KR102563552B1 - Agricultural automation system using drone - Google Patents

Abstract

A drone and agricultural automation system are disclosed. The present invention is an agricultural automation system that obtains soil condition information of a predetermined area, a drone that acquires image data of the predetermined area, receives the soil condition information and the image data, and obtains the soil condition information and the image data. A server generating a driving route based on data and an agricultural vehicle receiving the driving route and driving along the driving route, wherein the server communicates with the drone and the agricultural vehicle and controls the drone and the agricultural vehicle. You can control it.

Description

Agricultural automation system using drone {AGRICULTURAL AUTOMATION SYSTEM USING DRONE}

The present invention relates to an agricultural automation system using a drone. More specifically, it relates to an agricultural automation system capable of detecting and managing soil conditions using drones.

Although unmanned aerial vehicles such as drones have been developed for military purposes, they have recently been widely used not only for military purposes but also for businesses, media, and individuals, and their application range is gradually widening.

Accordingly, industries related to drones are rapidly growing, and agriculture accounts for a large portion of them. However, most of the use of drones in the agricultural sector has been partially introduced for control tasks such as spraying crops with medicines such as pesticides or fertilizers.

Currently, a technology has been developed that can collect various information through crop control, soil investigation, sowing and growth evaluation using advanced imaging technology by installing cameras on drones, making drones versatile in the field of precision agriculture. can be utilized as

Currently, drones are most commonly used for surveillance and reconnaissance. As a surveillance system for existing crime prevention and security, CCTV is mainly used. In the monitoring method using CCTV, a video of a designated area is taken using a CCTV installed in a designated area, the captured video is saved, and if a problem occurs in the surveillance area, the stored video is reviewed to check the video at the time of the problem. Or, it is to continuously monitor the video taken by a person in CCTV. However, the surveillance method using CCTV is fixedly installed in a predetermined area, and there is a problem in that only a narrow section is intensively photographed.

In order to solve this problem, a method of recording images by attaching a camera to a drone has been proposed, and research on technology for efficiently operating the drone is in progress.

In particular, this technology is highly applicable in the management field of large-scale farms, orchards, and pastures in that it monitors a large area with a small number of manpower. research is in progress.

Republic of Korea Patent Publication No. 10-2017-0058767 (Title of Invention: Smart Cultivation Farm System and its Control Method)

An object of the present invention is to provide an agricultural automation system for obtaining soil condition information and image data through a drone and driving an agricultural vehicle based thereon.

In addition, an object of the present invention is to provide an agricultural automation system capable of driving an agricultural vehicle by generating a driving route based on soil condition information and image data obtained through a drone.

In addition, an object of the present invention is to provide an agricultural automation system including a drone capable of capturing clearer images by proposing coatings for protecting a lens layer of a camera used outside.

In order to solve the above problems, the present invention obtains soil condition information of a predetermined area, a drone for obtaining image data of the predetermined area, receiving the soil condition information and the image data, and the soil condition information and a server generating a driving route based on the image data and an agricultural vehicle receiving the driving route and driving along the driving route, wherein the server communicates with the drone and the agricultural vehicle and communicates with the drone and the agricultural vehicle. Agricultural vehicles can be controlled.

In addition, the soil condition information may include the moisture content of the soil and acidity of the soil.

In addition, the drone may include a humidity measurement sensor for measuring the moisture content, a pH-reference sensor and an ISFET-pH sensor for measuring the acidity.

In addition, the soil condition information may include height information of the soil.

In addition, the drone may include a distance sensor for measuring the height information.

In addition, the drone includes a camera for obtaining the image data, the camera includes a camera module for generating the image data from an optical image, the camera module includes a housing including a through hole in a side wall, the through hole It may include a lens installed in the hole and a driving unit for driving the lens.

In addition, in order to solve the above problems, the present invention provides a drone for obtaining soil condition information of a predetermined area, a server for receiving the soil condition information and generating a driving route based on the soil condition information, and the driving An agricultural vehicle traveling based on a path, wherein the agricultural vehicle includes a module unit for receiving a driving path from the server and providing power to the drone, wherein the module unit controls the drone within a predetermined distance from the module unit. When located, the battery included in the drone can be wirelessly charged.

In addition, in order to solve the above-mentioned problems, the present invention is a drone including a camera, a server that receives an image taken from the camera and generates a driving route by applying a SLAM (Simultaneous Localization and Mapping) algorithm to the image And it may include a tractor moving along the driving route.

The present invention has an effect of effectively driving an agricultural vehicle by obtaining image data through a drone and creating a path through which the agricultural vehicle can travel.

In addition, the present invention has the effect of providing an agricultural automation system capable of obtaining soil condition information through a drone and driving an agricultural vehicle through this.

In addition, the present invention has the effect of providing an agricultural automation system including a drone capable of capturing clearer images by proposing coatings for protecting the lens layer of a camera used outside.

