KR102476231B1 - Electric agricultural transport vehicle with remote control - Google Patents

Abstract

The present invention relates to an electric agricultural transport vehicle that can be remotely operated. According to one aspect of the present invention, an electric agricultural transport vehicle that can be remotely operated through a remote controller is provided, and the electric agricultural transport vehicle includes a camera installed on a body of the vehicle; a communication unit for transmitting the image from the camera to the remote controller; and a processor for controlling movement of the vehicle based on an operation signal transmitted from the remote controller, wherein the remote controller includes: a display unit for displaying an image transmitted from a camera of the electric agricultural transport vehicle; and a control panel provided with a plurality of control buttons for controlling movement of the electric agricultural transport vehicle.

Description

Remotely operated electric agricultural transport vehicle {ELECTRIC AGRICULTURAL TRANSPORT VEHICLE WITH REMOTE CONTROL}

The present invention relates to a remotely operated electric agricultural transport vehicle, and more particularly, to a remotely operated electric agricultural transport vehicle capable of controlling the electric agricultural transport vehicle using a wireless communication technology.

Currently, agriculture is in urgent need of improving agricultural conditions due to the decrease and aging of the agricultural population and the increase in agricultural management costs. Agricultural work such as fruit trees and facility horticulture is labor-intensive and involves many tasks such as pruning, composting, weeding, fertilization, attracting, and harvesting, and most of them are difficult to mechanize.

In addition, it is true that transportation work is always performed in most work systems, and the ratio of labor power consumed in transportation work among various work steps is very high. Accordingly, many types of carriers have been developed and marketed, and many other work machines that are used as carriers have also been developed, but in the early days, most of them were power carriers using fossil fuel.

However, due to the strengthening of international environmental regulations such as the Convention on Climate Change following the acceleration of global warming, the pressure for the use of eco-friendly energy and the enhancement of the utilization of renewable energy is increasing day by day, and the depletion of fossil fuels is expected to become a reality soon. Accordingly, it is paying attention to the marketization of next-generation energy such as hydrogen and fuel cells.

These electric vehicles have high energy efficiency and are superior to power carriers using fossil fuels, etc., and have emerged as a concept to prevent air pollution in confined spaces or urban areas. expected to play a major role in

Korean Patent Publication No. 2019-0092654 (published on August 8, 2019) describes an integrated control device for an electric transport vehicle for agriculture. The integrated control device of the agricultural electric transport vehicle described in this patent document controls the power supply of the motor drive and hydraulic system by receiving signals from the steering and rotation control levers of the operation switch, and operates the motor drive when there is no input from the operation switch for a certain period of time. It is configured to minimize power consumption by cutting off the power of the hydraulic system and switching to power standby mode.

However, in the case of such an electric agricultural transport vehicle, there is a shortage of people who can directly drive the agricultural transport vehicle due to the recent aging problem, and there is also a problem that leads to an accident in the case of a driver who is not familiar with the agricultural transport vehicle.

An object of the present invention is to provide an electric agricultural transport vehicle capable of autonomous driving as well as being remotely operated using a remote controller.

According to one aspect of the present invention in order to solve the above problems, there is provided an electric agricultural transport vehicle that can be remotely operated through a remote controller, and the electric agricultural transport vehicle includes a camera installed on a body of the vehicle; a communication unit for transmitting the image from the camera to the remote controller; And a processor for controlling the movement of the vehicle based on the manipulation signal transmitted from the remote controller,

The remote controller includes a display unit for displaying an image transmitted from a camera of an electric agricultural transport vehicle; and a control panel provided with a plurality of control buttons for controlling movement of the electric agricultural transport vehicle.

In the above aspect, the electric agricultural transport vehicle includes a manual driving mode in which the electric agricultural transport vehicle is driven by a driver's operation; an autonomous driving mode in which the agricultural transport vehicle drives along a pre-stored autonomous driving route; and a remote control mode in which the electric agricultural transport vehicle is driven under the control of the remote controller.

In addition, in the above aspect, the remote control of the electric agricultural transport vehicle by the remote controller is configured to be performed only when the electric agricultural transport vehicle is set to either a remote control mode or an autonomous driving mode.

