KR20200134971A - Speed sprayer of automatic driving - Google Patents

Abstract

The present invention provides an autonomously drivable speed sprayer to generate an autonomous driving path in a short time. According to the present invention, the autonomously drivable speed sprayer comprises: at least two caterpillars mounted on both sides of the lower body of the speed sprayer to move the speed sprayer; a chemical liquid tank mounted on the central part of the main body and storing a chemical liquid; a spray unit disposed on the rear side of the main body to spray the chemical liquid; and a control panel installed on the front side of the main body. Each rotary shaft of the tracks is coupled to a driving motor for driving the tracks through a reducer operated as an actuator for changing the rotational speed of the driving motor. The control panel comprises: a global navigation satellite system (GNSS) sensor for detecting the position and movement of the speed sprayer; a memory storing an autonomous driving path; and a processor controlling an actuator based on the detected position and movement of the speed sprayer, such that the speed sprayer drives along the autonomous driving path. The processor of the control panel uses the GNSS sensor to detect the position and movement of the speed sprayer, determines the quality of the GNSS sensor, and performs control allowing the speed sprayer to drive along the autonomous driving path stored in the memory based on the detected position and movement of the speed sprayer.

Description

Autonomous speed sprayer {SPEED SPRAYER OF AUTOMATIC DRIVING}

The present invention relates to a speed sprayer, and more particularly to a speed sprayer capable of autonomous driving.

One of the agricultural machinery is known as the speed sprayer. The speed sprayer refers to an orchard-only control device that is currently widely used in orchards. The nebulizer mounted on the speed sprayer receives the engine's power to reciprocate the plunger inside the cylinder, and when the plunger rises, the chemical liquid passes through the filter and lifts the suction valve upward, and is sucked into the cylinder through the absorption pipe. When the plunger comes down, the chemical liquid is pushed up at this pressure to push the discharge valve to move the chemical liquid to the indwelling chamber, and the compressed chemical liquid accumulates in the indwelling chamber and is sent to the delivery pipe to inject the chemical liquid. It enters the chamber, and the rest is returned to the chemical liquid tank through the drainage port while raising the pressure control valve through the absorption port of the pressure control device. Through this process, the pressure of the chemical liquid is kept constant, and also by the chemical liquid flowing back into the chemical liquid tank. The chemicals in the tank are mixed with each other, and they are operated to spray through a sprayer using the power of the engine.

Meanwhile, in the agricultural sector, improvement of agricultural conditions is urgently due to the decline of the agricultural population, an aging population, and an increase in agricultural management costs. Therefore, it is necessary to have competitiveness in the agricultural field, of which the most important factor is the transformation into a high value-added industry through the grafting of IT and sensor technology.

With recent advances in electronic technology, speed sprayers are being operated unmanned. In general, autonomous driving technology is a technology that enables the vehicle to recognize the driving environment on its own without driver's manipulation and to drive to the target point. Using lane departure prevention system, vehicle change control technology, and obstacle avoidance technology, the starting point and destination are input. Then, it selects the optimal driving route and allows it to drive on its own, and a vehicle to which autonomous driving technology is applied is called an autonomous vehicle or an unmanned vehicle.

These self-driving tractors include a location recognition system using GPS, an Inertial Mwasurement Unit (IMU) technology that measures speed, direction, and acceleration, and a hybrid electronic power steering (EPS) system that monitors the direction of movement during autonomous driving. , Work path creation and follow-up technology, four technologies are grafted. Agricultural machinery such as self-driving tractors can be said to be an essential option for enhancing competitiveness in consideration of the poor agricultural environment and manpower shortages in Korea, but due to the agricultural environment with narrow arable land and many slopes, it is not easily applied in Korea. Actually,

Accordingly, an object of the present invention is to provide a relatively simple and inexpensive speed sprayer capable of autonomous driving by using a Global Navigation Satellite System (GNSS) sensor.

According to the present invention in order to achieve the above object, at least two caterpillars mounted on both sides of the lower body of the speed sprayer to move the speed sprayer, a chemical liquid tank mounted on the central portion of the body to accommodate a chemical solution; A spray unit disposed to spray a chemical solution from the rear of the body; And a control panel installed in front of the main body, wherein the rotation axis of each of the caterpillar is provided with a drive motor for driving the caterpillar through a reducer that operates as an actuator for shifting the rotational speed from the drive motor. Coupled to, and on the control panel,

A Global Navigation Satellite System (GNSS) sensor for detecting the position and movement of the speed sprayer; A memory in which autonomous driving routes are stored; And a processor for controlling the actuator so that the speed sprayer travels along the autonomous driving path based on the detected position and movement of the speed sprayer, and the processor of the control panel uses a GNSS sensor to determine the position and movement of the speed sprayer. Detect motion and determine the quality of the GNSS sensor; Based on the sensed position and movement of the speed sprayer, it is configured to control the speed sprayer to travel along an autonomous driving path stored in the memory of the speed sprayer.

In the above-described aspect, the autonomous driving route is generated based on data acquired by the GNSS sensor while the speed sprayer is driving a preset route.

