KR20200087336A - Greenhouse environment measurement device of Self-moving type having an ultrasonic sensor on the side - Google Patents

Abstract

The present invention relates to an autonomous driving trialeurodes vaporariorum collector with an ultrasonic sensor on a side and, more specifically, to an autonomous driving trialeurodes vaporariorum collector with an ultrasonic sensor on a side capable of measuring the temperature, humidity, light intensity, and CO_2 in green house in real time through a measuring device which avoids an obstacle and autonomously drives using an ultrasonic sensor to acquire spatial variation distribution in an internal environment in greenhouse.

Description

Greenhouse environment measurement device of Self-moving type having an ultrasonic sensor on the side}

The present invention relates to a self-driving powder collecting device equipped with an ultrasonic sensor on the side, and more specifically, to obtain a spatial variation distribution of the environment inside the greenhouse, an ultrasonic sensor is provided on the side and effectively avoids obstacles using the ultrasonic sensor. The present invention relates to a self-driving powder collecting device equipped with an ultrasonic sensor on the side that can measure temperature, humidity, light intensity, and CO2 in a greenhouse in real time through an autonomous driving measuring device.

Greenhouse cultivation of plants or crops is generally known. Greenhouse cultivation increases crop yields, makes non-season crops cultivable, and makes crops of higher quality than outdoor crops cultivable.

Currently, in connection with the cultivation of greenhouses, remote monitoring using the recently developed Internet, short-range wireless communication technology and sensing technologies capable of measuring the growth environment of various greenhouses, greenhouse monitoring and management systems that can manage the environment This trend is being applied.

These conventional greenhouse monitoring and management systems install sensor modules that measure the growth environment in the greenhouse and store them in a database using short-range wireless communication, and a local area network (LAN) line or a telephone line with a remote manager. It is configured to be delivered to the administrator through the wired internet network through.

1 is a view showing the configuration of a conventional greenhouse monitoring and management system in the prior art. As shown in FIG. 1(A), in a conventional greenhouse monitoring and management system, a plurality of sensor groups are installed in a greenhouse cultivation area, and data related to the growth of crops is detected and collected by each sensor group.

The growth environment of the crops in the greenhouse includes an atmospheric environment, a vascular environment, and a near-field environment inside the greenhouse, and the atmospheric environment information includes temperature, humidity, and CO2 concentration information in the greenhouse, and the amount of light as the environment information for the greenhouse , It may be information such as illuminance, insolation, and near-field environment information may include soil temperature, soil humidity, hydrogen ion concentration (PH), and electrical conductivity (EC) information.

However, as shown in FIG. 1(A), sensor groups installed in the cultivation area are installed and used one by one for each unit area due to problems such as installation cost. As a result, areas SA1 and SA2 sensed by the sensor group The area (UA) except for) is not measured, so it is impossible to measure the exact growth environment of the crop in the greenhouse.

This problem, as shown in Figure 1 (B), the area of the greenhouse becomes larger and more severely beaten.

Patent Document 1: Registered Patent No. 10-0571837 Patent Document 2: Published Patent No. 10-2005-0089647 Patent Document 3: Published Patent No. 10-2013-0061299 Patent Document 4: Registered Patent No. 10-0992876

The present invention has been devised to solve the above problems, and the self-driving powder collecting device equipped with an ultrasonic sensor according to the present invention is a driving measuring device for a greenhouse environment at a point or random point desired by a user in the greenhouse. It aims to measure while autonomous driving and provide it to users through wireless communication. In addition, another object of the present invention is to provide a driving type greenhouse environment measuring device that is easy to expand a sensor.