In addition, the electric agricultural transport vehicle includes a GNSS sensor for measuring the position of the electric agricultural transport vehicle; a traveling sensor for measuring the speed and direction angle of the motorized agricultural transport vehicle; and a memory in which an autonomous path of the motorized agricultural transport vehicle is stored;

The processor may include: receiving positioning data from the GNSS positioning sensor while driving an agricultural work route of an autonomously driven target using an electric agricultural transport vehicle; checking and storing the quality of the positioning measure data; generating a waypoint using the positioning position data when the driving of the electric agricultural transport vehicle is finished; and storing the created waypoint;

The operation of inspecting and storing the quality of the positioning measure data may include storing positioning measure data calculated by a positioning sensor at regular time intervals; And among the quality information of the positioning measurement data, if the number of ambiguities of the GNSS-RTK is not fixed or the GNSS update elapsed time exceeds 1 second, determining that the quality is poor, stopping the manual operation of the agricultural machine and receiving the positioning data again; It is configured to include.

In addition, in the above-described aspect, when the electric agricultural transport vehicle is operating in the remote control mode and an autonomous driving input is received from the remote controller, the electric agricultural transport vehicle searches for a nearby waypoint in a pre-stored autonomous driving route and returns the searched waypoint Based on this, it is configured to perform autonomous driving.

According to the present invention, by installing a wireless communication means on the electric agricultural transportation vehicle and operating the electric agricultural transportation vehicle through a remote control device capable of communicating with the wireless communication means installed in the electric agricultural transportation vehicle, even if the driver is not familiar with the agricultural transportation vehicle. It is possible to operate agricultural transport vehicles easily and safely.

1 is a view showing a remotely operated electric agricultural transport vehicle and a remote controller according to the present invention;
2 is a view showing the internal configuration of an electric agricultural transport vehicle according to the present invention by way of example;
3 is a flowchart illustrating a process of creating an autonomous driving path in an electric agricultural transport vehicle according to the present invention;
4 is a diagram showing the flow of waypoint generation in the process of creating an autonomous driving path of an electric agricultural transport vehicle according to the present invention;
5 is a flowchart showing the flow of a process of merging autonomous driving paths of an electric agricultural transport vehicle according to the present invention;
6 is a flowchart illustrating an autonomous driving method for executing autonomous driving using an autonomous driving path generated according to the present invention;
7 is a diagram showing the principle of an enclosed based line of sight guidance.
8 is a diagram schematically showing the configuration of a remote controller for remotely operating an electric agricultural transport vehicle according to the present invention.

Advantages and features of the present invention, and methods for achieving them, will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and will be implemented in various different forms.

In this specification, this embodiment is provided to complete the disclosure of the present invention, and to completely inform those skilled in the art of the scope of the invention to which the present invention belongs. And the invention is only defined by the scope of the claims. Thus, in some embodiments, well-known components, well-known operations and well-known techniques have not been described in detail in order to avoid obscuring the interpretation of the present invention.

Like reference numbers designate like elements throughout the specification. And, the terms used (mentioned) in this specification are for describing the embodiments and are not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. Also, elements and operations referred to as 'include (or include)' do not exclude the presence or addition of one or more other elements and operations.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless they are defined.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. 1 shows an electric agricultural transport vehicle 10 according to the present invention and a remote controller 20 connected thereto to operate the electric agricultural transport vehicle 10. The electric agricultural transport vehicle 10 is provided with a communication unit 150 for performing wireless communication with the remote controller 20, and the user can operate the electric agricultural transport vehicle 10 through the remote controller 20.

An electric agricultural transport vehicle (10) has front wheels (101) and rear wheels (102) disposed as a pair of front, rear, left, and right sides, and a driver and a passenger are seated on a body frame between the front wheels (101) and the rear wheels (102). A driver's seat space 103 for boarding is provided. A seat portion for seating is provided in the driver's seat space 103, and various operating devices including a steering for steering are disposed on the side of the front dashboard panel.

A battery mounting space (not shown) is formed in the body frame located below the seat portion 104, and a battery pack charged with electric energy as a power source is mounted in the battery mounting space. In addition, a deck 105 for loading parcels or crops is installed on the exposed side of the vehicle at the rear of the seat, and a rear wheel differential shaft for power transmission to the rear wheels 102 is disposed below the deck 105. A rear wheel-side electric drive motor is disposed between the coaxial and the battery pack.