Effects obtainable according to the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

1 shows a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2 is a block diagram showing a control relationship between major elements of the unmanned aerial vehicle of FIG. 1 .
3 is a view showing a camera according to the present invention.
4 is a view showing an agricultural automation system according to the present invention.
5 is a diagram showing a server according to the present invention.
6 is a schematic view of an agricultural vehicle and a module unit according to the present invention.
7 is a diagram showing an autonomous driving device according to the present invention.
8 is a diagram showing the entire process of the agricultural automation system according to the present invention.
The accompanying drawings, which are included as part of the detailed description to aid understanding of the present specification, provide examples of the present specification and describe technical features of the present specification together with the detailed description.

Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, but the same or similar elements are given the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted.

In addition, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiment disclosed in this specification, the detailed description thereof will be omitted.

In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, the technical idea disclosed in this specification is not limited by the accompanying drawings, and all changes included in the spirit and technical scope of the present invention , it should be understood to include equivalents or substitutes.

Terms including ordinal numbers, such as first and second, may be used to describe various components, but the components are not limited by the terms. These terms are only used for the purpose of distinguishing one component from another.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this application, terms such as "comprise" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Hereinafter, a drone for an agricultural automation system according to a preferred embodiment of the present specification will be described in detail based on the above information.

1 shows a perspective view of a drone according to an embodiment of the present invention.

The drone 100 is manually operated by a manager on the ground or is automatically controlled by a set flight program to fly unmanned. As shown in FIG. 1, the drone 100 has a configuration including a main body 20, horizontal and vertical movement propulsion devices 10, and landing legs 130. The body 20 is a body portion on which a module such as a camera 40 is mounted.

The horizontal and vertical movement propulsion device 10 is composed of one or more propellers 11 installed vertically on the main body 20, and the horizontal and vertical movement propulsion device 10 according to an embodiment of the present invention are spaced apart from each other It consists of a plurality of propellers 11 and motors 12. Here, the horizontal and vertical movement propulsion device 10 may be formed of an air injection type propulsion structure other than the propeller 11.

A plurality of propeller supports are formed radially from the main body 20 . A motor 12 may be mounted on each propeller support. A propeller 11 is mounted on each motor 12 .

The plurality of propellers 11 may be symmetrically disposed with respect to the center of the main body 20 . Also, the rotation direction of the motor 12 may be determined so that the rotation direction of the plurality of propellers 11 is a combination of clockwise and counterclockwise directions. Rotation directions of the pair of propellers 11 symmetrical about the center of the main body 20 may be set to be the same (for example, clockwise). In addition, the other pair of propellers 11 may rotate in opposite directions (for example, counterclockwise).

The landing legs 30 are spaced apart from each other on the bottom surface of the main body 20 . In addition, a buffer support member (not shown) may be mounted on the lower part of the landing leg 30 to minimize an impact caused by a collision with the ground when the drone 100 lands. Of course, the drone 100 may be formed of various structures of a vehicle configuration different from those described above.

FIG. 2 is a block diagram showing a control relationship between major elements of the unmanned aerial vehicle of FIG. 1 . The flight state of the drone 100 is defined as a rotational state and a translational state.

The rotational motion state means 'yaw', 'pitch', and 'roll', and the translational motion state means longitude, latitude, altitude, and speed.

)라고 한다. 비행기의 동체가 전면을 향한 x축을 기준으로 좌우로 기울게 될 경우, 기체좌표의 y축은 NED 좌표의 E축에 대하여 각도가 생기게 되며, 이 각도를 "롤"(Φ)이라 한다.Here, 'roll', 'pitch', and 'yaw' are called Euler angles, and the three axes of x, y, and z coordinates of the airplane are defined as certain coordinates, for example, NED coordinates N, E, and D. Indicates the angle rotated about an axis. When the front of the plane rotates left and right based on the z-axis of the aircraft coordinates, the x-axis of the aircraft coordinates has an angle difference with respect to the N-axis of the NED coordinates, and this angle is called "yaw" (Ψ). When the front of the airplane rotates up and down based on the y-axis pointing to the right, the z-axis of the aircraft coordinates has an angular difference with respect to the D-axis of the NED coordinates, and this angle is called "pitch" (

) is called When the airplane's fuselage tilts left and right with respect to the front-facing x-axis, the y-axis of the aircraft coordinates has an angle with respect to the E-axis of the NED coordinates, and this angle is called "roll" (Φ).

The drone 100 uses 3-axis gyro sensors (Gyroscopes), 3-axis accelerometers, and 3-axis geomagnetic sensors (Magnetometers) to measure the rotational motion state, and uses a GPS sensor and a GPS sensor to measure the translational motion state. A barometric pressure sensor is used.

The sensing unit 130 of the present invention includes at least one of a gyro sensor, an acceleration sensor, a GPS sensor, an image sensor, and an air pressure sensor. Here, the gyro sensor and the acceleration sensor measure the rotated state and the accelerated state of the body frame coordinates of the drone 100 with respect to the earth centered inertial coordinates, MEMS (MicroElectro-Mechanical Systems) It can also be manufactured as a single chip called an inertial measurement unit (IMU) using semiconductor process technology.

In addition, inside the IMU chip, there is a microcontroller that converts the measurements based on the Earth's inertial coordinates measured by the gyro sensor and the acceleration sensor into local coordinates, for example, NED (North-East-Down) coordinates used by GPS. can be included

The gyro sensor measures the rotational angular velocity of the drone's three axes x, y, and z with respect to the Earth's inertial coordinates, and then calculates the values converted to fixed coordinates (Wx.gyro, Wy.gyro, Wz.gyro), This value is calculated using a linear differential equation to determine the Euler angle (Φgyro, gyro, gyro).