In addition, in the above-described aspect, when determining the quality of the GNSS sensor, the processor compares a factor for determining the quality of the GNSS sensor with a preset reference value, and when the factor satisfies the preset reference value, a specific time than the current time. It is determined whether the position of the speed sprayer obtained through the GNSS sensor is in good condition by comparing the current position of the speed sprayer predicted through the previous navigation solution with the current position of the speed sprayer obtained through the GNSS sensor. Is configured to judge.

In addition, in the above-described aspect, when it is determined that the position of the speed sprayer obtained through the GNSS sensor is good, the processor obtains a navigation solution prior to the time of the current time, and based on the obtained navigation solution, the processor Based on the current time, a first position after a specific time is estimated, a second position after a specific time than the current time is estimated based on the obtained navigation solution, and the second position is estimated based on the current position of the speed sprayer. The speed sprayer in motion is calculated based on the first vector up to position 1 and the second vector up to the second position based on the current position of the speed sprayer. Is configured to control the direction of movement.

Further, in the above-described aspect, the processor is configured to stop the moving speed sprayer if it is determined that the position of the speed sprayer obtained through the GNSS sensor is not good.

In addition, in the above-described aspect, when it is determined that the position of the speed sprayer obtained through the GNSS sensor is good, the processor compares the speed of the speed sprayer detected by the GNSS sensor with a preset operating speed and It is configured to control the speed.

According to an embodiment of the present invention, it is possible to provide a speed sprayer capable of autonomous driving using a relatively inexpensive GNSS sensor, to secure a significant price competitiveness, and to create an autonomous driving route in a faster time than the conventional one. It can provide a speed sprayer capable of autonomous driving.

1 is a perspective view schematically showing a speed sprayer capable of autonomous driving according to an embodiment of the present invention.
2 is a schematic view showing a caterpillar of a speed sprayer capable of autonomous driving and a driving unit thereof according to an embodiment of the present invention.
3 is a view schematically showing a spray unit and related parts of an autonomous speed sprayer according to an embodiment of the present invention.
4 is a block diagram for explaining a configuration of an autonomous speed sprayer according to an embodiment of the present invention;
5 is a diagram for explaining a method of generating an autonomous driving route according to an embodiment of the present invention;
6 is a flowchart illustrating a method for determining whether a GNSS sensor is abnormal according to an embodiment of the present invention;
7 and 6 are diagrams for explaining a method of updating an autonomous driving route according to an embodiment of the present invention;
8 is a flow chart for explaining a method of controlling a traveling speed of a speed sprayer according to an embodiment of the present invention;
9 is a flowchart illustrating a method of controlling a driving direction of a speed sprayer according to an embodiment of the present invention.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to embodiments to be described later in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms.

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

The same reference numerals refer to the same components throughout the specification. In addition, the terms used in the present specification (referred to) are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. In addition, elements and operations referred to as'comprising (or having)' do not exclude the presence or addition of one or more other elements and operations.

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

Hereinafter, various embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a perspective view schematically showing the appearance of a speed sprayer 1 capable of autonomous driving according to the present invention. The speed sprayer 1 according to the present invention includes a caterpillar 10 mounted under the main body of the speed sprayer 1 to move the speed sprayer 1, a chemical liquid tank mounted in the center of the main body and accommodating a chemical solution. (20); A spray unit 30 disposed to spray a chemical solution from the rear of the body; And a control panel 100 installed in front of the main body.

FIG. 2 is a view showing a state in which the outer case of the speed sprayer 1 is removed in order to show the caterpillar 10 and its related configuration in more detail among the internal configurations of the self-driving speed sprayer 1. The caterpillar 10 is formed at the lower ends of both sides of the main body, and a reducer 10b is connected to each of the drive shafts 10a of the caterpillar 10 on both sides, and the driving force of the caterpillar 10 through the reducer 10b Each of the motors 10c for generating is connected. As one driving motor 10c is provided for each caterpillar 10, even if the same torque is generated from each driving motor 10c, the force transmitted to the caterpillar 10 through the control of the reducer 10b may be different. Through this, it is possible to rotate the speed sprayer 1 to the left or right. The battery 50 for operating the driving motor 10 is disposed on the upper side of the catafilter 10 through a frame, etc., as shown in FIGS. 1 and 2, and the battery 50 and the driving motor 10 As the distance decreases, wiring for implementing the driving motor 10 may be simplified.

3 is a view showing a state in which the outer case of the speed sprayer 1 is removed in order to more specifically show the spray unit 30 and its related configurations among the internal configurations of the self-driving speed sprayer 1.

As shown in Figure 3, the spray unit 30 is a spray engine 31 for rotating the blowing blade 34, a radiator 31a for cooling the engine by being attached to one side of the spray engine 31, a chemical liquid It includes a sprayer 32 for compressing and spraying, and a blowing blade 34 for blowing the sprayed chemical in a direction opposite to the traveling direction of the speed sprayer 1.

The spray engine 31 is connected to the center of the blowing blade 34 through the blade rotation shaft 35, and when the spray engine 31 is operated, the blade rotation shaft 35 is rotated so that the excursion blade 34 is rotated.

