terms used herein, including technical or scientific terms, may have the same meanings as commonly understood by one of ordinary skill in the art described in the present invention. Among the terms used in the present invention, terms defined in a general dictionary may be interpreted with the same or similar meaning as the meaning in the context of the related art, and unless explicitly defined in the present invention, ideal or excessively formal meanings is not interpreted as In some cases, even terms defined in the present invention cannot be construed to exclude embodiments of the present invention.

1 illustrates a configuration of a communication system according to various embodiments of the present disclosure.

Referring to FIG. 1 , a communication system according to various embodiments of the present disclosure includes an agricultural machine 110 , an agricultural machine control device 120 , a server 130 , and a user terminal 140 .

The agricultural machine 110 is a riding work machine in which a worker rides on a driver's seat provided on the agricultural machine and operates the agricultural machine, and corresponds to a tractor, a rice transplanter and a combine. The agricultural machine 110 is typically operated in a state in which the user boards the agricultural machine. When the user remotely controls the start of the agricultural machine 110 by using the telematics device, the user can save time for directly controlling the agricultural machine 110, so that the user can use the time efficiently.

The agricultural machine control device 120 is a telematics device that can be physically and electrically coupled to the agricultural machine. A telematics device refers to a device that provides a variety of information necessary for driving to a driver in real time through a wireless network. The agricultural machine control device 120 according to various embodiments of the present invention is configured to be coupled with the agricultural machine, and the agricultural machine control device 120 monitors the state of each part in the agricultural machine 110 and for each part in the agricultural machine 110 configured to perform motion control. The agricultural machine control device 120 includes a transceiver 121 , a memory 122 , a processor 123 , a GPS sensor 124 configured to determine a global positioning system (GPS) position of the agricultural machine 110 , and movement of the agricultural machine 110 . and an inertial measurement unit (IMU) sensor 125 configured to determine velocity and inclination.

The server 130 is a server that provides information related to the operation of the agricultural machine 110 . According to various embodiments of the present disclosure, the server 130 may be operated by a manufacturer of the agricultural machine 110 , a manufacturer of the agricultural machine control device 120 , or an agricultural machine operation information service provider. The server 130 may transmit information to the agricultural machine control apparatus 120 through wireless communication, and may also receive information from the agricultural machine control apparatus 120 . In addition, the server 130 may transmit information to the user terminal 140 through wireless communication and may also receive information from the user terminal 140 . When receiving control information requesting to control the operation of the agricultural machine 110 from the user terminal 140 , the server 130 may transmit a control command message to the agricultural machine control device 120 . When the server 130 receives feedback information about the work performed in the agricultural machine 110 from the agricultural machine control device 120 , the feedback on the information of the work performed in the agricultural machine 110 to the user terminal 140 , etc. information can be transmitted.

The user terminal 140 is a terminal operated by a user of the agricultural machine 110 . The user terminal 140 is an electronic device capable of performing wired/wireless communication with the server 130 . The user terminal 140 includes a memory capable of storing information, a transceiver capable of transmitting and receiving information, and at least one processor capable of performing information calculation, such as a personal computer, a cellular phone, a smart phone, and a tablet computer. It may be an electronic device including The user terminal 140 may transmit control information requesting the server 130 to control the operation of the agricultural machine 110 . The user terminal 140 may receive feedback information about the information of the work performed in the agricultural machine 110 from the server 130 .

2 illustrates a configuration of a communication system according to various embodiments of the present disclosure.

Referring to FIG. 1 , a communication system according to various embodiments of the present disclosure includes an agricultural machine 110 , an agricultural machine control device 120 , a server 130 , a user terminal 140 , an auto steer 150 , and a switch box 160 . ), a battery 170 , and an interface box 180 .

The agricultural machine 110 is a riding work machine in which a worker rides on a driver's seat provided on the agricultural machine and operates the agricultural machine, and corresponds to a tractor, a rice transplanter and a combine. The agricultural machine 110 is typically operated in a state in which the user boards the agricultural machine. When the user remotely controls the start of the agricultural machine 110 by using the telematics device, the user can save time for directly controlling the agricultural machine 110, so that the user can use the time efficiently.