In addition, a hood part 106 is disposed in the front side of the seat part 104, and a front wheel differential shaft for power transmission to the front wheels 101 is disposed below the hood part 106, and the front wheel 101 is disposed near the current differential shaft. A front wheel-side electric drive motor for driving is disposed.

As shown in FIG. 1, the remote controller 20 includes a display unit 210 for displaying an image from a camera 160 provided to the motorized agricultural transport vehicle 10 and a user driving the motorized agricultural transport vehicle 10. and an operation panel unit 220 provided with operation buttons necessary for operation.

The user can drive the vehicle through the operation panel unit 220 while viewing the screen image transmitted from the agricultural transport vehicle 10 through the display unit 210 .

2 is a diagram showing a schematic configuration of the electric agricultural transport vehicle 10. As shown in FIG. On the other hand, as shown in FIG. 2, the electric agricultural transport vehicle 10 may be implemented as an electric agricultural transport vehicle capable of autonomously moving along a preset path even without a user riding on it. To this end, the electric agricultural transport vehicle Reference numeral 10 may include an actuator unit 110, an autonomous driving related sensor unit 120, an internal memory 130, a processor 140, a communication unit 150, and a camera 160.

The actuator unit 110 is a component for driving the electric agricultural transport vehicle 10 . For example, the actuator unit 110 includes an accelerator actuator, a brake actuator, and a steering angle control actuator, and increases the rotational speed of a wheel provided in the electric agricultural transport vehicle 10 through the accelerator actuator, or the brake actuator By reducing the rotational speed of the wheels provided in the electric agricultural transport vehicle 10, stopping the wheels, or rotating the rotation shaft of the wheels provided in the electric agricultural transport vehicle 10 through the steering angle control actuator, the electric agricultural transport vehicle (10) is made to rotate in the left or right direction.

The driving related sensor group 120 detects the position and movement of the electric agricultural transport vehicle 10 . To this end, the driving related sensor 120 may include a positioning sensor 121 and a driving sensor 122 such as a global navigation satellite system (GNSS) as shown in FIG. 2 .

The GNSS sensor 121, which is a positioning sensor, may measure the position, speed, direction angle, etc. of the electric agricultural transport vehicle 10 using satellites. Here, the position, speed, direction angle, etc. of the motorized agricultural transport vehicle 10 obtained through the positioning sensor 121 may be referred to as positioning of the GNSS sensor.

Among positioning sensors, a GNSS sensor refers to a system that calculates the coordinates of a specific location using radio waves transmitted from satellites in space. In this way, since GNSS uses satellites, it is not limited by time and space and can relatively stably obtain location, speed, and time information compared to other systems.

The GNSS sensor 121 determines its position using the GNSS signal received from the satellite, receives positioning correction information from the RTK (Real TimeKinematic) reference station 300, and uses the positioning correction information to generate the GNSS signal. You can calibrate your own position determined through this.

Meanwhile, according to an embodiment of the present invention, the GNSS sensor 121 may be implemented as a low-cost GNSS sensor based on a single frequency. That is, in the case of an agricultural machine, since it moves at a relatively low speed compared to a drone, an air vehicle, a ship, etc., a sufficiently accurate position can be measured even with a single frequency. As described above, according to an embodiment of the present invention, in that a single frequency-based GNSS sensor is used, it is possible to measure the position of the electric agricultural transport vehicle 10 at a lower cost than a sensor using two or more frequencies. In this case, the RTK reference station 300 may generate positioning correction information and provide it to the low-cost GNSS sensor 121 so as to calculate a position with cm-level accuracy.

The running sensor 122 may measure the speed, direction angle, etc. of the electric agricultural transport vehicle 10 . To this end, the driving sensor 122 may include a steering angle sensor for measuring the direction angle of the electric agricultural transport vehicle 10 and a speed sensor for measuring the speed of the electric agricultural transport vehicle 10 .

The memory 130 stores autonomous driving routes. In this case, the electric agricultural transport vehicle 10 can autonomously travel unmanned along an autonomous route without relying on a human. On the other hand, although not shown in FIG. 2, the electric agricultural transport vehicle 10 selects whether to operate the transport vehicle by unmanned driving, whether the driver directly drives the transport vehicle, or whether to drive by remote control by the remote controller 20. A mode selection unit may be further provided.