Specifically, the blower blade 34 is connected to or separated from a power transmission device connected to the engine by attaching a rotary pulley to the rotating shaft, and attaching a bevel gear to the rotating shaft of the blower blade 34 instead of the rotary pulley to transmit engine power. It may be configured to transmit power by coupling a bevel gear to a cable coupled to the device, and the present invention is not limited thereto, and the present invention is modified or modified so that the driving force from the engine is rotated in various ways. It is obvious to those skilled in the art that it can be.

A sprayer 32 is disposed on the side of the spray engine 31, and the sprayer 32 is connected to the chemical liquid tank 20 through a pipe, compressing the chemical liquid supplied from the chemical liquid tank 20, and extracting the compressed chemical liquid. It is configured to spray toward the blowing blade 34 through the spray nozzle, and a pressure control handle 32a for controlling the pressure in the sprayer 32 is further provided at a part of the sprayer 32, You can adjust the pressure.

The upper part of the control panel 100 includes a Global Navigation Satellite System (GNSS) sensor 121 and a travel sensor 122 to detect the position and movement of the speed sprayer 1, and the GNSS sensor 121 The transmission in the satellite of is meant a sensor that calculates the coordinates of a specific location using radio waves, and the travel sensor 122 collectively refers to a sensor for measuring the speed and direction angle of the speed sprayer 1. The travel sensor 122 may include a steering angle sensor and a speed sensor. The sensor units 121 and 122 will be described in more detail in the corresponding parts below.

In addition, at the top of the control panel 100, a pair of cameras 160 are further included to detect obstacles in the driving direction of the speed sprayer 1, and the forward path when the sprayer 1 is autonomous It is configured to detect obstacles, etc., and notify the processor.

Next, the control panel 100 will be described below. 4 is a block diagram for explaining the configuration of the control panel 100 of the speed sprayer 1 according to an embodiment of the present invention.

The control panel 100 includes a sensor 120, a memory 130, a processor 140, and a camera 160 so that it can be implemented as an unmanned autonomous vehicle that can autonomously move along a preset route even if the user is not on board. Can include.

The actuator unit 110 is a component for controlling the driving-related components of the speed sprayer 1. For example, the actuator unit 110 includes an accelerator actuator, a brake actuator, and a steering angle control actuator, and increases the rotation speed of the caterpillar 10 provided in the speed sprayer 1 through the accelerator actuator, or brake By reducing the rotation speed of the wheels provided in the speed sprayer (1) through an actuator, stopping the wheels, or by varying the rotation speed of the caterpillar 10 on both sides of the speed sprayer (1) through the steering angle control actuator. It is made to rotate the speed sprayer 1 to the left or right.

In addition, the actuator unit 110 may refer to a configuration including a motor 10c and a reducer 10a provided to drive the caterpillar 10, and includes all configurations related to a brake or an accelerator, as described above. It may be understood as collectively referring to configuration.

The sensor 120 detects the position and movement of the speed sprayer 1. To this end, the sensor 120 may include a Global Navigation Satellite System (GNSS) sensor 121 and a travel sensor 122 as shown in FIG. 4.

The GNSS sensor 121 may measure the position, speed, and direction angle of the speed sprayer 1 using a satellite. Here, the position, speed, direction angle, etc. of the speed sprayer 1 acquired through the GNSS sensor 121 may be referred to as a side hazard of the GNSS sensor 121.

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

The GNSS sensor 121 determines its own location using a GNSS signal received from a satellite, receives positioning correction information from a Real Time Kinematic (RTK) reference station 300, and uses the positioning correction information to provide a GNSS signal. You can correct your position determined through.

Meanwhile, according to an embodiment of the present invention, the GNSS sensor 121 may be implemented as a low-cost GNSS sensor based on a single frequency. That is, in the case of the speed sprayer 1, since it moves at a relatively low speed compared to a drone, a vehicle, a ship, etc., a sufficiently accurate position can be measured with only a single frequency.

As described above, according to an embodiment of the present invention, since a single frequency-based GNSS sensor is used, it is possible to measure the position of the speed sprayer 1 at a lower cost than a sensor using two or more frequencies. In this case, the RTK reference station 300 may generate positioning correction information so as to calculate a position with cm-class accuracy and provide it to the low-cost GNSS sensor 121.

The travel sensor 122 may measure the speed and direction angle of the speed sprayer 1. To this end, the travel sensor 122 may include a steering angle sensor for measuring the direction angle of the speed sprayer 1 and a speed sensor for measuring the speed of the speed sprayer 1.

The memory 130 stores autonomous driving routes. In this case, the speed sprayer 1 can be autonomously driven according to an autonomous driving route unmanned, not by a person. Meanwhile, as shown in Fig. 4, the speed sprayer 1 further provides a mode selection unit for selecting whether to operate the speed sprayer 1 by unmanned driving or whether the driver will directly drive the vehicle through a remote control, etc. It could be.

When the user selects manual driving through the mode selection unit, the processor operates the vehicle based on remote control operation from the user, whereas when the user selects unmanned driving through the mode selection unit, the processor operates the vehicle in a predetermined autonomous driving mode. .

The autonomous driving route may be generated based on data obtained by the GNSS sensor 120 while the speed sprayer 1 is driving a preset route. For example, as for the autonomous driving path, the speed sprayer 1 travels in advance on a path (for example, a path such as arable land, rough road, road, etc.), and the speed sprayer obtained from the GNSS sensor 120 ( 1) It can be created by its position, speed and direction angle. A specific method of generating such an autonomous driving route will be described later.