The agricultural machine control device 120 is a telematics device that can be physically and electrically coupled to the agricultural machine. A telematics device refers to a device that provides a variety of information necessary for driving to a driver in real time through a wireless network. The agricultural machine control device 120 may perform precise positioning of the GPS position of the agricultural machine 110 and perform autonomous driving control for the agricultural machine 110 . The agricultural machine control device 120 may correspond to the RTK-GPS & Controller. The agricultural machine control device 120 according to various embodiments of the present invention is configured to be coupled with the agricultural machine, and the agricultural machine control device 120 monitors the state of each part in the agricultural machine 110 and for each part in the agricultural machine 110 configured to perform motion control. The agricultural machine control device 120 includes a transceiver 121 , a memory 122 , a processor 123 , a GPS sensor 124 configured to determine a global positioning system (GPS) position of the agricultural machine 110 , and movement of the agricultural machine 110 . and an inertial measurement unit (IMU) sensor 125 configured to determine velocity and inclination.

The server 130 is a server that provides information related to the operation of the agricultural machine 110 . The server 130 may collect data on the agricultural machine 110 , such as vehicle operation, work, breakdown, etc., and perform two-way communication with the agricultural machine control device 120 and the user terminal 140 . The server 130 may correspond to a cloud server. According to various embodiments of the present disclosure, the server 130 may be operated by a manufacturer of the agricultural machine 110 , a manufacturer of the agricultural machine control device 120 , or an agricultural machine operation information service provider. The server 130 may transmit information to the agricultural machine control apparatus 120 through wireless communication, and may also receive information from the agricultural machine control apparatus 120 . In addition, the server 130 may transmit information to the user terminal 140 through wireless communication and may also receive information from the user terminal 140 . When receiving control information requesting to control the operation of the agricultural machine 110 from the user terminal 140 , the server 130 may transmit a control command message to the agricultural machine control device 120 . When the server 130 receives feedback information about the work performed in the agricultural machine 110 from the agricultural machine control device 120 , the feedback on the information of the work performed in the agricultural machine 110 to the user terminal 140 , etc. information can be transmitted.

The user terminal 140 is a terminal operated by a user of the agricultural machine 110 . The user terminal 140 is an electronic device capable of performing wired/wireless communication with the server 130 . The user terminal 140 includes a memory capable of storing information, a transceiver capable of transmitting and receiving information, and at least one processor capable of performing information calculation, such as a personal computer, a cellular phone, a smart phone, and a tablet computer. It may be an electronic device including The user terminal 140 may perform autonomous driving control of the agricultural machine 110 , status monitoring, inspection of each part of the agricultural machine 110 , registration of new agricultural machine equipment, and the like. The user terminal 140 may operate based on an application. The user terminal 140 may transmit control information requesting the server 130 to control the operation of the agricultural machine 110 . The user terminal 140 may receive feedback information about the information of the work performed in the agricultural machine 110 from the server 130 .

The auto steer 150 is mechanically coupled to the steering wheel of the agricultural machine 110 , and the auto steer 150 is electrically connected to the agricultural machine control device 120 and the interface box 180 . The auto steer 150 physically rotates the steering wheel of the agricultural machine 110 by controlling the auto steer 150 according to the control command of the agricultural machine control device 120 . Accordingly, the agricultural machine 110 may perform a left turn or a right turn during autonomous driving. The auto steer 150 may control a steering motor.

The switch box 160 is electrically connected to the agricultural machine control device 120 and the interface box 180 . The switch box 160 selects a driving mode for the agricultural machine 110 , controls on/off of autonomous driving, and monitors the system state.

The battery 170 is an autonomous driving system coupled to the agricultural machine 110 , that is, power to the agricultural machine control device 120 , the auto steer 150 , the switch box 160 , the battery 170 , and the interface box 180 . battery that supplies

The interface box 180 is electrically coupled to the agricultural machine control device 120 , the auto steer 150 , the switch box 160 , and the battery 170 . The interface box 180 includes a power supply box and a communication channel.

Figure 3 shows the configuration of an agricultural machine control apparatus according to various embodiments of the present invention.

Referring to FIG. 3 , the agricultural machine control device 120 according to various embodiments of the present disclosure includes a transceiver 121 , a memory 122 , a processor 123 , an inertial measurement unit (IMU) sensor 124 , and a global GPS (GPS). positioning system) and a sensor 125 .

The agricultural machine control device 120 obtains state information of the agricultural machine, receives an agricultural machine control command from the server, controls each part of the agricultural machine based on the received control command, and provides feedback information on the work performed of the agricultural machine. It is a terminal device that can obtain and transmit feedback information to the server. The agricultural machine control device 120 is a personal computer, a cellular phone, a smart phone, a tablet computer, or a telematics device, such as a memory capable of storing information, a transceiver capable of transmitting and receiving information, and an operation of information It may be an electronic device including at least one processor.