The acceleration sensor measures the acceleration with respect to the earth inertial coordinates of the three axes of x, y, and z of the drone 100's aircraft coordinates, and then calculates the values (fx,acc, fy,acc, fz,acc) converted to fixed coordinates, This value is 'Roll (Φacc)' and 'Pitch ( acc)', and these values are calculated using the measured values of the gyro sensor, 'Roll (Φgyro)' and 'Pitch ( gyro)' is used to remove the bias error included in '.

The geomagnetic sensor measures the direction of the drone 100 with respect to the magnetic north point of the three axes x, y, and z of the aircraft coordinates, and calculates the 'yaw' value for the NED coordinates of the aircraft coordinates using this value.

The GPS sensor uses signals received from GPS satellites to determine the translational motion state of the drone 100 on NED coordinates, that is, latitude (Pn.GPS), longitude (Pe.GPS), altitude (hMSL.GPS), and speed on latitude. (Vn.GPS), speed on longitude (Ve.GPS), and speed on altitude (Vd.GPS) are calculated. Here, the subscript MSL means mean sea level (MSL).

The air pressure sensor may measure the altitude (hALP.baro) of the drone 100 . Here, the subscript ALP means air-level pressor, and the air pressure sensor calculates the current altitude from the take-off point by comparing the air pressure at the time of take-off of the drone 100 with the air pressure at the current flight altitude.

The camera sensor includes an image sensor (eg, CMOS image sensor) including at least one optical lens and a plurality of photodiodes (eg, pixels) forming an image by light passing through the optical lens; It may include a digital signal processor (DSP) that composes an image based on signals output from the photodiodes. The digital signal processor can create not only still images, but also moving images composed of frames composed of still images. The camera sensor may be described below as camera 132 of FIG. 3 .

The drone 100 includes a communication module 170 that receives or receives information and outputs or transmits information. The communication module 170 may include a drone communication unit 175 that transmits and receives information with other external devices.

The communication module 170 may include an input unit 171 for inputting information. The communication module 170 may include an output unit 173 that outputs information.

The drone 100 includes a controller 140 that processes and determines various information such as mapping and/or recognizing a current location. The controller 140 may control the overall operation of the drone 100 through control of various elements constituting the drone 100 .

The controller 140 may receive and process information from the communication module 170 . The controller 140 may receive and process information from the input unit 171 . The control unit 140 may receive and process information from the drone communication unit 175.

The control unit 140 may receive and process sensing information from the sensing unit 130 . The controller 140 may control driving of the motor 12 . The controller 140 may control the operation of the camera 40 .

The drone 100 includes a storage unit 150 for storing various data. The storage unit 150 records various information necessary for controlling the drone 100, and may include a volatile or non-volatile recording medium.

A map for a driving area may be stored in the storage unit 150 . The map may be input by the external terminal 300 capable of exchanging information through the drone 100 and the drone communication unit 175, or may be created by the drone 100 through self-learning. In the former case, the external terminal 300 may include, for example, a remote controller, a PDA, a laptop, a smart phone, a tablet, etc. loaded with an application for setting a map.

3 is a view showing a camera according to the present invention.

According to FIG. 3 , the camera 132 of the present invention may include a camera module 1320. The camera module 1320 may generate a video image from an optical image. The camera module 1320 may generate a video image by receiving an optical image and converting it into video data. The camera module 1320 may further include a housing 1324 including a through hole on a side wall, a lens 1321 installed in the through hole, and a driving unit 1323 that drives the lens 1321 . The through hole may have a size corresponding to the diameter of the lens 1321 . The lens 1321 may be inserted into the through hole.

The driving unit 1323 may be configured to control the lens 1321 to move forward or backward. The lens 1321 and the driving unit 1323 are connected in a conventionally known manner, and the lens 1321 may be controlled by the driving unit 1323 in a conventionally known manner.

In order to obtain various video images, the lens 1321 needs to be exposed to the outside of the camera module 1320 or the housing 1324 .

In particular, since the camera 132 according to the present invention needs to directly photograph soil for agriculture, it may be difficult for an engineer to inspect the camera 132 every time because it must be installed outside. In addition, the camera 132 located in the drone moving around the soil for agriculture may be vulnerable to contaminants such as soil and sand, so special protection of the lens exposed to the outside of the housing 1324 is required to take an image. do. Accordingly, the present invention proposes a coating layer for coating a lens to solve this problem.

Preferably, the lens 1321 may include an acrylic compound represented by Formula 1 below on its surface; It may be coated with a coating composition containing an organic solvent, inorganic particles and a dispersant.

[Formula 1]

here,

n and m are the same as or different from each other, and each independently represents an integer from 1 to 100;

L ₁ is a biphenylene group.

When the lens 1321 is coated with the coating composition, it can exhibit excellent water repellency and contamination resistance, so even if the lens 1321 installed outside the vehicle is exposed to a polluted environment for a long time, an image or video that can be used for vision recognition can be obtained. can be collected

The inorganic particles may be selected from the group consisting of silica, alumina, and mixtures thereof. The average diameter of the inorganic particles is 70 to 100 μm, but is not limited to the above examples. After forming the coating layer 1322 on the surface of the lens 1321, the inorganic particles may improve physical strength and maintain viscosity within a certain range to increase moldability.