In order to solve the above problems, the autonomous driving powder collecting device equipped with the ultrasonic sensor according to the present invention is a driving environment detection unit 1000, an autonomous driving control unit 2000, an autonomous driving vehicle 3000, and a greenhouse environment. It is composed of a measuring unit (4000) as a driving type measuring device for measuring a greenhouse environment, and the driving environment detecting unit (1000) is a sensor unit for recognizing the location and characteristics of terrain features around the driving path when the moving object is traveling. Consisting of (1100), an information extraction unit (1300) and a storage unit (1700), the autonomous driving control unit (2000) is connected to the detection unit, a section selection unit to control moving objects based on the collected terrain feature information (2100), a greenhouse map information unit (2200), a search unit (2300), a location correction unit (2500), and a location calculation unit (2700), wherein the autonomous driving vehicle (3000) performs autonomous driving applied from the control unit. In order to enable obstacle avoidance and autonomous driving according to the direction value and autonomous driving signal, a motor and a wheel are provided, and the greenhouse environment measuring unit 4000 is located within the greenhouse applied from the autonomous driving controller and a user-specified environment. By comparing and determining the measurement position, the greenhouse environment is measured according to the measurement command of the microprocessor, but the greenhouse environment measuring unit 4000 includes a main board 4100 including a microprocessor (MPU) for processing data transmitted from a data bus. ), a storage module 4200 attached to the main board 4100, a sensor module 4300 including a plurality of sensors for measuring a greenhouse environment, and outputting a measured greenhouse environment measurement value or system message from the sensor module The display module 4400, a communication module for performing communication with the outside (4500), an external control device (4600) which is connected to the greenhouse environment measuring device, the ultrasonic sensor constituting the sensor unit 1100 ( 1000b) is characterized in that provided on the side of the mobile body.

In addition, the sensor unit 1100 is a front-rear camera (1000a) and an ultrasonic sensor (1000b), an infrared sensor (1000c), a bumper sensor (1000d) and a laser sensor to enable the recognition of all-around terrain features of the moving object Characterized in that it further comprises any one or more of (1000e).

In addition, the section selection unit 2100 receives the section to be autonomous by the mobile body and transmits it to the search unit 2300, and the greenhouse map information unit 2200 corresponds to the section determined by the section selection unit 2100 The greenhouse map information corresponding to the corresponding route section is provided to the search unit 2300, and the search unit 2300 includes driving route information including section information and greenhouse map information input to the section selection unit 2100, It serves to search for driving history information including the current location of the moving object stored in the storage unit 1700, and the searched driving route information and driving history information are transmitted to the position correction 2500, and the position correction ( 2500) compares the driving route information and the driving history information stored in the search unit 2300, determines correction information regarding the current moving object position, reflects this, and reflects this to measure the greenhouse environment to be performed on the driving route and driving route of the moving object If it is determined and provided to the moving object 3000 and the greenhouse environment measuring unit 4000 to be described below, the position calculating unit 2700 may temporarily predict the position of the moving object when it is difficult to determine the position of the moving object. Calculate the location of the moving object, but if the current position of the moving object is not received from the storage unit, compare the location information of the stored driving history information with the location information of the terrain feature stored in the greenhouse map information, and compare the expected location to the search unit It is characterized in that the location correction unit applies it to the current mobile location by transmitting it.

In addition, the microprocessor (MPU) includes a plurality of universal data input/output elements and two universal asynchronous receiver/transmitter (UART), processes data transmitted from a data bus, and the main board 4100 is the microprocessor Is mounted, a universal data input/output port terminal connected to a plurality of general-purpose data input/output devices, and a UART connection terminal connected to a UART, and the sensor module 4300 is a sensor including a plurality of sensors for measuring a greenhouse environment. As a module, the sensor module is formed on a substrate for a sensor module separate from the main board 4100, the plurality of sensors are detachably attached to the substrate for the sensor module, and the output of the substrate for the sensor module is a main board. It is characterized by being connected to a general-purpose data input/output port.

In addition, the storage module 4200 is detachably coupled to the main board and the measured value from the sensor is stored, and the communication module 4500 is connected to the UART of the main board to perform communication with an external device, The main board is characterized in that a module selection switch is further formed to select a plurality of communication modules (4500) connected to the UART of the main board.