In addition, the memory 130 may store the path generation module 141 and the motion control module 142 shown in FIG. 4. Meanwhile, although modules are individually illustrated in FIG. 4, it is obvious that at least two modules may be combined and implemented as a single unit.

The processor 140 controls the overall operation of the speed sprayer 1. To this end, the processor 140 executes a dedicated processor (eg, an embedded processor) for controlling the operation of the speed sprayer 1, or one or more software programs stored in a memory device, thereby performing the corresponding operations. It may be implemented as a processor (generic-purpose processor) (eg, a CPU or an application processor).

First, the processor 140 may determine the operation mode of the speed sprayer 1 and, in the case of the unmanned driving mode, may first generate an autonomous driving route. In this case, the processor 140 may generate an autonomous driving route by executing the route generating module 141 and using data acquired from the GNSS sensor 121 as an input of the route generating module 141.

Specifically, the processor 140 may acquire the geodetic coordinates of the speed sprayer 1 through the GNSS sensor 121 while the speed sprayer 1 travels on a preset path. Here, the geodetic coordinates may include information on latitude, longitude, and ellipsoid height.

In addition, the processor 140 may convert the obtained geodetic coordinates into local coordinates. That is, since the geodetic coordinates are coordinates based on the earth ellipsoid, the processor 140 may convert the geodetic coordinates into local coordinates in a rectangular coordinate format. Here, the local coordinates may include x,y coordinates (eg, east and north coordinates based on a specific reference point) and height information based on a specific reference point.

In addition, the processor 140 may obtain the direction angle of the speed sprayer 1 through the GNSS sensor 121 and determine the shape of the path through which the speed sprayer 1 moves based on the obtained direction angle. have. Here, the shape of the path may include a rotation path and a straight path.

In this case, the processor 140 compares the direction angle of the current speed sprayer 1 through the GNSS sensor 121 with the direction angle of the speed sprayer 1 acquired before a specific time before the current time, It can be determined whether the path (1) is traveling corresponds to a rotation path or a straight path.

Specifically, if the difference between the current direction angle of the speed sprayer 1 and the direction angle of the speed sprayer 1 acquired before a specific time is greater than or equal to a preset value, the speed sprayer 1 proceeds. It is determined that the path to be rotated corresponds to the rotation path, and if the difference between the current direction angle of the speed sprayer 1 and the direction angle of the speed sprayer 1 acquired before a specific time is less than a preset value, the speed sprayer It can be determined that the path (1) proceeds corresponds to a straight path.

Thereafter, the processor 140 may generate an autonomous driving route based on the determined route type and local coordinates, and store the generated autonomous driving route in the memory 130.

Specifically, the processor 140 may generate an autonomous driving route by setting waypoints (waypoints) according to the determined route type and mapping local coordinates and route vectors for each waypoint.

Referring back to FIG. 4, the speed sprayer 1 further includes at least two binocular cameras 160 disposed in front of the vehicle, the binocular camera is connected to the processor 140, and the processor is an obstacle on the forward movement path. It is determined whether there is an obstacle, and if there is an obstacle, the processor 140 determines distance information to the obstacle using phase difference information from the binocular camera, and based on the current speed and steering angle of the speed sprayer 1 Whether it collides with an obstacle is determined.

When it is expected that an obstacle is encountered, the processor 140 may perform an emergency stop or command the path generation module 141 of the processor 140 to search for another autonomous driving path.

Next, a method of setting a waypoint will be described with reference to FIG. 5. For example, as shown in (a) of FIG. 5, the speed sprayer 1 moves along point 211 → point 212 → point 213 → point 214 → point 215 → point 216 → point 217 → point 218 → point 219 Assume the case.

In this case, the regional coordinates for each point are composed of x,y coordinates and height h based on a specific reference point, and in FIG. 5, (xn,yn,hn) for each point (where n is 1 to 9 ).

In this case, the processor 140 indicates that the path moved along the point 211 → the point 212 → the point 213 is that the difference between the direction angles between these points is less than a preset value, and the corresponding path corresponds to a straight path. For the path that traveled along point 213 → point 214 → point 215 → point 216, since the difference between the direction angles between these points is more than a preset value, it is determined that the corresponding path corresponds to a curved path. , Point 216 → point 217 → point 218 → point 219, the difference between the direction angles between these points is less than a preset value, and the corresponding path can be determined to correspond to a straight path. .

In this case, the processor 140 may set a starting point and an ending point of the linear path as waypoints for points included in the linear path. In addition, the processor 140 may map local coordinates to the waypoint and map a path vector from the start point to the end point to the waypoint of the start point, thereby generating an autonomous driving route for a straight line.

Also, for points included in the curved path, the processor 140 may set points included in the curved path as waypoints. Further, the processor 140 may generate an autonomous driving route for a curved path by mapping local coordinates to the waypoints and mapping a path vector from each point to the next point to the waypoints of each point.