The transceiver 121 is connected to the processor 123 and transmits and/or receives signals. All or part of the transceiver 121 may be referred to as a transmitter or a receiver, or a transceiver. Transceiver 121 is a radio access system IEEE (institute of electrical and electronics engineers) 802.xx system, IEEE Wi-Fi system, 3GPP (3rd generation partnership project) system, 3GPP long term evolution (LTE) system, 3GPP 5G NR At least one of various wireless communication standards such as a (new radio) system, a 3GPP2 system, and Bluetooth may be supported.

The memory 122 is connected to the transceiver 121 and may store information received through communication and the like. In addition, the memory 122 is connected to the processor 123 and may store data such as a basic program for the operation of the processor 123 , an application program, setting information, and information generated by the operation of the processor 123 . . The memory 122 may be configured as a volatile memory, a non-volatile memory, or a combination of a volatile memory and a non-volatile memory. In addition, the memory 122 may provide stored data according to the request of the processor 123 .

The processor 123 may be configured to implement the procedures and/or methods proposed in the present invention. The processor 123 controls overall operations of the agricultural machine control device 120 for determining whether an accident has occurred with respect to the agricultural machine and the severity of the accident. For example, the processor 123 transmits or receives information and the like through the transceiver 121 . In addition, the processor 123 writes data to and reads data from the memory 122 . The processor 123 may include at least one processor.

The IMU sensor 124 is configured to determine the moving speed and the inclination of the agricultural machine control device 120 . The IMU sensor 124 refers to an inertial measurement device, and is a sensor that measures acceleration, rotational speed, angular ratio, and, in some cases, a magnetic field using a combination of an accelerometer, a tachometer, and, in some cases, a magnetometer. By using the IMU sensor 124, the agricultural machine control device 120 may determine the moving speed and the inclination of the physically coupled agricultural machine.

The GPS sensor 125 is configured to determine a global positioning system (GPS) position of the agricultural machine control device 120 . The GPS sensor 125 receives signals transmitted from three or more GPS satellites and determines the positions of the satellites and the GPS sensor 125 . By measuring the time difference between the signal transmitted from the GPS satellite and the signal received from the GPS sensor 125, the distance between the GPS satellite and the GPS sensor 125 can be obtained. At this time, the signal transmitted from the GPS satellite includes the Contains information about the location. Once you know the distance to at least three GPS satellites and the location of each GPS satellite, you can calculate the position of the GPS sensor using methods such as trilateration. Using the GPS sensor 125, the agricultural machine control device 120 may determine the GPS location of the physically coupled agricultural machine.

4 illustrates a configuration of a server according to various embodiments of the present disclosure.

Referring to FIG. 4 , the server 130 according to various embodiments of the present disclosure includes a transceiver 131 , a memory 132 , and a processor 133 .

The transceiver 131 is connected to the processor 133 and transmits and/or receives signals. All or part of the transceiver 131 may be referred to as a transmitter, a receiver, or a transceiver. The transceiver 131 is a wired access system and wireless access systems, such as an Institute of Electrical and Electronics Engineers (IEEE) 802.xx system, an IEEE Wi-Fi system, a 3rd generation partnership project (3GPP) system, and a 3GPP long term evolution (LTE) system. , 3GPP 5G NR (new radio) system, 3GPP2 system, may support at least one of various wireless communication standards such as Bluetooth (bluetooth).

The memory 132 may be connected to the transceiver 131 and store information received through communication of the transceiver 131 . In addition, the memory 132 may be connected to the processor 133 and store data such as a basic program for the operation of the processor 133 , an application program, setting information, and information generated by the operation of the processor 133 . . The memory 132 may be configured as a volatile memory, a non-volatile memory, or a combination of a volatile memory and a non-volatile memory. In addition, the memory 132 may provide stored data according to the request of the processor 133 .

The processor 133 may be configured to implement the procedures and/or methods proposed in the present invention. The processor 133 controls overall operations of the server 130 . For example, the processor 133 transmits or receives information and the like through the transceiver 131 . In addition, the processor 133 writes data to and reads data from the memory 132 . The processor 133 may include at least one processor.