The autonomous driving powder collecting device having the ultrasonic sensor according to the present invention having the above characteristics is provided on the side, and the ultrasonic sensor is provided on the side to measure the moving object, that is, the autonomous driving greenhouse environment in a greenhouse environment in which crops grow atypically. It is possible to secure the smooth autonomous driving performance of the device, and furthermore, it measures the greenhouse environment at the point or random point desired by the user in the greenhouse while autonomously driving in the greenhouse using multiple sensors as well as ultrasonic sensors provided on the side. By providing, it is possible to precisely analyze the spatial variation distribution of the environment inside the greenhouse at a low production cost, and it is also easy to expand the sensor, so the temperature, humidity, luminosity, CO2 in the greenhouse as well as the elements of the environment inside the greenhouse required by the user There is an effect that can be added at no additional cost.

1 is an explanatory view showing sensor areas of fixed sensors installed in a conventional greenhouse.
Figure 2 is a block diagram showing the schematic configuration of the self-driving powder collecting device equipped with an ultrasonic sensor according to the present invention on the side.
Figure 3 is a schematic diagram of the moving object of the self-driving powder collecting device equipped with an ultrasonic sensor according to the present invention on the side
Figure 4 is a schematic view of the position of the sensor portion of the self-driving powder collecting device equipped with an ultrasonic sensor according to the present invention on the side
Figure 5 is a block diagram showing a schematic configuration of a greenhouse environment measuring unit of the self-driving powder collection device having an ultrasonic sensor according to the present invention on the side.
Figure 6 is a flow chart for explaining the autonomous driving method of the self-driving powder collecting device equipped with an ultrasonic sensor according to the present invention to the side

The terminology used in the present invention is a general terminology that is currently widely used, but in some cases, the term is arbitrarily selected by the applicant. In this case, the term is used in the specific details for carrying out the invention rather than a simple term. Considering that, the meaning should be grasped.

Hereinafter, the technical configuration of the present invention will be described in detail with reference to preferred embodiments illustrated in the accompanying drawings.

Figure 2 is a block configuration diagram for an autonomous driving powder collecting device having an ultrasonic sensor according to the present invention on the side, a driving environment detection unit 1000, an autonomous driving control unit 2000, an autonomous driving vehicle 3000, and It includes a greenhouse environment measurement unit (4000).

Referring to FIG. 3, the driving environment detection unit 1000 functions to recognize the location and characteristics of the terrain feature around the driving path when the mobile body 3000 is traveling, and includes a sensor unit 1100 and an information extraction unit ( 1300) and a storage unit 1700.

The sensor unit 1100 is a front-rear camera (1000a) and an ultrasonic sensor (1000b), an infrared sensor (1000c), a bumper sensor (1000d) and a laser sensor (1000e) to enable the recognition of all-around terrain features of the moving object ).

The camera photographs the front screen in the progress direction in real time, and provides a front screen video for the object recognition function to be captured to the information extraction unit 1300.

The ultrasonic sensor measures the distance to various obstacles located on the side screen in the traveling direction through ultrasound and provides it to the information extraction unit 1300 in real time.

The infrared sensor measures the temperature of various obstacles for the object recognition function located on the front screen in the traveling direction through infrared rays and provides it to the information extraction unit 1300 in real time.

The bumper sensor measures whether or not contact with various obstacles located on the front screen in the traveling direction is provided to the information extraction unit 1300 in real time.

The laser sensor measures the distance to various obstacles located on the front screen in the progress direction through a laser and provides it to the information extraction unit 1300 in real time.

Referring to FIG. 4, an embodiment showing a detection range of various sensors including the camera, a laser, an ultrasonic sensor, an infrared sensor, etc., it is possible to recognize terrain features located in all directions of a moving object, and the driving environment detector 1000 Since the detection range and the detection distance are different depending on the sensor type, it is preferable to consider the position where the sensor of the driving environment detector 1000 is installed, and the type and installation position of the sensor may be appropriately changed. .