For example, in (a) of FIG. 5, the speed sprayer 1 moves along a point 211 → a point 212 → a point 213, in that the path corresponds to a straight path. As in b), point 211 and point 213 are set as waypoints for the corresponding route, local coordinates (x1,y1,h1) are mapped to waypoint 1 (ie, point 211), and local coordinates (x3,y3 ,h3) is mapped to waypoint 2 (i.e., point 213), and the vector 221 connecting waypoint 1 to waypoint 2 is mapped to waypoint 1 (i.e., point 211), and speed sprayer (1) It is possible to create an autonomous driving route for a route that traveled along point 211 → point 212 → point 213.

In addition, in (a) of FIG. 5, the path that the speed sprayer 1 moves along the point 213 → the point 214 → the point 215 → the point 216 corresponds to a curved path, and the processor 140 is shown in FIG. As in (b), point 213, point 214, point 215, and point 216 are set as waypoints for the corresponding route, and local coordinates (x3,y3,h3) are mapped to waypoint 2 (i.e., point 213). , Local coordinates (x4,y4,h4) are mapped to waypoint 3 (i.e., point 214), local coordinates (x5,y5,h5) are mapped to waypoint 4 (i.e., point 215), and local coordinates ( x6,y6,h6) is mapped to waypoint 5 (i.e., point 216), and the vector 222 connecting waypoint 2 to waypoint 3 is mapped to waypoint 2 (i.e., point 213), and waypoint 3 Mapping the vector 223 connecting waypoint 4 in the waypoint 3 (i.e., point 214), and mapping the vector 224 connecting waypoint 4 to waypoint 5 to waypoint 4 (ie, point 215) , Point 213 → point 214 → point 215 → point 216, it is possible to create an autonomous driving route for a route that has moved along.

In addition, in (a) of FIG. 5, the path that the speed sprayer 1 moves along the point 216 → point 217 → point 218 → point 219 corresponds to a straight path, and the processor 140 is shown in FIG. As shown in (b), point 216 and point 219 are set as waypoints for the corresponding route, local coordinates (x6,y6,h6) are mapped to waypoint 5 (that is, point 216), and local coordinates (x9, y9,h9) is mapped to waypoint 6 (i.e., point 219), and the vector 225 connecting waypoint 5 to waypoint 6 is mapped to waypoint 5 (i.e., point 216), and the speed sprayer (1) ) Can create an autonomous driving route for a route that traveled along point 216 → point 217 → point 218 → point 219.

As described above, according to an embodiment of the present invention, for autonomous driving, instead of storing the entire map including the route and the periphery of the route, the speed sprayer 1 travels the route to be actually driven in advance and It can only store information about. In addition, it is possible to generate an autonomous driving route by selectively storing location-related information according to the shape of the route, rather than storing all location-related information acquired on a corresponding route.

In addition, according to an embodiment of the present invention, even if an obstacle is encountered when the speed sprayer 1 moves along the generated autonomous driving path, the processor 140 determines whether or not there is a collision based on the input from the camera 160. It is possible to autonomously drive the speed sprayer 1 more stably by determining and searching for another route.

Accordingly, according to an embodiment of the present invention, it is possible to generate an optimal autonomous driving route without using a drone with an expensive sensor or a Mobile Mapping System (MMS). Efficiency can be maximized in terms of phosphorus.

Meanwhile, the processor 140 may control the speed sprayer 1 to travel along the autonomous driving path. Specifically, the processor 140 controls the actuator unit 110 so that the speed sprayer 1 travels along the autonomous driving path based on the position and movement of the speed sprayer 1 sensed through the sensor 120. can do. In this case, the processor 140 may determine whether or not the GNSS sensor 121 is abnormal, and accordingly, control the running of the speed sprayer 1.

Hereinafter, a method of determining whether the GNSS sensor 121 is abnormal will be described in more detail with reference to FIG. 6.

First, in step S305, a quality determination factor is received from the GNSS sensor 121. Subsequently, in step S310, the processor 140 compares a factor for determining the quality of the GNSS sensor 121 with a preset reference value. Here, the quality determination factor may include at least one of the type of ambiguity, the location precision, the number of satellites, and DOP (Dilution Of Precision) of the GNSS sensor 121, and such information may be obtained from the GNSS sensor 121. I can.

In this case, in step S320, when the quality determination factor does not satisfy the preset reference value, the step proceeds to S330 and may determine that the current location state is bad. In this way, if the quality determination factor does not satisfy a preset reference value, the processor 140 may see that the accuracy of the data acquired from the GNSS sensor 121 is poor. Accordingly, the processor 140 does not use the position-related information obtained from the GNSS sensor 121 to control the running of the speed sprayer 1, and when the speed sprayer 1 is running, the speed sprayer ( The actuator unit 110 can be controlled to stop the driving of 1).

For example, the processor 140 may generate a control signal for stopping the driving of the caterpillar and provide the generated control signal to the actuator unit 110. In this case, the actuator unit 110 may stop driving the caterpillar by driving the brake actuator or the reducer according to the control signal provided from the processor 140.

Meanwhile, when the quality determination factor satisfies a preset reference value (S320-Y), the processor 140 stores data acquired through the GNSS sensor 121 in the memory 130 (S340). Here, the data acquired through the GNSS sensor 121 may include the position, speed, and direction angle of the speed sprayer 1.