When the user selects manual driving through the mode selector, the processor 140 operates the vehicle according to the first manipulation signal generated based on the user's manipulation, whereas when the user selects unmanned driving through the mode selector, the processor 140 operates the vehicle in advance. The vehicle is operated in a predetermined autonomous driving mode, and when the user selects the remote control mode, the processor operates the vehicle according to the second manipulation signal generated from the remote controller 20 .

The autonomous driving route may be generated based on data obtained from the GNSS sensor 120 while the electric agricultural transport vehicle 10 manually drives the autonomous driving route to be created. For example, in the autonomous driving route, the electric agricultural transport vehicle 10 first manually drives an autonomous driving target route (eg, a path such as a farmland, a rough road, a road, etc.), It may be generated by the position, speed, direction angle, etc. of the electric agricultural transport vehicle 10 . A specific method of generating such an autonomous driving path will be described later.

Also, as shown in FIG. 2 , the processor 140 includes a route creation module 141 , a motor drive control module 142 and a vehicle information processing module 145 . Although the modules are shown individually in FIG. 2 , it is obvious that these modules may be combined and implemented as a single unit.

The processor 140 controls overall operations of the electric agricultural transport vehicle 10 . To this end, the processor 140 may perform corresponding operations by executing one or more software programs stored in a dedicated processor (eg, an embedded processor) or a memory device for controlling the operation of the electric agricultural transport vehicle 10. It may be implemented as a general-purpose processor (eg, CPU or application processor).

The communication unit 150 may exchange data wirelessly with a peripheral device, for example, the remote controller 20 . For example, the communication unit 150 communicates with the remote controller 20 through mobile communication such as 4G or 5G, infrared (IR) communication, RF communication, Bluetooth communication, ZigBee communication, WiFi communication, and the like.

The communication unit 150 transmits image data photographed in real time from the camera 160 to the remote controller 20 while the agricultural transport vehicle 10 is operating in the remote control mode, and transmits a second manipulation signal from the remote controller 20. is received and transmitted to the processor 140, and the processor 140 controls the vehicle based on the second manipulation signal.

In the present invention, "route generation technology for autonomous driving" is a technology for generating a route for autonomous driving operation, and a waypoint, which is an autonomous driving route, is generated based on a positioning demarcation obtained by manually operating an agricultural machine by a user. It is a technique to The autonomous driving route generation technology developed in the present invention is composed of an autonomous driving route generation algorithm and an autonomous driving route merging algorithm for a moving route and is described below.

go. Autonomous driving route generation algorithm

In the present invention, a location-information-based autonomous driving route generation algorithm was developed to generate a route using location information obtained by manually driving an agricultural machine for a route to be autonomously driven by a user. The processing process of the autonomous driving route generation algorithm based on location information is summarized as follows.

The location information-based self-driving path creation algorithm performs a function of generating a waypoint-based self-driving path by acquiring a positional harm for a path along which a vehicle can move.

3 is a flowchart illustrating a processing process of an autonomous driving path generation algorithm based on location information according to the present invention. As shown in FIG. 3 , the self-driving path creation data based on location information is processed in the order of ① receiving a position measurement from a positioning sensor, ② checking and storing real-time positioning data quality, ② generating waypoint data, and ④ storing waypoint data.

First, the step of receiving the positioning measure from the positioning sensor means receiving the positioning measure received from the GNSS sensor or the positioning sensor 121 in the route generating module 141 as shown in FIG. 3 . When a user manually drives a transportation vehicle to create an autonomous driving path, the positioning sensor transmits positioning data to the path creation module 141 at regular time intervals.

In the following steps, the path generation module 141 performs a real-time quality check of the positioning data. For example, the path generation module 141 determines quality based on the positioning line and quality information provided by the positioning sensor at predetermined time intervals. Store this good side harm.

In order to generate a path using the positioning displacement with a similar level of positioning accuracy, if the positioning displacement quality information is poor, a stop command is sent to the motor drive control module 142 to temporarily stop the manual operation of the agricultural machine, and the positioning displacement quality information is good. If it is, the stop command is canceled to the motor drive control module 142 so that the manual operation of the agricultural machine can be continued.