Here, as an example of the calculation of the detection distance, when looking at a method of calculating the distance to the terrain through the camera, this can be calculated through a camera image and trigonometry, and since it is a known matter, a detailed mathematical expression will be omitted. do.

As a result, it is possible to recognize topographical features located in all directions of the moving object when the moving object is traveling.

In particular, by providing an ultrasonic sensor on the side of the mobile body, unlike a laser or an infrared sensor installed on the front of the mobile body, it is possible to accurately detect an obstacle without being limited by the directivity of the ultrasonic sensor.

That is, since the sound wave in the center direction is strong due to the characteristics of the ultrasonic sensor, it acts weaker toward the left and right, so the ultrasonic waves emitted from the ultrasonic element do not go to the receiving side of the ultrasonic element but enter the receiving side of the ultrasonic element by directivity. Since the strength of the ultrasonic wave that has entered the receiving side of the ultrasonic element is weak, the obstacle recognition means is installed on the side of the mobile body to solve the problem of determining that there is an obstacle at a long distance, so that the weak sound waves on the left and right are superimposed, thereby improving the accuracy of the obstacle determination. It is desirable to increase.

In particular, by providing the ultrasonic sensor on the side of the moving object, it is possible not only to avoid the directivity of the ultrasonic sensor, but also the moving object moves straight along the driving path in the driving path in the greenhouse passing between crops that grow atypically in the environment in the greenhouse. It also has the effect of making it possible.

That is, a stem or the like of an agricultural crop that grows atypically on both sides extends in the driving path in the greenhouse, which is installed on the side of the moving object to detect stems, etc., which have been extended in a narrow path through an ultrasonic sensor having a short measurement distance. will be.

The information extraction unit 1300 is connected to the sensor unit 1100, and serves to extract some key information from the surrounding feature information collected by the sensor unit 1100.

That is, since the sensor unit 1100 generates terrain feature information recognized in all directions of the moving object while driving, the amount of data may be vast.

Therefore, it is desirable to extract the main information among the vast feature information, and various methods such as a method of extracting feature information within a certain distance or a certain azimuth range from a moving object among signals detected by the sensor unit 1100. By applying, it is possible to extract the information of the major topographic features.

In addition, a marker is positioned at each specific location in the greenhouse to grasp the current position of the moving object according to the location of the marker recognized through the sensor unit.

Here, the marker can select various known methods such as line trace or magnetic.

The storage unit 1700 is connected to the sensor unit 1100 and the information extraction unit 1300, and serves to store terrain feature information and a greenhouse map information corresponding to the moving object selected by the information extraction unit 1300. Do it.

2, the autonomous driving control unit 2000 is connected to the surrounding environment detection unit 1000 and serves to control the movement of the moving object based on the collected terrain feature information, the section selection unit 2100, It includes a greenhouse map information unit 2200, a search unit 2300, a location correction unit 2500 and a location calculation unit 2700.

The section selector 2100 serves to receive a section to be autonomously driven by the mobile device according to a user-specified or predetermined path and transmit the section to the searcher 2300.

That is, the user selects a destination or a specific section of autonomous driving of a predetermined mobile body or the mobile body performs autonomous driving.

The method of setting the location to measure the greenhouse environment may be specified by the user using the greenhouse map information, or may be set randomly programmatically.

The greenhouse map information unit 2200 provides greenhouse map information corresponding to a corresponding route section corresponding to a section determined by the section selection unit 2100 to the search unit 2300.

The search unit 2300 searches for driving history information including the section information input to the section selection unit 2100 and greenhouse map information, and driving history information including the current location of the moving object stored in the storage unit 1700. The searched driving route information and driving history information are transmitted to the position correction 2500.

The position compensator 2500 compares the driving route information and the driving history information stored in the search unit 2300, determines correction information regarding the current moving object position, and reflects this to perform on the driving route and driving route of the moving object The contents of the greenhouse environment measurement to be determined are determined and provided to the moving object 3000 and the greenhouse environment measurement unit 4000 to be described below.