The organic solvent is selected from the group consisting of methyl ethyl ketone (MEK), toluene, and mixtures thereof, and preferably methyl ethyl ketone may be used, but is not limited to the above examples.

As the dispersing agent, a polyester-based dispersing agent may be used, and specifically, TEGO-Disperse 670 (manufacturer : EVONIK) can be used, but it is not limited to the above examples, and all dispersants obvious to those skilled in the art can be used without limitation.

The coating composition may further include a stabilizer as other additives, and the stabilizer may include a UV absorber, an antioxidant, and the like, but is not limited to the above examples and may be used without limitation.

The coating composition for forming the coating layer 1322 may more specifically include an acrylic compound represented by Chemical Formula 1; organic solvents, inorganic particles and dispersants.

The coating composition may include 40 to 60 parts by weight of the acrylic compound represented by Formula 1, 20 to 40 parts by weight of inorganic particles, and 5 to 15 parts by weight of a dispersant, based on 100 parts by weight of the organic solvent. In the case of the above range, a synergistic effect is expressed to the extent that the water repellency effect due to the interaction of each component is of critical significance, and when it is out of the above range, the synergistic effect is rapidly reduced or almost nonexistent.

More preferably, the viscosity of the coating composition is 1500 to 1800 cP, and when the viscosity is less than 1500 cP, when applied to the surface of the lens 1321, there is a problem that it is not easy to form the coating layer 1322 because it flows down, and the coating composition exceeds 1800 cP. In this case, there is a problem in that it is not easy to form a uniform coating layer 1322.

[Preparation Example 1: Preparation of coating layer]

1. Preparation of coating composition

A coating composition was prepared by mixing methyl ethyl ketone with an acrylic compound represented by Formula 1, inorganic particles, and a dispersant:

[Formula 1]

here,

n and m are the same as or different from each other, and each independently represents an integer from 1 to 100;

L ₁ is a biphenylene group.

A more specific composition of the antistatic composition is shown in Table 1 below.

TX1 TX2 TX3 TX4 TX5 organic solvent 100 100 100 100 100 acrylic compound 30 40 50 60 70 inorganic particles 10 20 30 40 50 dispersant One 5 10 15 20

(unit weight parts)

2. Preparation of coating layer

A coating layer 1322 was formed by applying the coating composition of DX1 to DX5 on one surface of the lens 1321 and curing the coating composition.

[Experimental Example]

1. Evaluation of surface appearance

Due to the difference in viscosity of the coating composition, after the coating layer 1322 was prepared, a sensory evaluation was performed on whether a uniform surface was formed. Evaluation was conducted on whether or not a uniform coating layer 1322 was formed, and the evaluation was conducted according to the following criteria.

○: uniform coating layer formation

×: Formation of non-uniform coating layer

TX1 TX2 TX3 TX4 TX5 sensory evaluation Х ○ ○ ○ Х

When forming the coating layer 1322, if the viscosity is less than a certain amount, flow occurs on the surface of the lens 1321, and it is difficult to form a uniform coating layer 1322 after the curing process in many cases. Accordingly, a problem of lowering the production yield may occur. In addition, even when the viscosity is too high, it is difficult to uniformly apply the composition and it is impossible to form a uniform coating layer 1322 .

2. Measurement of water repellency angle

After forming the coating layer 1322 on the surface of the lens 1321, the results of measuring the water repellency angle are shown in Table 3 below.

Advancing Contact Angle (") Static contact angle (") receding contact angle (") TX1 117.1±2.9 112.1±4.1 < 10 TX2 132.4±1.5 131.5±2.7 141.7±3.4 TX3 138.9±3.0 138.9±2.7 139.8±3.7 TX4 136.9±2.0 135.6±2.6 140.4±3.4 TX5 116.9±0.7 115.4±3.0 < 10

As shown in Table 3, after the coating layer 1322 was formed using the coating compositions of TX1 to TX5, the result of measuring the contact angle was confirmed. TX1 and TX5 measured receding contact angles less than 10 degrees. That is, it was confirmed that a phenomenon in which water droplets are pinned occurs when the coating composition is out of the optimal range for preparing the coating composition. On the other hand, it was confirmed that the pinning phenomenon did not occur in TX2 to 4, indicating that excellent waterproofing effect could be exhibited.

3. Fouling resistance evaluation

A lens 1321 having a coating layer 1322 according to the above embodiment formed outside the facility was attached to a model camera, and exposed to a general road driving environment for 4 days. As a comparative example (Con), the same lens 1321 without the coating layer 1322 was used, and the model camera was attached to the same location of the vehicle in each example.

After that, the degree of contamination of the lens 1321 before and after the experiment was evaluated, and for objective comparison, the result was compared with the comparative example in which the coating layer 1322 was not formed, and the result was evaluated by an index of 1 to 10, and Table 4 below shown in In the index below, the lower the number, the better the stain resistance.