The defect criterion of the positioning quality information may be set to a case where the GNSS-RTK ambiguity number is not fixed or the GNSS-RTK reference station correction signal transmission elapsed time exceeds 1 second. When the user completes the manual driving of the moving route, the route generating module 141 transmits a driving completion command to the agricultural machine to stop the manual driving of the agricultural machine and positioning data for generating waypoint data is stored. The storage format of the real-time positioning measure data is as follows.

[Table 1] Real-time positioning measurement storage format

In the next step, a waypoint for autonomous driving is created using the stored positioning data. In this step, the location data of the autonomous driving route of good quality obtained by the user through manual driving of the transportation vehicle is used. Waypoint data generation creates a waypoint, an autonomous driving path for a moving route, using the stored real-time positioning data, the distance between adjacent points to determine whether to stop, and the angle reference value to determine whether to turn or not.

4 is a flowchart illustrating a flow of generating a waypoint that is an autonomous driving route. In this flowchart, if real-time positioning data stored sequentially is input (S110), the distance between the previous and current positions is calculated (S111), and in step S113 for determining whether to stop, if the distance between adjacent points is smaller than the reference value, the previous position After calculating the average position of the current position and the current position (S210), the average position is converted to the previous position (S211), and if it is greater than the distance reference value in step S113, a straight line is created using the previous position and the current position (S114).

In addition, if the distance between the previously generated straight line and the currently generated straight line in step S117 for determining whether or not the rotation section is smaller than the angle reference value for determining whether or not the rotation section is present, the previously generated straight line is converted to the currently generated straight line ( S118) If the angle is greater than the reference value, the current position is stored as a waypoint (S214).

Referring back to FIG. 4 , in the step of storing waypoint data, network data including waypoints that are autonomous driving routes and information on whether or not access between waypoints is accessible is stored. Waypoint data and network data storage formats are shown in the table below.

[Table 2] Waypoint data storage format

[Table 3] Network data storage format

me. Autonomous Driving Path Merge Algorithm

In the present invention, since the self-driving route generation creates a waypoint using data obtained by manually driving an agricultural machine in order to create an autonomous driving route based on location information for a user's moving route, all aspects of the actual work environment are generated. There is a limitation that the path cannot be acquired at once. In the present invention, in order to compensate for this limitation, an autonomous driving route merging algorithm capable of merging waypoint data generated for some routes was developed. The autonomous driving path merging algorithm can be divided into a work path merging algorithm and a detour path merging algorithm.

5 is a flowchart illustrating an autonomous driving path merging algorithm. As shown in FIG. 5 , in the work path merging algorithm, first, in step S301, when the user sequentially inputs work path waypoints to be merged, the work path waypoints are merged in the following way.

After the work route waypoints are input in step S301, the latitude, longitude, and elliptical height, which are the geodetic coordinates of all work route waypoints input based on the start point of the work route in step S302, are calculated based on the NED (North East Down) coordinate system. convert to coordinates

In the following step S303, it is determined whether or not there is an intersection between the waypoints of the input work path. The existence of an intersection point is determined through an intersection point determination algorithm of a straight line generated by an adjacent waypoint. The intersection determination algorithm uses Line-Line intersection: https://en.wikipedia.org/wiki/Line%E2%80%93line_intersection.

If there is an intersection, the first input work path waypoint extracts the work path from the first waypoint to the waypoint including the intersection, and the next input workway waypoint is from the waypoint including the intersection to the end point waypoint. are extracted and merged. If there is no intersection point, the distance between the end point of the first input work path waypoint and the next input work path waypoint start point is calculated, and the two work paths are merged if they are within a certain standard, and are not merged if they exceed a certain standard. . When the merging of waypoints is completed, the waypoint indexes are sequentially redefined from the starting point, and are saved according to the waypoint output format and network data storage format.

The bypass route merging algorithm plays a role of generating the final autonomous driving route waypoint by merging the work route waypoint and the bypass route waypoint. NED coordinate conversion and intersection determination of the detour merging algorithm are the same as those of the working route merging algorithm, but there is a difference in that waypoint index start numbers are designated differently to distinguish the detour route from the working route.

Next, the autonomous driving method will be described.