That is, when autonomous driving a section in which historical information has already been run, the location information of the stored history information is compared with the location information of the currently recognized feature, and the difference value is applied to the current location of the vehicle while driving condensation and measurement contents Is determined in real time and is transmitted to the moving object 3000 and the greenhouse environment measurement unit 4000 to be described below.

The position calculating unit 2700 serves to calculate a predicted position of the moving object through movement of the moving object when it is difficult to temporarily determine the position of the moving object.

That is, if the current location of the moving object is not already received from the storage unit, the location information of the stored driving history information is compared with the location information of the terrain feature stored in the greenhouse map information, and the predicted location is transferred to the search unit to correct the location. The additional will be applied to the current mobile position.

The autonomous driving body 3000 moves the wheel to a desired place to enable obstacle avoidance and autonomous driving according to the direction value and autonomous driving signal applied from the control unit. To this end, the moving body is provided with a conventional motor and wheels.

The greenhouse environment measuring unit 4000 compares and determines the location in the greenhouse that is applied from the control unit and the user-specified environmental measurement location to measure the greenhouse environment according to a measurement command. To this end, the greenhouse environment measuring unit is transmitted from the data bus. A main board 4100 including a microprocessor (MPU) for processing data, a storage module (SD card) 4200 attached to the main board 4100, and a plurality of sensors for measuring a greenhouse environment The sensor module 4300, a display module 4400 for outputting a measured environment measurement value or a system message measured from the sensor module, a communication module 4500 for communicating with the outside, and an outside connected to the greenhouse environment measurement device And a control device 4600.

Here, the environment measurement location designated by the user may be specified by the user by specifying the environment measurement location, but when the random mode is specified, the location stored in the storage module is stored in the microprocessor.

A microprocessor (MPU) is installed on the main board 4100. The microprocessor (MPU) supports an 8-bit universal input/output bus, one serial periphral interface (SPI), and two universal asynchronous receiver/transmitter (UART). Therefore, the main board further includes a plurality of 8-bit general-purpose data input/output terminals, a UART connection terminal connected to a UART, and a SIP connection terminal for data input/output with a microprocessor (MPU).

The storage module 4200 stores an environment measurement location in a greenhouse, and also stores information measured from the sensor module 4300 and is configured to communicate with the MPU through SPI communication. It is preferable to use an SD card (Secure Digtital Card) as the storage module, but the present invention is not limited thereto, and any card compatible with SPI may be used.

The sensor module 4300 is composed of a group of sensors capable of measuring the environment in the greenhouse. Sensors include carbon dioxide sensors, oxygen sensors, temperature sensors, humidity sensors, illuminance sensors, wind speed sensors, and the like.

The sensor module can be connected to a microprocessor (MPU) via an 8-bit general input/output bus. Therefore, the sensor module must be connected through the 8-bit universal data input/output terminal formed on the main board. In addition, in the present invention, the sensor module is not limited thereto, but being formed on a substrate for a sensor module separate from the main board is more preferable than the embodiment in which the sensor is installed on the main board itself in terms of expandability of the sensor. In the present invention, the sensor module substrate itself is configured to be detachable from the main board. The output of the sensor module board is input to the microprocessor through the 8-bit universal data input/output port of the main board.

The display/keyboard module 4400 communicates with the MPU through the UART communication port of the main board, displays the measured value from the sensor module to the user, or displays an error output message from the MPU to the user, and also the user is the UART The operation command can be commanded to the MPU through the keyboard connected through the communication port.