5 illustrates a configuration of a user terminal according to various embodiments of the present disclosure.

Referring to FIG. 5 , the user terminal 140 according to various embodiments of the present disclosure includes a transceiver 141 , a memory 142 , a processor 143 , an input device 144 , and an output device 145 . .

The transceiver 141 is connected to the processor 143 and transmits and/or receives signals. All or part of the transceiver 141 may be referred to as a transmitter, a receiver, or a transceiver. The transceiver 141 is a wired access system and wireless access systems, such as an Institute of Electrical and Electronics Engineers (IEEE) 802.xx system, an IEEE Wi-Fi system, a 3rd generation partnership project (3GPP) system, and a 3GPP long term evolution (LTE) system. , 3GPP 5G NR (new radio) system, 3GPP2 system, may support at least one of various wireless communication standards such as Bluetooth (bluetooth).

The memory 142 is connected to the transceiver 141 , the memory 142 , the processor 143 , the input device 144 , and the output device 145 , and information input through the input device 144 , the transceiver 141 . ) can store information received through communication. Also, the memory 142 may store information of an image captured by the camera 406 . In addition, the memory 142 may be connected to the processor 143 and store data such as a basic program for the operation of the processor 143 , an application program, setting information, and information generated by the operation of the processor 143 . . The memory 142 may be configured as a volatile memory, a non-volatile memory, or a combination of a volatile memory and a non-volatile memory. In addition, the memory 142 may provide stored data according to the request of the processor 143 .

The processor 143 may be configured to implement the procedures and/or methods proposed in the present invention. The processor 143 controls overall operations of the user terminal 100 . For example, the processor 143 transmits or receives information and the like through the transceiver 141 . In addition, the processor 143 writes data to and reads data from the memory 142 . In addition, the processor 143 receives information through the input device 144 . In addition, the processor 143 outputs information through the output device 140 . In addition, the processor 143 captures an image through the camera 406 . The processor 143 may include at least one processor.

The input device 144 may be connected to the processor 143 and input information or the like. According to an embodiment, the input device 144 may input information received from another device connected to a wired/wireless communication network through the transceiver 130 . The input device 144 may include a touch display, a keypad, a keyboard, and the like.

The output device 145 may be connected to the processor 143 and output information in the form of an image/audio or the like. According to an embodiment, the output device 145 may output information received from another device connected to a wired/wireless communication network through the transceiver 141 . The output device 145 may include a display, a speaker, and the like.

6 illustrates an operation process of a server according to various embodiments of the present disclosure.

In the embodiment of FIG. 6 , the server includes a memory, a transceiver, and a processor.

In step S601, the server transmits and receives state information of the agricultural machine from the control device electrically connected to the agricultural machine by the transceiver. The state information is information related to the agricultural machine, and may include a moving speed of the agricultural machine, a tilt of the agricultural machine, GPS location information of the agricultural machine, and information on whether or not parts of the agricultural machine are defective.

In step S602, the server transmits the state information of the agricultural machine to the user terminal and the environment information of the agricultural machine based on the status information by the transceiver. The environmental information includes a location on the map data of the agricultural machine, whether an accident of the agricultural machine has occurred, whether driving control is possible for the agricultural machine, and a type of land on which the agricultural machine is located, and the type of land is a paved road, an unpaved road, and a field , paddy field, and at least one of reclaimed land, and the type of land may be determined by the processor based on the GPS location information and map data stored in the memory.

According to various embodiments of the present disclosure, whether or not an accident of the agricultural machinery occurs among the environmental information includes a process of determining a critical slope, a critical speed, and a critical time by the processor based on the type of land, and the critical speed is a pavement Road, unpaved road, field, paddy field, reclaimed land is high in order, the critical slope is low in the order of paved road, unpaved road, field, paddy field, reclaimed land, the critical time is paved road, unpaved road, field, paddy field, reclaimed land is short in the order of, when the moving speed of the agricultural machine is less than or equal to the threshold speed speed and the state in which the slope exceeds the threshold slope continues for more than the threshold time, the occurrence of an accident on the agricultural machine is determined by the processor It is determined based on the process, and when the occurrence of an accident with respect to the agricultural machine is determined, whether the driving control for the agricultural machine is possible may indicate the inability to control the driving.