6 is an operation flow chart showing the flow of an autonomous driving operation method according to the present invention. As shown in FIG. 6 , the self-driving method according to the present invention controls the motor drive 142 using the self-driving route generation method as described above, that is, the positioning line calculated by the positioning sensor and the waypoint that is the autonomous driving route. After calculating the parameters, they are transmitted to the motor drive to follow the autonomous driving path. The self-driving technology consists of ① defining a route for autonomous driving (S401), ② determining whether to operate autonomous driving (S402), ③ converting a waypoint (S403), ④ determining a target point (S404), and ⑤ calculating driving control parameters (405). include

Path definition for autonomous driving in step S401 finds the nearest location of a waypoint, which is an autonomous driving route, based on the current location when the autonomous driving operation technology is executed, and finds a waypoint for driving to the final end point based on the nearest location. points are extracted. The above process is processed only once when autonomous driving is executed, and autonomous driving is performed using the generated and extracted waypoints.

In step S402, the determination of whether autonomous driving is operated serves to determine whether autonomous driving is operated by examining the quality of the positioning hazard provided from the positioning sensor. In the present invention, it is defined that autonomous driving is performed when the update elapsed time of the GNSS-RTK measurement value with the fixed number of ambiguities among the quality information of the positioning sensor is within 2 seconds and the position accuracy is within 0.5 m. When the reference value is exceeded, left and right track speeds of 0 are transmitted to the motor drive to stop the vehicle.

In step S403, waypoint switching determines whether to continue using the current waypoint or switch to the next waypoint. During autonomous driving, since the agricultural machine moves between consecutive waypoints, which are autonomous driving routes, it is necessary to appropriately switch waypoints according to the current position in order to improve the stability of autonomous driving. In addition, since the caterpillar agricultural machine can rotate in place, it is first necessary to determine whether the current waypoint is a point of rotation in place when switching waypoints.

Whether or not it is a seat rotation point can be defined as the formula below, and waypoint conversion is processed in the following order.

1) Calculate the angle between the two straight lines created by the current waypoint and the adjacent waypoints.

2) If the angle between the two straight lines is greater than the reference angle for in-place rotation, it is defined as a point of rotation in place.

Here, n is the currently selected waypoint index, WPn _North and WPn _East are the coordinates of the north and east directions of the current waypoint, respectively, expressed based on the NED (North East Down) coordinate system whose origin is the location of the current agricultural machine, and r is Indicates the reference angle for in-place rotation that determines whether or not the in-place rotation point exists.

If the currently selected waypoint is a point of rotation in place, if the difference between the yaw of the current agricultural machine and the azimuth created by the current waypoint and the next waypoint is within a certain angle, the next waypoint is switched. keep the points.

If the currently selected waypoint is not a rotation point in place, the waypoint is switched if the distance between the current agricultural machine location and the currently selected waypoint is within a certain radius as shown in the following formula. In the opposite case, the current waypoint will keep

Here, R _WP means a reference radius for determining whether or not to switch waypoints.

6 is an explanatory diagram for explaining the principle of Enclosed based Line of Sight (LOS) Guidance. In the present invention, as shown in FIG. 6 , in the step of determining the target point (S404), a location point to be moved to at the next time is set based on the current vehicle location and the selected waypoint.

The target point determination method is "Enclosed based Line of Sight", which determines the target point at the point where the straight line created by the current waypoint and the previous waypoint and the circle created through the reference radius (R) meet with the current vehicle position as the center of the circle. (LOS) Guidance (Jensen, T. M. Waypoint-following guidance based on feasibility algorithms, Master dissertation, Norwegian University of Science, Norway, 2011.)" was applied.

If the distance between the current vehicle position and the current waypoint is smaller than the reference radius R, the target point is selected as the coordinates of the current waypoint.

Next, the control parameter calculation step (S405) will be described. In the step of calculating the control parameters, the speed values of the left and right tracks to reach the target point at the next time are calculated by dividing the time of rotation in place and the time of movement.

When rotating in place, the distance between the current transport vehicle position and the current waypoint position is smaller than the radius (R). The code is assigned differently. For example, in the case of a left turn, the left track speed has a positive sign and the right track speed has a negative sign.

In case of movement, when the distance between the current position of the agricultural machine and the current waypoint is greater than the radius (R), the target angle (α _TP ) and target speed (V _TP ) for moving to the target point are calculated using the following formula. .

Here, TP _North and TP _Wast are the position coordinates in the north and east directions of the current target point expressed based on the NED (North-East-Down) coordinate system with the current position of the agricultural machine as the origin, respectively, and ψ are the Yaw and Vmin of the current vehicle and Vmax are the minimum vehicle speed and the maximum vehicle speed, respectively, and σ is the reference value for deceleration according to the rotation angle of the agricultural machine.