Then, the processor 140 predicts the current position of the speed sprayer 1 through a navigation solution before a specific time before the current time (350).

That is, the processor 140 uses the data acquired through the GNSS sensor 121 before a specific time than the current time, and the position of the speed sprayer 1 at a specific time after the corresponding time, that is, at the current time. The position of the speed sprayer 1 can be predicted.

Specifically, the processor 140 is the position at the previous time, the speed at the previous time, the direction angle at the previous time, and the previous time and the present time of the speed sprayer 1 acquired through the GNSS sensor 121 at the previous time. Using the time difference between times, it is possible to predict the position of the speed sprayer 1 at the current time.

That is, when the speed sprayer 1 moves from the position at the previous time to the direction at the previous time for a time difference at the speed at the previous time, the speed sprayer 1 is The position to be reached can be predicted by the position of the speed sprayer 1 at the current time.

Then, the processor 140 may measure the current position of the speed sprayer 1 based on GNSS (S360). That is, the processor 140 may acquire the current position of the speed sprayer 1 through the GNSS sensor 121 at the current time.

Thereafter, the processor 140 compares the predicted current position of the speed sprayer 1 with the current position of the speed sprayer 1 acquired through the GNSS sensor 121, and is obtained through the GNSS sensor 121. It can be determined whether the position of the speed sprayer 1 is in a good state.

Specifically, the processor 140 may calculate a distance difference between the predicted current position of the speed sprayer 1 and the current position of the speed sprayer 1 acquired through the GNSS sensor 121 (S370). .

In addition, when the distance difference does not satisfy the reference value (S380-N) (ie, when the distance difference exceeds a preset reference value), the processor 140 may determine that the current location state is bad (S330). That is, when the distance difference does not satisfy the reference value, the processor 140 may determine that the position of the speed sprayer 1 measured by the GNSS sensor 121 is bad.

As described above, when it is determined that the position of the speed sprayer 1 measured by the GNSS sensor 121 is determined to be bad, the processor 140 transmits the position-related information obtained from the GNSS sensor 121 to the speed sprayer 1. When the speed sprayer 1 is not used to control the driving, and the speed sprayer 1 is running, the actuator unit 110 may be controlled to stop the driving of the speed sprayer 1 (S380).

Meanwhile, when the distance difference satisfies the reference value (S380-Y) (that is, when the distance difference is less than a preset reference value), the processor 140 may determine that the current location state is good (S290). That is, when the distance difference satisfies the reference value, the processor 140 may determine that the position of the speed sprayer 1 measured by the GNSS sensor 121 is good.

In this case, when it is determined that the position of the speed sprayer 1 measured by the GNSS sensor 121 is good, the processor 140 uses the position-related data measured by the GNSS sensor 121 to use the speed sprayer 1 ) Can be controlled.

As such, according to an embodiment of the present invention, in that inaccurate data may be measured in relation to the position of the speed sprayer 1 in the GNSS sensor 121 according to the surrounding environment, the speed sprayer 1 When controlling the driving, it is possible to more accurately control autonomous driving in that it is possible to determine whether the data acquired by the GNSS sensor 121 is abnormal, and to control the driving of the speed sprayer 1 according to the result. There will be.

Meanwhile, the processor 140 may update the autonomous driving route and control the speed sprayer 1 to travel along the updated autonomous driving route.

That is, when the speed sprayer 1 deviates from the autonomous driving route, the processor 140 determines which waypoint among a plurality of waypoints existing around the speed sprayer 1 corresponds to a target point to which the speed sprayer 1 should travel. It may determine and update the autonomous driving route based on the determined waypoint. In addition, the processor 140 may control the speed sprayer 1 to travel along the updated autonomous driving path.

First, the processor 140 may determine whether the position of the speed sprayer 1 acquired through the GNSS sensor 121 is in a good state (S410). Thereafter, when the position of the speed sprayer 1 acquired through the GNSS sensor 121 is good, the processor 140 may obtain the current position of the speed sprayer 1 through the GNSS sensor 121 ( S420).

Further, the processor 140 may determine whether the speed sprayer 1 deviates from the autonomous driving path based on the current position of the speed sprayer 1 and the autonomous driving path (S430).

Specifically, the processor 140 compares the current position of the speed sprayer 1 acquired through the GNSS sensor 121 with a position defined between waypoints according to the position of the waypoint and the path vector, When the current position of the air 1 is not included in the corresponding positions or is more than a preset distance from the corresponding positions, it may be determined that the speed sprayer 1 has deviated from the autonomous driving route.

In addition, when it is determined that the speed sprayer 1 has deviated from the autonomous driving path (S430-Y), the processor 140 draws a vertical line perpendicular to the path vector based on the current position of the speed sprayer 1 It can be determined (S440).

Thereafter, the processor 140 may update the autonomous driving route based on the vertical line (S450).

Specifically, the processor 140 determines a vertical line having the shortest distance among vertical lines orthogonal to the path vector, and the speed sprayer 1 deviating from the current path moves the waypoint to which the path vector meets the determined vertical line. By setting a new waypoint to be done, the autonomous driving route can be updated.