The communication module 4500 is configured to transmit and receive data to and from the MPU through the UART communication port, and the communication module may include an RS232 driver module, PLC communication module, Ethernet communication module, Bluetooth communication module, and Xbee communication module. The RS232 driver module, PLC communication module, Ethernet communication module, Bluetooth communication module, and Xbee communication module may be mounted in the main board, but may be installed on a separate board and connected to the main board. In addition, the present invention is not limited to the above-described communication modules, and may further include a Wi-Fi communication module and a Zigbee communication module as necessary, and a plurality of communication modules are provided through a module selection switch provided on the main board 10. It can be selected as needed.

The external control device 4600 includes a laptop, personal computer, smart phone, or other control device that can be connected to the mobile greenhouse environment measuring device according to the present invention, and the external device is a microprocessor through an external connection interface installed on the main board. (MPU). Therefore, the greenhouse environment measuring unit 4000 is formed to be exchangeable sensors through the sensor module, it is possible to increase the type of available sensors by communicating between a plurality of greenhouse environment measurement devices, and can also communicate with an external server This is possible, so that monitoring through a greenhouse environment measuring device and external control through a load regulating device are also possible.

The method for storing the topographic information of the moving object autonomous driving system based on the driving history information according to the present invention first receives the location information of the moving object first placed in the greenhouse by the user (S110), and the sensor unit 1100 travels It detects the information of the surrounding features of the moving object to be. (S130)

As a result, since the mobile body recognizes the location of itself, the user improves convenience because autonomous driving and environmental measurement starts from the location, even if the mobile body is placed in a convenient location rather than a designated location.

Next, by using the information extraction unit 1300, the step of matching and storing the current location of the moving object recognized by the sensor unit 1100 and the location information of the geographical feature in a pair, is performed (S170).

Thus, the method for measuring the moving object autonomous driving and the greenhouse environment of the moving object autonomous driving system based on the driving history information according to the present invention, first, using the section selection unit 2100, the autonomous driving section and the measurement position/method of the moving object Selection (S210), and receives the current location information of the mobile object stored in the storage unit 1700 (S220).

In addition, while the mobile body continues to move, the current location information stored in the storage unit 1700 is frequently received, and if the location information of the mobile body is not received, the mobile body position calculating unit 2700 is used to immediately move the mobile body. The estimated position according to is calculated (S230).

Next, by using the search unit 2300, the driving history information according to the current position of the mobile body is searched (S240), and using the position correction unit 2500, the searched existing topographical information and current topographical information are retrieved. Compare (S250).

Next, the position correction value of the moving object is calculated by using the difference value between the existing topographic information and the current topographic information, that is, the difference according to the detected position (S260), and the current position of the moving object according to the position correction value of the moving object The position is corrected (S270).

Next, the moving object continues autonomous movement and environmental measurement (S280) according to the corrected current position of the moving object.

The above description is illustrative of the present invention, and the embodiments disclosed in the specification are not intended to limit the technical idea of the present invention, but are intended to explain the present invention. Various modifications and variations will be possible without departing from the technical idea of. Therefore, the protection scope of the present invention is to be interpreted by the matters described in the claims, and technical matters within the scope equivalent thereto should be interpreted to be included in the scope of the present invention.

1000: driving environment detection unit
1100: sensor unit 1300: information extraction unit 1700: storage unit
2000: Autonomous driving control
2100: Section selection unit 2200: Greenhouse map information unit 2300: Search unit
2500: Position correction unit 2700: Position calculation unit
3000: autonomous vehicle
4000: greenhouse environment measurement department
4100: Motherboard 4200: Storage module 4300: Sensor module
4400: Display module 4500: Communication module 4600: External control device

Claims (5)