When the target angle and target speed are calculated, left and right track velocities for moving to the target point are calculated.

Here, _vLeft and _vRight represent left and right track speeds, respectively, is the distance between the left and right tracks, and Δt is the control time interval (seconds).

8 is a view showing an example of a remote controller 20 for remotely controlling the electric agricultural transport vehicle 10 according to the present invention. As shown in FIG. 8 , the remote controller 20 includes a display unit 210 and an operation panel unit 220 . As described above, the display unit functions to display an image transmitted from the camera 160 of the electric agricultural transport vehicle 10 .

The operation panel unit 220 includes an operation button unit for operating the agricultural transport vehicle 10 . Operation buttons include power button 221, connection button 222, autonomous driving button 223, front wheel drive button 224, rear wheel drive button 225, movement button 226, direction buttons section 227.

In this configuration, the user must press the connection button unit 222 in a state in which the power button unit 221 is turned on to connect with the electric agricultural transport vehicle 10. In order to connect the remote controller 20 with the electric agricultural transport vehicle 10, the user must first select one of the remote control mode and the autonomous driving mode as the operation mode of the vehicle through the control panel of the electric agricultural transport vehicle 10. Otherwise, an error message requesting to change the operation mode of the vehicle is output to the monitor 210 of the remote controller 20 .

The autonomous driving button unit 223 supports a user to execute autonomous driving in a remote control mode. After the user moves the agricultural transport vehicle 10 around the waypoint on the work route using the remote controller 20 and presses the autonomous driving button 223, the processor of the agricultural transport vehicle 10 searches for the waypoint. After that, autonomous driving will begin. On the other hand, when the autonomous driving button 223 is pressed and the processor of the agricultural transport vehicle 10 cannot find a waypoint around it, an error message "cannot find a waypoint" is output to the user.

The front-wheel drive button unit 224 and the rear-wheel drive button unit 225 function to determine whether to operate the agricultural transport vehicle 10 in front-wheel drive or rear-wheel drive. For example, when the user presses only the front wheel drive button 224, the processor operates the vehicle by driving only the front wheels of the agricultural transport vehicle 10, whereas when the user presses only the rear wheel drive button 225, the processor operates the agricultural transport vehicle 10. Only the rear wheels of the transportation vehicle 10 are driven to operate the vehicle. Meanwhile, when the user presses both the front wheel drive button unit 224 and the rear wheel drive button unit 225, the processor operates the vehicle in 4 wheel drive mode.

The movement button unit 226 functions to allow the user to move the agricultural transport vehicle 10 forward and backward, and the direction button unit 227 functions to allow the user to change the direction of the agricultural transport vehicle 10 to the left or right. .

The devices described above may be implemented as hardware components, software components, and/or a combination of hardware components and software components. For example, devices and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), It may be implemented using one or more general purpose or special purpose computers, such as a programmable logic unit (PLU), microprocessor, or any other device capable of executing and responding to instructions. A processing device may run an operating system (OS) and one or more software applications running on the operating system. A processing device may also access, store, manipulate, process, and generate data in response to execution of software. For convenience of understanding, there are cases in which one processing device is used, but those skilled in the art will understand that the processing device includes a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it can include. For example, a processing device may include a plurality of processors or a processor and a controller. Other processing configurations are also possible, such as parallel processors.

Software may include a computer program, code, instructions, or a combination of one or more of the foregoing, which configures a processing device to operate as desired or processes independently or collectively. The device can be commanded. Software and/or data may be any tangible machine, component, physical device, virtual equipment, computer storage medium or device, intended to be interpreted by or to provide instructions or data to a processing device. , or may be permanently or temporarily embodied in a transmitted signal wave. Software may be distributed on networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer readable media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer readable medium. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. Program commands recorded on the medium may be specially designed and configured for the embodiment or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. - includes hardware devices specially configured to store and execute program instructions, such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter, as well as machine language codes such as those produced by a compiler. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can make various modifications and variations from the above description. For example, the described techniques may be performed in an order different from the method described, and/or the components of the described system, structure, device, circuit, etc. may be combined or combined in a different form than the method described, or other components may be used. Or even if it is replaced or substituted by equivalents, appropriate results can be achieved.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are for explanation, not for limiting the technical idea of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments.