Con TX1 TX2 TX3 TX4 TX5 stain resistance 10 7 3 3 3 8

(Unit: index)

Referring to Table 4, in the case of forming the coating layer 1322 on the lens 1321, even if the lens 1321 is exposed to the outside while installing the camera in the external environment, high fouling resistance can be easily analyzed for a long period of time. It can be seen that image data can be collected. In particular, in the case of TX2 to TX4, it can be confirmed that the contamination resistance by the coating layer 1322 is very excellent.

Hereinafter, based on the above description, an agricultural automation system according to another preferred embodiment of the present specification will be described in detail as follows. A drone described in an agricultural automation system according to another embodiment may be a drone according to FIGS. 1 to 4 described above.

4 is a view showing an agricultural automation system according to the present invention.

According to FIG. 4 , the agricultural automation system 1 according to the present invention may include a server 200, an agricultural vehicle 300, a user terminal 600, and a drone 100.

The server 200 may communicate with and control the drone 100 and the agricultural vehicle 300 . The drone 100 may acquire image data obtained by photographing a predetermined area while flying in a predetermined area. Captured image data may be transmitted to the server 200 . The agricultural vehicle 300 may autonomously drive along a driving route. The agricultural vehicle 300 may be controlled by a driver or by the server 200 .

The drone 100 may acquire soil condition information of a predetermined area and image data of a predetermined area. Image data of a predetermined area may be acquired by the above-described sensing unit, camera sensor, or the above-described camera.

The server 200 may receive soil condition information and image data from the drone 100 . The server 200 may generate a driving route based on the received soil condition information and image data. The server 200 may communicate with the drone 100 and the agricultural vehicle 300 and control the drone 100 and the agricultural vehicle 300 .

The travel route may be a route on which the agricultural vehicle may travel within a predetermined area. The driving route may be created by considering terrain, obstacles, crops, and the like. The driving route may be generated by a Simultaneous Localization and Mapping (SLAM) algorithm. A Simultaneous Localization and Mapping (SLAM) algorithm may be applied to image data captured through a camera of the drone 100. The agricultural vehicle 300 may travel according to a driving route, and the agricultural vehicle 300 may be a concept encompassing a tractor, a cultivator, and the like.

The soil state information acquired through the drone 100 may include at least one of soil moisture content, soil acidity, and soil height information. The moisture content of the soil is measured by a humidity sensor, and the acidity of the soil can be measured by a pH-Reference sensor and an ISFET-pH sensor. In addition, soil height information may be measured from a distance measurement sensor. The distance measuring sensor may be a sensor using ultrasonic or laser. Specifically, the distance measurement sensor may be a LIDAR sensor. The drone 100 may hover by a predetermined height from the soil. The drone 100 may emit laser (or ultrasound) toward the soil and measure the reflected laser beam to accurately measure the distance to the soil. In addition, by using the LiDAR sensor, the drone 100 can specifically image the shape of the soil. At this time, the lidar sensor is small and can sense a relatively narrow range. The various sensors described above may be included in the sensing unit 130 of FIG. 2 .

The user terminal 600 may receive information from the server 200 and display it through a display device. The user terminal 600 may provide information received from the server to the user. The user terminal 600 may receive a user command from a user and transmit the received user command to the server 200 . The server 200 may control the drone 100 or the agricultural vehicle 300 based on a user command.

The server 200 may receive soil condition information and generate various guide information based on the soil condition information. Guidance information may include instructions on how to manage the soil depending on the soil condition.

For example, the server 200 may obtain the moisture content of the soil from the drone 100. The server 200 may generate guide information for water supply when the moisture content of the obtained soil is lower than a predetermined value, and transmit the guide information for water supply to the user terminal 600 .

For example, the server 200 may obtain soil acidity from the drone 100. The server 200 may generate guide information for inputting a material to adjust acidity of the soil when the acquired acidity of the soil is out of a predetermined range, and transmit the guideline information for inputting the material to the user terminal 600. . Specifically, when the acidity of the soil is higher than a predetermined range, guideline information for injecting sulfur powder into the soil may be generated. Sulfur dust can be used to improve alkaline soils. In addition, when the acidity of the soil is lower than a predetermined range, guideline information for introducing lime powder into the soil may be generated. Lime dust can be used to improve acidic soils.

For example, the server 200 may obtain the height of the soil from the drone 100. When the height of the soil exceeds a predetermined range, the server 200 may generate guide information for leveling the soil and transmit the guide information for leveling the soil to the user terminal 600 . In addition, the server 200 may generate guide information for leveling the soil and control the agricultural vehicle 300 based on the guide information for leveling the soil. Specifically, the server 200 may control a tractor among the agricultural vehicles 300 to operate in order to level the soil. The server 200 may receive location coordinates of a point where the height of the soil exceeds a predetermined range from the drone 100 and move the tractor to the corresponding location coordinates. The server 200 may control to move the tractor to the received location coordinates and operate the tractor at the received location coordinates. The tractor may include an autonomous driving device for driving according to a command received from the server 200 .