Comprising a driving environment detection unit 1000, an autonomous driving control unit 2000, an autonomous driving moving object 3000 and a greenhouse environment measurement unit 4000, as a driving type measuring device for measuring the greenhouse environment,
The driving environment detection unit 1000 is composed of a sensor unit 1100, an information extraction unit 1300, and a storage unit 1700 in order to recognize the location and characteristics of the terrain feature around the driving path when the mobile body is traveling. ,
The autonomous driving control unit 2000 is connected to the detection unit and controls the moving section based on the collected information of the terrain feature, the section selection unit 2100, the greenhouse map information unit 2200, the search unit 2300, and the position correction unit It consists of (2500) and the location calculation unit (2700),
The autonomous driving body 3000 is provided with a motor and wheels to enable obstacle avoidance and autonomous driving according to the direction value and autonomous driving signal applied from the control unit,
The greenhouse environment measurement unit 4000 compares and determines the location in the greenhouse and the user-specified environment measurement location approved by the autonomous driving control unit to measure the greenhouse environment according to a microprocessor measurement command.
The greenhouse environment measuring unit 4000 includes a main board 4100 including a microprocessor (MPU) for processing data transmitted from a data bus, a storage module 4200 attached to the main board 4100, and a greenhouse environment. Sensor module 4300 including a plurality of sensors for measuring the temperature, a display module 4400 for outputting greenhouse environment measured values or system messages measured from the sensor module, and a communication module 4500 for communicating with the outside. ), equipped with an external control device (4600) to be connected to the greenhouse environment measuring device,
The ultrasonic sensor (1000b) constituting the sensor unit (1100) is an autonomous driving type powder collection device having an ultrasonic sensor on the side, characterized in that provided on the side of the moving object.
The method according to claim 1,
The sensor unit 1100 may use at least one of a front-rear camera 1000a, an infrared sensor 1000c, a bumper sensor 1000d, and a laser sensor 1000e to recognize all-around terrain features of the moving object. An autonomous driving powder collecting device equipped with an ultrasonic sensor on the side, further comprising a.
The method according to claim 1,
The section selection unit 2100 receives the section to be autonomous by the mobile body and transmits it to the search unit 2300,
The greenhouse map information unit 2200 provides greenhouse map information corresponding to a corresponding route section corresponding to a section determined by the section selection unit 2100 to the search unit 2300,
The search unit 2300 displays driving path information including section information and greenhouse map information input to the section selection unit 2100, and driving history information including a current location of a moving object stored in the storage unit 1700. Serves as a search, and the searched driving route information and driving history information is transmitted to the position correction unit 2500,
The position compensator 2500 compares the driving route information and driving history information stored in the search unit 2300 to determine correction information regarding the current moving object position, reflects this, and performs it on the driving route and driving route of the moving object Confirm the contents of greenhouse environment measurement to be provided to the mobile body (3000) and the greenhouse environment measurement unit (4000) below,
The position calculating unit 2700 calculates the expected position of the moving object through the movement of the moving object when it is difficult to temporarily determine the position of the moving object when it is running, but when the current position of the moving object is not transmitted from the storage unit, the stored Compares the location information of the driving history information with the location information of the terrain features stored in the greenhouse map information, delivers the expected location to the search unit, and the position correction unit applies the ultrasonic sensor to the side of the current moving object. A self-driving powder collection device equipped.
The method according to claim 1,
The microprocessor (MPU) includes a plurality of universal data input/output elements and two universal asynchronous receiver/transmitter (UART), and processes data transmitted from the data bus,
The main board 4100 is equipped with a microprocessor and a universal data input/output port terminal connected to a plurality of general-purpose data input/output devices and a UART connection terminal connected to a UART is formed.
The sensor module 4300 is a sensor module including a plurality of sensors for measuring the greenhouse environment, the sensor module is formed on a substrate for a separate sensor module from the main board 4100, the plurality of sensors are the sensor An autonomous driving powder collecting device equipped with an ultrasonic sensor on the side, which is detachably attached to a module substrate and the output of the sensor module substrate is connected to a universal data input/output port through a main board.
The method according to claim 4,
The storage module 4200 is detachably coupled to the main board and the measured value from the sensor is stored,
The communication module 4500 is connected to the UART of the main board to perform communication with an external device,
The main board is a self-driving powder collecting device having an ultrasonic sensor on the side, characterized in that a module selection switch is further formed to select a plurality of communication modules (4500) connected to the UART of the main board.

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