For example, as shown in FIG. 8, the speed sprayer 1 deviates from the autonomous driving route and is currently located at a point 510, and three waypoints 520 around the current position 510 of the speed sprayer 1 530, 540) are assumed to exist.

In this case, the processor 140 uses the current position 510 of the speed sprayer 1 as a starting point and a vertical line 570 perpendicular to the path vector 550 from the waypoint 1 520 to the waypoint 2 530. ) And the current position 510 of the speed sprayer 1 as a starting point, a vertical line 580 perpendicular to the path vector 560 from the waypoint 2 530 to the waypoint 3 540 may be determined. .

In addition, the processor 140 compares the distance between the vertical line 570 and the vertical line 580, determines a relatively short vertical line 570 among them, and determines the path vector 550 where the vertical line 570 meets. Point 2 (530) is set as the waypoint that the speed sprayer 1 should move from the current position 510, and the path vector 590 from the current position 510 to the waypoint 2 530 is set to the current position ( By mapping to the location of 510, the autonomous driving route may be updated to the current location 510 → waypoint 2 530 → waypoint 3 540.

Meanwhile, the processor 140 may control the actuator unit 110 so that the speed sprayer 1 travels along an autonomous driving path.

That is, when the speed sprayer 1 moves along the autonomous driving path, the processor 140 does not deviate from the autonomous driving path, and the actuator unit 140 drives the speed sprayer 1 along the autonomous driving path at a constant operating speed. 110) can be controlled.

In this case, the processor 140 executes the motion control module 142, and inputs the data acquired from the sensor 120 and the data on the autonomous driving route acquired from the memory 130 to the motion control module 142. As a result, a control signal for controlling the actuator unit 110 may be generated, and the generated control signal may be output to the actuator unit 110. Accordingly, the actuator unit 110 may control the traveling of the speed sprayer 1 by driving an accelerator actuator, a brake actuator, and a steering angle control actuator according to a control signal provided from the processor 140.

Hereinafter, a method of controlling the traveling speed of the speed sprayer 1 will be described with reference to FIG. 9.

First, the processor 140 may determine whether the position of the speed sprayer 1 obtained through the GNSS sensor 121 is good. In this case, the processor 140 may determine whether the position of the speed sprayer 1 obtained through the GNSS sensor 121 is good according to the method shown in FIG. 6 (S610).

In addition, if it is determined that the position of the speed sprayer 1 acquired through the GNSS sensor 121 is not good (S620-N), the processor 140 may stop the moving speed sprayer 1 .

In this case, the processor 140 may drive the brake actuator (S630). Specifically, the processor 140 may generate a control signal for stopping the driving of the wheel, and may provide the generated control signal to the actuator unit 110. In this case, the actuator unit 110 may stop driving the wheel by driving the brake actuator (reducer) according to the control signal provided from the processor 140.

On the other hand, if the processor 140 determines that the position of the speed sprayer 1 acquired through the GNSS sensor 121 is good (S620-Y), the speed sprayer 1 detected by the GNSS sensor 121 It is possible to control the speed of the speed sprayer 1 by comparing the speed of the speed with a preset operating speed.

In this case, when the speed sensed by the GNSS sensor 121 exceeds the preset operating speed, the processor 140 reduces the speed of the moving speed sprayer 1 and is detected by the GNSS sensor 121 When the set speed is less than the preset operating speed, the speed of the moving speed sprayer 1 can be increased.

Specifically, the processor 140 may calculate a difference between the current speed of the speed sprayer 1 detected by the GNSS sensor 121 and a preset operating speed (S640).

Further, the processor 140 may control the speed of the speed sprayer 1 based on a difference between the current speed of the speed sprayer 1 and a preset operating speed.

Specifically, the processor 140 may determine whether a difference between the current speed of the speed sprayer 1 and a preset operating speed exceeds a preset reference value (S650).

In this case, when the difference between the current speed of the speed sprayer 1 and the preset operating speed exceeds a preset reference value (S650-Y), the processor 140 may drive the brake actuator (S630).

Specifically, the processor 140 determines the speed to be reduced from the current speed in order for the speed of the speed sprayer 1 to become a preset operating speed, and reduces the speed of the speed sprayer 1 by the determined speed. It is possible to generate a control signal to be provided to the actuator unit 110. In this case, the actuator unit 110 may reduce the speed of the wheel by driving the brake actuator according to the control signal provided from the processor 140. Accordingly, the speed sprayer 1 can run at a preset operating speed.

Meanwhile, when the difference between the current speed of the speed sprayer 1 and the preset operating speed does not exceed a preset reference value (S650-N), the processor 140 may determine whether the difference is less than a preset reference value. .

In addition, when the difference between the current speed of the speed sprayer 1 and the preset operation speed is less than a preset reference value (S660-Y), the processor 140 may drive the actuator (S670).

Specifically, the processor 140 determines the speed to be increased from the current speed in order for the speed of the speed sprayer 1 to become a preset operating speed, and increases the speed of the speed sprayer 1 by the determined speed. It is possible to generate a control signal to be provided to the actuator unit 110. In this case, the actuator unit 110 may increase the speed of the wheel by driving the accelerator actuator according to the control signal provided from the processor 140. Accordingly, the speed sprayer 1 can run at a preset operating speed.