The server 200 may receive state information from the agricultural vehicle 300 . The agricultural vehicle 300 may check state information by itself and transmit the checked state information to the server 200 . The state information may include information about the amount of oil for the operation of the agricultural vehicle 300, the state of engine oil, and the like. The server 200 transmits state information of the agricultural vehicle 300 to the user terminal 600, and the user terminal 600 transmits the state information through a display device so that the user can check the state information of the agricultural vehicle 300. can be displayed

For example, the server 200 may transmit guide information for leveling the soil to the user terminal 600 and transmit state information of a tractor among the agricultural vehicles 300 to the user terminal 600 . Therefore, the user can follow the guideline information in consideration of the state information of the tractor.

5 is a diagram showing a server according to the present invention.

According to FIG. 5 , a server 200 according to the present invention may include a processor 210, a memory 220 and a communication module 230.

The processor 210 is a component capable of performing calculations and controlling other devices. Mainly, it may mean a central processing unit (CPU), an application processor (AP), a graphics processing unit (GPU), and the like. Also, the CPU, AP, or GPU may include one or more cores therein, and the CPU, AP, or GPU may operate using an operating voltage and a clock signal. However, while a CPU or AP consists of a few cores optimized for serial processing, a GPU may consist of thousands of smaller and more efficient cores designed for parallel processing.

The processor 210 may provide or process appropriate information or functions to a user by processing signals, data, information, etc. input or output through the components described above or by running an application program stored in the memory 220.

The memory 220 stores data supporting various functions of the server. The memory 220 may store a plurality of application programs (application programs or applications) running in the server, data for operating the server, and commands. At least some of these application programs may be downloaded from an external server through wireless communication. Also, the application program may be stored in the memory 220, installed on the server, and driven by the processor 210 to perform the operation (or function) of the server.

The memory 220 may be a flash memory type, a hard disk type, a solid state disk type, a silicon disk drive type, or a multimedia card micro type. ), card-type memory (eg SD or XD memory, etc.), RAM (random access memory; RAM), SRAM (static random access memory), ROM (read-only memory; ROM), EEPROM (electrically erasable programmable read -only memory), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk. Also, the memory 220 may include a web storage performing a storage function on the Internet.

The processor 210 may control the above-described configurations based on instructions stored in the memory 220 .

The communication module 230 may be a component for communicating with the drone communication unit ( 175 in FIG. 2 ). The communication module 230 may include a modulation unit, a demodulation unit, a signal processing unit, and the like.

Wireless communication may refer to communication using a wireless communication network using a communication facility previously installed by telecommunication companies and a frequency of the communication facility. At this time, the communication module 230 is CDMA (code division multiple access), FDMA (frequency division multiple access), TDMA (time division multiple access), OFDMA (orthogonal frequency division multiple access), SC-FDMA (single carrier frequency division multiple access), and the like, as well as the communication module 230 can also be used for 3rd generation partnership project (3GPP) long term evolution (LTE). In addition, not only 5G communication currently commercialized, but also 6G communication scheduled for commercialization in the future may be used. However, the present specification may utilize a pre-installed communication network without being bound by such a wireless communication method.

6 is a schematic view of an agricultural vehicle and a module unit according to the present invention.

According to FIG. 6 , the agricultural vehicle 300 according to the present invention may include conventionally known vehicles such as tractors and cultivators. The agricultural vehicle 300 according to the present invention may mean any vehicle that can be used in agriculture.

According to FIG. 6 , an agricultural vehicle 300 according to the present invention includes an autonomous driving device 700 and a module unit 400 may be attached or detached.

The module unit 400 is a configuration that can be connected to or disconnected from the agricultural vehicle 300, and can be installed in an agricultural vehicle 300 that is not separately manufactured for a system using the drone 100. there is.

The module unit 400 may have a surface parallel to the ground so that the drone 100 can land, and may include a charging coil capable of wirelessly charging a battery included in the drone 100 therein. In this case, the wireless charging may be wireless charging according to the widely known Qi standard. The module unit 400 may be divided into an attachment type attached to the agricultural vehicle 300 or an implanted type transplanted to the agricultural vehicle 300 . Since wireless charging complies with the Qi standard, the drone 100 can be located within a certain distance from the charging coil included in the module unit 400 for wireless charging.

7 is a diagram showing an autonomous driving device according to the present invention.

Referring to FIG. 7 , the autonomous driving device 700 includes a user interface device 710, an object detection device 720, a communication device 730, a driving control device 740, a main ECU 750, and a vehicle driving device. 760, a sensing unit 770, and a location data generating device 780 may be included. The object detection device 710, the communication device 730, the driving control device 740, the main ECU 750, the vehicle driving device 760, the sensing unit 770, and the location data generating device 780 are electrically It may be implemented as an electronic device that generates signals and exchanges electrical signals with each other.

The user interface device 710 is a device for communication between an agricultural vehicle (300 in FIG. 6, hereinafter the same) and a user. The user interface device 710 may receive a user input and provide information generated in the agricultural vehicle (300 in FIG. 6) to the user. The agricultural vehicle (300 in FIG. 6 ) may implement a user interface (UI) or user experience (UX) through the user interface device 710 .