According to various embodiments of the present disclosure, the environmental information further includes weather information of an area in which the agricultural machinery is located, the weather information includes at least one of normal and bad weather, and the bad weather is at least one of rain, fog, and snow Including, wherein the threshold speed is high in the order of normal and bad weather, the threshold slope is low in the order of normal and bad weather, and the threshold time may be short in the order of normal and bad weather.

In step S603, the server receives the control information for the agricultural machine from the user terminal by the transceiver. The control information may include a working line of the agricultural machine on the map data, a movement path setting of the agricultural machine on the map data, a remote start control, and a remote start auto-off condition.

According to various embodiments of the present invention, the remote start auto-off condition is that the RPM (revolution per minute) of the engine of the agricultural machine does not exceed a predetermined RPM within a predetermined time after starting is controlled to be on, It may include at least one of the temperature of the engine does not exceed the predetermined temperature within a predetermined time after starting is controlled to be on.

According to various embodiments of the present disclosure, the process of receiving the control information from the user terminal by the transceiver in step S603 includes a geo-fence indicating a boundary on the map data for the working area of the agricultural machine from the user terminal. -fence) is received by the transceiver, and a plurality of suggested working paths are generated by the processor according to the type of land for the area corresponding to the geo-fence, and the plurality of suggested working paths are provided to the user terminal. a process of transmitting the data by the transceiver, and the plurality of suggested work flow lines are arranged in order based on at least one of an expected work required time, a shortest work movement line, and an expected fuel consumption, and the plurality of suggested work lines from the user terminal The method may include receiving, by the transceiver, the control information further including a selected one selected working movement line among the movement lines.

According to various embodiments of the present disclosure, a plurality of suggested work flow lines are generated for a plurality of zones classified according to the type of land in the area corresponding to the geo-fence, and a work flow line is generated for each same area in the order of the zones. It is configured to complete the work, and the plurality of suggested work lines may be configured differently in the work order of the plurality of zones.

According to various embodiments of the present disclosure, in the control command message, whether or not the rotational movement of the agricultural machine and the rotational angular velocity of the agricultural machine are determined, the GPS location before the unit distance of the agricultural machine on the movement path and the current GPS location of the agricultural machine It may be determined by the processor based on the angle of the connected first line and the second line connecting the current GPS position of the agricultural machine and the GPS location after a unit distance of the agricultural machine on the moving path.

According to various embodiments of the present disclosure, the rotational angular speed is determined by the processor by multiplying a weight based on the type of land, and the weight is higher in the order of paved road, unpaved road, field, paddy field, reclaimed land. .

In step S604, the server transmits a control command message based on the environmental information and the control information to the agricultural machine by the transceiver. The control command message is the starting on, straight movement, straight speed, rotational movement, rotational angular velocity, starting off, route generation, movement of the agricultural machine on the generated route, information confirmation of the work performed by the agricultural machine with respect to the agricultural machine. Details of It may contain an action command.

In step S605, the server receives the feedback information about the state after the operation according to the control command message from the agricultural machine by the transceiver. The feedback information may include information on the work performed by the agricultural machine, the actual movement line by time of the agricultural machine in the work, the time actually spent in the work, and GPS location information of the agricultural machine after the work.

In step S606, the server transmits the feedback information to the user terminal by the transceiver.

7 is a diagram illustrating a signal flow between an agricultural machine control device, a server, and a user terminal in a communication system according to various embodiments of the present disclosure.

In step S701, the agricultural machine control device 120 acquires agricultural machine state information. The agricultural machine state information is information related to the agricultural machine, and may include a moving speed of the agricultural machine, a tilt of the agricultural machine, GPS location information of the agricultural machine, and information on whether or not parts of the agricultural machine are defective. The agricultural machine control apparatus 120 may acquire state information related to the agricultural machine 110 by a sensor electrically connected to the agricultural machine control apparatus 120 .

In step S702 , the agricultural machine control device 120 transmits the agricultural machine status information to the server 130 . The agricultural machine control device 120 may transmit agricultural machine status information to the server 130 using a wireless communication system.

In step S703, the server 130 generates agricultural machine environment information based on the agricultural machine state information. The agricultural machine environment information may include a location on the map data of the agricultural machine, whether an accident has occurred of the agricultural machine, whether driving control of the agricultural machine is possible, and the type of land on which the agricultural machine is located. The type of land may be at least one of a paved road, an unpaved road, a field, a paddy field, and a reclaimed land, and the type of land may be determined based on the GPS location information and map data stored in the memory.