Therefore, the protection scope of the present invention should be construed by the claims below rather than being limited by the foregoing embodiments, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

10: electric agricultural transport vehicle 20: remote controller
110: actuator 120: driving related sensing unit
130: memory 140: processor
50: communication unit 160: camera
210: display unit 220: operation panel

Claims (6)

In the electric agricultural transport vehicle that can be remotely operated through a remote controller,
The electric agricultural transport vehicle,
A camera installed on the body of a vehicle;
a communication unit for transmitting the image from the camera to the remote controller; and
A processor for controlling the movement of the vehicle based on a manipulation signal transmitted from the remote controller;
The remote controller
a display unit for displaying an image transmitted from a camera of an electric agricultural transport vehicle; and
A control panel portion provided with a plurality of control buttons for controlling the movement of the electric agricultural transport vehicle;
The electric agricultural transport vehicle,
GNSS sensors for positioning electric agricultural transport vehicles;
a traveling sensor for measuring the speed and direction angle of the motorized agricultural transport vehicle; and
Further comprising a memory in which an autonomous route of the electric agricultural transport vehicle is stored,
The processor performs an autonomous driving path creation process and an autonomous driving path merging process;
The autonomous driving route creation process,
receiving positioning data from the GNSS sensor while manually driving an agricultural work route of an autonomous driving target using an electric agricultural transport vehicle;
checking and storing the quality of the positioning measure data;
generating a waypoint using the positioning position data when the driving of the electric agricultural transport vehicle is finished; and
Storing the created waypoint; configured to perform,
The autonomous driving route merging process,
receiving an input of a work path waypoint to be merged;
After the work route waypoints are input, converting the latitude, longitude, and ellipsoidal height, which are the geodetic coordinates of all work route waypoints entered based on the start point of the work route, into coordinates based on the NED (North East Down) coordinate system;
An operation of determining whether there is an intersection point between waypoints of the input work path - Here, the existence of an intersection point is determined through an intersection point determination algorithm of a straight line generated by an adjacent waypoint - ;
If there is an intersection, the first entered work route waypoint extracts the work route from the first waypoint to the waypoint containing the intersection, and the next entered workpath waypoint is from the waypoint containing the intersection to the end point waypoint. Operation of extracting and merging up to; and
If there is no intersection point, calculate the distance between the end point of the first input work path waypoint and the start point of the next input work path waypoint, merge the two work paths if they are within a certain standard, and do not merge if they exceed a certain standard configured to perform;
The operation of checking and storing the quality of the positioning measure data,
storing positioning data calculated by a positioning sensor at regular time intervals; and
Among the quality information of the positioning measurement data, if the number of ambiguities of the GNSS-RTK is not fixed or the GNSS update elapsed time exceeds 1 second, it is determined that the quality is poor, and the manual operation of the agricultural machine is stopped and the positioning data is received again; configured to include
The electric agricultural transport vehicle,
a manual driving mode in which the electric agricultural transport vehicle is driven by a driver's operation;
an autonomous driving mode in which the agricultural transport vehicle drives along a pre-stored autonomous driving route; and
Characterized in that it comprises a remote control mode in which the electric agricultural transport vehicle is driven by the control of the remote controller
A remotely operated electric agricultural transport vehicle.
delete According to claim 1,
Remote control of the electric agricultural transport vehicle by the remote controller is characterized in that it can be performed when the electric agricultural transport vehicle is set to either a remote control mode or an autonomous driving mode
A remotely operated electric agricultural transport vehicle.
delete According to claim 1,
When the electric agricultural transport vehicle is operating in a remote control mode and an autonomous driving input is received from the remote controller, the electric agricultural transport vehicle searches for a nearby waypoint in a pre-stored autonomous driving route and autonomously drives based on the searched waypoint Characterized in that configured to perform
A remotely operated electric agricultural transport vehicle.
According to claim 1,
The electric agricultural transport vehicle and the remote controller communicate with each other through any one of mobile communication such as 4G or 5G, infrared (IR) communication, RF communication, Bluetooth communication, Zigbee communication, and WiFi communication. Characterized in that
A remotely operated electric agricultural transport vehicle.

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