The object detection device 720 may generate information about an object outside the agricultural vehicle (300 in FIG. 6 ). Information about an object is information about the existence of an object, location information of an object, distance information between an agricultural vehicle (300 in FIG. 6) and an object, and relative speed information between an agricultural vehicle (300 in FIG. 6) and an object. At least one may be included. The object detection device 720 may detect an object outside the agricultural vehicle (300 in FIG. 6). The object detection device 720 may include at least one sensor capable of detecting an object outside the agricultural vehicle (300 in FIG. 6 ). The object detection device 710 may include at least one of a camera, radar, lidar, an ultrasonic sensor, and an infrared sensor. The object detection device 710 may provide data on an object generated based on a sensing signal generated by a sensor to at least one electronic device included in the vehicle.

The communication device 730 may exchange signals with a device located outside the agricultural vehicle (300 in FIG. 6). The communication device 730 may exchange signals with at least one of an infrastructure (eg, a server and a broadcasting station), another vehicle, and a terminal. The communication device 730 may include at least one of a transmission antenna, a reception antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element in order to perform communication.

In addition, the communication device 730 may exchange signals with an external device through vehicle-to-everything (V2X) communication technology. V2X communication may be provided through a PC5 interface and/or a Uu interface.

The driving control device 740 is a device that receives a user input for driving. In the case of the manual mode, the agricultural vehicle ( 300 in FIG. 6 ) may be operated based on a signal provided by the driving control device 740 . The driving control device 740 may include a steering input device (eg, a steering wheel), an acceleration input device (eg, an accelerator pedal), and a brake input device (eg, a brake pedal).

The main ECU 750 may control overall operations of at least one electronic device included in the agricultural vehicle (300 in FIG. 6).

The vehicle driving device 760 is a device that electrically controls various vehicle driving devices in an agricultural vehicle (300 in FIG. 6 ). The vehicle driving device 760 may include a power train vehicle driving device, a chassis vehicle driving device, a door/window vehicle driving device, a safety device driving device, a lamp vehicle driving device, and an air conditioning driving device. The power train vehicle driving device may include a power source vehicle driving device and a transmission vehicle driving device. The chassis vehicle drive device may include a steering vehicle drive device, a brake vehicle drive device, and a suspension vehicle drive device. Meanwhile, the safety device vehicle driving device may include a seat belt vehicle driving device for controlling the seat belt.

The vehicle driving device 760 includes at least one electronic control device (eg, a control ECU (Electronic Control Unit)). The vehicle driving device 760 may control the agricultural vehicle 300 based on a signal received from the autonomous driving device 700 . For example, the vehicle driving device 760 may control a power train, a steering device, and a brake device based on a signal received from the autonomous driving device 700 .

The sensing unit 770 may sense the state of the vehicle. The sensing unit 770 includes an inertial measurement unit (IMU) sensor, a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight detection sensor, a heading sensor, a position module, a vehicle It may include at least one of a forward/backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, an illuminance sensor, and a pedal position sensor. Meanwhile, an inertial measurement unit (IMU) sensor may include one or more of an acceleration sensor, a gyro sensor, and a magnetic sensor.

The sensing unit 770 may generate vehicle state data based on a signal generated by at least one sensor. The vehicle state data may be information generated based on data sensed by various sensors provided inside the vehicle. The sensing unit 770 includes vehicle posture data, vehicle motion data, vehicle yaw data, vehicle roll data, vehicle pitch data, vehicle collision data, vehicle direction data, vehicle angle data, and vehicle speed. data, vehicle acceleration data, vehicle inclination data, vehicle forward/reverse data, vehicle weight data, battery data, fuel data, tire pressure data, vehicle internal temperature data, vehicle internal humidity data, steering wheel rotation angle data, external illuminance of the vehicle Data, pressure data applied to the accelerator pedal, pressure data applied to the brake pedal, etc. can be generated.

The location data generating device 780 may generate location data of the agricultural vehicle (300 in FIG. 6 ). The location data generating device 780 may include at least one of a Global Positioning System (GPS) and a Differential Global Positioning System (DGPS). The location data generating device 780 may generate location data of the agricultural vehicle (300 in FIG. 6) based on a signal generated by at least one of GPS and DGPS. According to an embodiment, the location data generating device 780 may correct the location data based on at least one of an Inertial Measurement Unit (IMU) of the sensing unit 770 and a camera of the object detection device 720 . The location data generating device 780 may be referred to as a Global Navigation Satellite System (GNSS).

The agricultural vehicle ( 300 in FIG. 6 ) may include an internal communication system 790 . A plurality of electronic devices included in the agricultural vehicle (300 in FIG. 6) may exchange signals via the internal communication system 790. A signal may contain data. The internal communication system 790 may use at least one communication protocol (eg, CAN, LIN, FlexRay, MOST, Ethernet).

In this way, the agricultural vehicle 300 moves along the driving route received from the server, but can autonomously drive in consideration of variables such as occurrence of obstacles, and the autonomous driving of the agricultural vehicle 300 uses the autonomous driving device 700. can be implemented through

8 is a diagram showing the entire process of the agricultural automation system according to the present invention.

According to FIG. 8 , the system according to the present invention may include a plurality of drones 100 (referred to as flying drones in the drawing), a tractor, a cultivator 300, a plurality of communication units 500, and a server 200. The plurality of communication units 500 may be relay servers for connecting the plurality of drones 100 and the server. The communication unit 500 may include an encryption module. Therefore, when data is transmitted/received between the drone 100 and the server, encrypted data may be transmitted/received through the encryption module of the communication unit 500. The encryption module may include an encryption key, and data may be encrypted according to the encryption key. The communication unit 500 may grant the drone 100 permission to transmit/receive encrypted data based on an identification number previously assigned to the drone 100.