In step S704 , the server 130 transmits the agricultural machine status information and the agricultural machine environment information to the user terminal 140 .

In step S705 , the user terminal 140 outputs the agricultural machine state information and the agricultural machine environment information through the interface of the output device in the user terminal 140 .

In step S706 , the user terminal 140 receives agricultural machine control information through the interface of the input device in the user terminal 140 . The agricultural machine control information may include a work movement line of the agricultural machine on the map data, a movement path setting of the agricultural machine on the map data, a remote start control, and an automatic remote start off condition.

In step S707 , the user terminal 140 transmits agricultural machine control information to the server 130 .

In step S708 , the server 130 generates an agricultural machine control command based on the agricultural machine control information. The agricultural machine control command is a detailed operation of starting on, moving forward, straight speed, rotational movement, rotational angular speed, starting off, path generation, movement of the agricultural machine on the generated path, and information confirmation of the work performed by the agricultural machine with respect to the agricultural machine It can contain commands.

In step S709 , the server 130 transmits an agricultural machine control command to the agricultural machine control device 120 .

In step S710 , the agricultural machine control device 120 controls the agricultural machine based on the agricultural machine control command, and then obtains agricultural machine feedback information on the performed operation of the agricultural machine. The agricultural machine feedback information may include information on the work performed by the agricultural machine, the actual movement line by time of the agricultural machine in the work, the time actually spent in the work, and GPS location information of the agricultural machine after the work.

In step S711 , the agricultural machine control device 120 transmits agricultural machine feedback information to the server 130 .

In step S712 , the server 130 transmits agricultural machine feedback information to the user terminal 140 .

When implementing the embodiment of the present invention using hardware, ASICs (application specific integrated circuits) or DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices) configured to perform the present invention , FPGAs (field programmable gate arrays), etc. may be provided in the processor of the present invention.

Meanwhile, the above-described method can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that operates the program using a computer-readable medium. In addition, the structure of data used in the above-described method may be recorded in a computer-readable storage medium through various means. Program storage devices that may be used to describe a storage device comprising executable computer code for performing the various methods of the present invention should not be construed as including transitory objects such as carrier waves or signals. do. The computer-readable storage medium includes a storage medium such as a magnetic storage medium (eg, a ROM, a floppy disk, a hard disk, etc.) and an optically readable medium (eg, a CD-ROM, a DVD, etc.).

The embodiments described above are those in which elements and features of the present invention are combined in a predetermined form. Each component or feature should be considered optional unless explicitly stated otherwise. Each component or feature may be implemented in a form that is not combined with other components or features. In addition, it is also possible to configure an embodiment of the present invention by combining some elements and/or features. The order of operations described in embodiments of the present invention may be changed. Some configurations or features of one embodiment may be included in other embodiments, or may be replaced with corresponding configurations or features of other embodiments. It is obvious that claims that are not explicitly cited in the claims can be combined to form an embodiment or included as a new claim by amendment after filing.

It will be apparent to those skilled in the art that the present invention can be embodied in other forms without departing from the spirit and essential characteristics of the present invention. Accordingly, the above embodiments should be considered in all respects as illustrative and not restrictive. The scope of the present invention should be determined by a reasonable interpretation of the appended claims and all possible changes within the equivalent scope of the present invention.

110: agricultural machinery 120: agricultural machinery control device
121: transceiver 122: memory
123: processor 124: GPS sensor
125: IMU sensor 130: server
131: transceiver 132: memory
133: processor 140: user terminal
141: transceiver 142: memory
143: processor 144: input device
145: output device 150: auto steer
160: switch box 170: battery
180: interface box

Claims (10)