According to FIG. 8, the administrator registers the drone 100 and agricultural machinery that can be managed in the system, and at this time, the drone 100 and agricultural vehicle 300 (described as agricultural machinery in the drawing) are the above-described drone and agricultural machinery. can mean a vehicle. The manager may store each identification number in the server. The drone 100 may measure the height and coordinates of the soil area to be managed and transmit them to the server. The drone 100 may fly over the soil to monitor conditions of crops and soil, collect and transmit data in real time, and transmit route information to agricultural machines. At this time, route information may be generated in the server and transmitted to the agricultural vehicle 300 . The server 200 may process the collected data to provide information or manage the operation of the agricultural vehicle 300 and the drone 100 based on this. When a problem occurs in the state of the drone 100 or the agricultural vehicle 300, after transmitting information to the server 200, it is possible to request repairs from farmers and managers.

According to FIG. 8 , a plurality of agricultural vehicles 300 may be driven simultaneously or with a time difference. In this case, the server 200 may generate a driving route so that the plurality of agricultural vehicles 300 do not collide with each other.

For example, the server 200 may control the plurality of agricultural vehicles 300 to drive along the generated driving path at intervals in order to prevent collisions between the plurality of agricultural vehicles 300 . The server 200 may control the tractor to be driven during the first time range and the tiller to be driven during the second time range after the tractor is driven.

For example, the server 200 may create a driving route to prevent collisions between the plurality of agricultural vehicles 300 . That is, the server 200 may divide the land into predetermined areas and separately generate driving routes for each divided area. The divided areas do not overlap with each other, and accordingly, driving paths generated for each area may not overlap with each other. The predetermined area may be determined according to the communication range of the communication unit 500 .

As such, the server 200 may prevent the plurality of agricultural vehicles 300 from colliding with each other by driving the plurality of agricultural vehicles 300 at intervals of time or creating a driving route by dividing the area.

Also, the server 200 may receive location data of the agricultural vehicle 300 from the location data generating device 780 of FIG. 7 . The server 200 may detect the location of the agricultural vehicle 300 in real time and control the plurality of agricultural vehicles 300 not to collide with each other. In addition, the plurality of agricultural vehicles 300 may prevent collisions with each other by including the self-driving device 700 of FIG. 7 .

According to FIG. 8 , the tractor can travel along the first path A1 and the cultivator can travel along the second path A2. As such, the plurality of agricultural vehicles 300 may travel while being spatially separated from each other, and through this, the traffic lines may not overlap.

As such, the server 200 according to the present invention can prevent problems such as collisions in advance by controlling the plurality of agricultural vehicles 300 to drive by temporally or spatially distinguished.

The above-described present invention can be modeled as a computer readable code on a medium on which a program is recorded. The computer-readable medium includes all types of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. , and also includes those modeled in the form of carrier waves (eg, transmission over the Internet). Accordingly, the above detailed description should not be construed as limiting in all respects and should be considered illustrative. The scope of this specification should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of this specification are included in the scope of this specification.

Any or other embodiments of the present invention described above are not mutually exclusive or distinct. Certain or other embodiments of the present invention described above may be used in combination or combination of respective configurations or functions.

The above detailed description should not be construed as limiting in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

10: system
100: drone
200: server
300: agricultural vehicle

Claims (8)

a drone that obtains soil condition information of a predetermined area and acquires image data of the predetermined area;
a server that receives the soil condition information and the image data and generates a driving route based on the soil condition information and the image data; and
An agricultural vehicle that receives the travel route and travels along the travel route;
The server,
communicating with the drone and the agricultural vehicle and controlling the drone and the agricultural vehicle; and
The soil condition information,
Including the height information of the soil,
The drone,
and a distance sensor for measuring the height information.
The drone includes a camera for acquiring the image data,
the camera,
A camera module generating the image data from an optical image; includes,
The camera module,
A housing including a through hole in a side wall;
a lens installed in the through hole; and
A driving unit for driving the lens; and
The lens is coated with a coating composition comprising 40 to 60 parts by weight of an acrylic compound represented by Formula 1, 20 to 40 parts by weight of inorganic particles, and 5 to 15 parts by weight of a dispersant, based on 100 parts by weight of an organic solvent.
Agricultural automation system.
[Formula 1]

(Here, n and m are the same as or different from each other, and are each independently an integer of 1 to 100, and L1 is a biphenylene group.) According to claim 1,
The soil condition information,
To include the moisture content of the soil and the acidity of the soil, agricultural automation system.
According to claim 2,
The drone,
a humidity measuring sensor for measuring the moisture content; and
A agricultural automation system comprising a; pH-Reference sensor and ISFET-pH sensor for measuring the acidity. delete delete delete According to claim 1,
The agricultural vehicle,
A module unit for receiving a driving route from the server and providing power to the drone;
The module part,
When the drone is located within a certain distance from the module unit, the battery included in the drone is wirelessly charged. delete