A method of operating a server in a communication system, wherein the server includes a memory, a transceiver, and a processor,
A process of transmitting and receiving state information of the agricultural machine by the transceiver from a control device electrically connected to the agricultural machine, wherein the state information is information related to the agricultural machine, such as a movement speed of the agricultural machine, a tilt of the agricultural machine, GPS location information of the agricultural machine , including information on whether or not the parts of the agricultural machine are faulty,
The process of transmitting the state information of the agricultural machine to a user terminal and the environmental information of the agricultural machine based on the status information by the transceiver, and the environment information is a location on the map data stored in the memory of the agricultural machine, the accident of the agricultural machine Whether or not it is generated, whether driving control for the agricultural machine is possible, includes a type of land on which the agricultural machine is located, the type of land is at least one of a paved road, an unpaved road, a field, a paddy field, and a reclaimed land, and the type of the land is the is determined by the processor based on GPS location information and map data stored in the memory;
The process of receiving the control information for the agricultural machine from the user terminal by the transceiver, and the control information is a working movement of the agricultural machine on map data, setting a movement path of the agricultural machine on the map data, remote start control, remote start including an auto-off condition;
The process of transmitting, by the transceiver, a control command message based on the environmental information and the control information to the agricultural machine, and the control command message for the agricultural machine, starting on, straight movement, straight speed, rotation movement, rotation angular speed, start Off, path generation, movement of the agricultural machine on the generated route, including detailed operation instructions of information confirmation of the work performed by the agricultural machine,
A process of receiving, by the transceiver, feedback information on a state after operation according to the control command message from the agricultural machine, and the feedback information includes information on the work performed by the agricultural machine, and the actual movement line of the agricultural machine by time in the work , the time actually spent in the operation, including GPS location information of the agricultural machine after the operation,
Transmitting the feedback information to the user terminal by the transceiver,
The remote start auto-off condition is that the RPM (revolution per minute) of the engine of the agricultural machine does not exceed a predetermined RPM within a predetermined time after starting is controlled to be on, and starting is controlled to be on Including at least one of the temperature of the engine does not exceed the predetermined temperature within a predetermined time after being
Way.
According to claim 1,
Whether an accident occurred in the agricultural machinery among the environmental information is,
The process of determining, by the processor, a threshold slope, a threshold speed, and a threshold time based on the type of land;
The critical speed is high in the order of paved road, unpaved road, field, paddy field, reclaimed land,
The critical slope is lower in the order of paved road, unpaved road, field, paddy field, reclaimed land,
The critical time is short in the order of paved road, unpaved road, field, paddy field, reclaimed land,
When the moving speed of the agricultural machine is less than or equal to the threshold speed speed and the state in which the slope exceeds the threshold slope continues for more than the threshold time, determination is made based on the process of determining the occurrence of an accident with the agricultural machine by the processor become,
When the occurrence of an accident with respect to the agricultural machine is determined, whether the driving control of the agricultural machine is possible indicates the inability to control the driving,
Way.
3. The method of claim 2,
The environmental information further includes weather information of a region where the agricultural machinery is located,
The weather information includes at least one of normal and bad weather, and the bad weather includes at least one of rain, fog, and snow,
the threshold speed is higher in the order of normal, bad weather,
The critical slope is lower in the order of normal, bad weather,
The threshold time is short in the order of normal, bad weather,
Way.
delete According to claim 1,
The process of receiving the control information from the user terminal by the transceiver,
The process of receiving, by the transceiver, a geo-fence indicating a boundary line on the map data for the working area of the agricultural machine from the user terminal;
The process of generating a plurality of suggested work flow lines by the processor according to the type of land for the area corresponding to the geo-fence, and transmitting the plurality of suggested work lines to the user terminal by the transceiver;
The plurality of suggested work flow lines are arranged in order based on at least one of an expected work required time, a shortest work movement line, and an estimated fuel consumption,
Receiving, by the transceiver, the control information further comprising a selected one of the plurality of suggested working paths from the user terminal,
Way.
6. The method of claim 5,
The plurality of suggested work flows are,
For a plurality of zones classified according to the type of land with respect to the area corresponding to the geo-fence, a work flow is created for each same zone and configured to complete the work in the order of the zones,
The plurality of suggested work flow is configured to have a different work order of the plurality of zones,
Way.
6. The method of claim 5,
In the control command message,
Whether the rotational movement of the agricultural machine and the rotational angular speed of the agricultural machine are,
A first line connecting the GPS position before a unit distance of the agricultural machine on the moving path and the current GPS position of the agricultural machine, and a second connecting the GPS position of the agricultural machine after a unit distance on the moving path and the current GPS position of the agricultural machine determined by the processor based on the angle of the line,
Way.
8. The method of claim 7,
The rotation angular velocity is determined by the processor by multiplying the weight based on the type of land,
The weight is higher in the order of paved road, unpaved road, field, paddy field, reclaimed land,
Way.
A server in a communication system, comprising:
transceiver;
Memory; and
including a processor;
The processor is configured to perform the method according to any one of claims 1 to 3, 5 to 8,
server.
A computer program configured to perform the method according to any one of claims 1 to 3, 5 to 8, and recorded on a computer-readable storage medium.

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