Meanwhile, when the difference between the current speed of the speed sprayer 1 and the preset operating speed does not fall below a preset reference value (S660-N), the processor 140 may return to step S610 and repeat the above-described steps. As a result, the processor 140 may control the speed sprayer 1 to travel along the autonomous driving path at a preset operating speed through the above-described method.

Hereinafter, a method of controlling the traveling direction of the speed sprayer 1 will be described with reference to FIG. 10.

First, the processor 140 may determine whether the position of the speed sprayer 1 obtained through the GNSS sensor 121 is good. In this case, the processor 140 may determine whether the position of the speed sprayer 1 acquired through the GNSS sensor 121 is good according to the method illustrated in FIG. 6.

In addition, when it is determined that the position of the speed sprayer 1 acquired through the GNSS sensor 121 is good, the processor 140 obtains a navigation solution (S710). Specifically, the processor 140 may acquire the position, speed, and direction angle of the speed sprayer 1 through the GNSS sensor 121 at the current time.

In addition, the processor 140 may estimate the first position after a specific time on the autonomous driving route based on the current time based on the obtained navigation solution. That is, the processor 140 may estimate the GNSS sensor 121 at the current time. ), it is possible to estimate a position at which the speed sprayer 1 will travel on the autonomous driving route after a specific time from the current time (S720).

Specifically, when the speed sprayer 1 travels along the autonomous driving route for a specific time from the position of the current time to the speed of the current time, the processor 140 is The position may be estimated as a position at which the speed sprayer 1 will travel on an autonomous driving route after a specific time.

Also, the processor 140 may estimate the second position after a specific time based on the current time based on the obtained navigation solution.

Specifically, when the speed sprayer 1 travels for a specific time at the speed of the current time along the moving direction at the current time, not on the autonomous driving route, from the position of the current time, the processor 140 The position arriving at the elapsed time can be estimated as a position at which the speed sprayer 1 will travel after a specific time.

In addition, the processor 140 is the first vector to the first position based on the current position of the speed sprayer 1 and the second vector to the second position based on the current position of the speed sprayer (1). The direction angle difference may be calculated (S730).

That is, the processor 140 generates a first vector connecting the first position from the current position of the speed sprayer 1 and a second vector connecting the second position from the current position, respectively, and the first and second vectors You can calculate the difference in the direction angle between

Thereafter, the processor 140 may control the moving direction of the moving speed sprayer 1 based on the calculated difference in direction angle.

Specifically, the processor 140 uses the Steering Dynamic Model to change the driving direction of the speed sprayer 1 by the calculated direction angle, and the steering angle to be rotated by making the driving force transmitted to the capper pillars on both sides different. Can be calculated (S740).

In addition, the processor 140 may drive an actuator for controlling the steering angle based on the calculated steering angle. That is, the processor 140 may generate a control signal for rotating the rotation axis of the wheel by the calculated steering angle and provide it to the actuator unit 110. In this case, the actuator unit 110 may drive the steering angle control actuator according to the control signal provided from the processor 140 to rotate the speed sprayer 1 in the left or right direction by the calculated steering angle. Accordingly, the speed sprayer 1 can travel along the autonomous driving path without leaving the autonomous driving path.

Meanwhile, in the above-described example, in order to control the running of the speed sprayer 1, the processor 140 uses data acquired from the travel sensor 122, for example, the speed and direction angle of the speed sprayer 1 May be.

In addition, in the above-described example, the processor 140 may estimate a position at which the speed sprayer 1 will travel on the autonomous driving path after a specific time by using the updated autonomous driving path.

In addition, in the above-described example, the processor 140 determines the case where the position of the speed sprayer 1 obtained through the GNSS sensor 121 is good, and accordingly, the traveling speed and the traveling speed of the speed sprayer 1 Although it has been described as controlling the direction, according to the embodiment, the speed obtained through the GNSS sensor 121 is used without determining whether the position of the speed sprayer 1 is good. Of course, it is possible to control the running speed and the running direction of the sprayer 1.

Meanwhile, referring to FIG. 4, the communication unit 150 may perform communication with the server 200 based on various types of communication methods. For example, the communication unit 150 may perform communication with the server 200 through a mobile communication network such as 3G (3Generation) and LTE (Long Term Evolution).

In this case, the processor 140 may transmit and receive various data to and from the server 200 through the communication unit 150. For example, the processor 140 includes information on the measurement including the position, speed, and direction angle of the speed sprayer 1 and information on the driving/operation status of the speed sprayer 1 (for example, speed sprayer 1). (1) driving start time information, driving time information, information on abnormal conditions, etc.) may be transmitted to the server 200 through the communication unit 150. In addition, the processor 140 may receive control information for controlling the operation of the speed sprayer 1 and information for updating firmware from the server 200 through the communication unit 150.

Server 200 (e.g., Speed Sprayer Internet of Things (IoT) Server) is an IoT-based platform that allows users or administrators to check information related to the operation of the speed sprayer (1). Various information related to the operation of the speed sprayer 1 including the information provided from may be stored. In addition, the server 200 may transmit various types of information related to the operation of the speed sprayer 1 to the electronic device 300 of a user or an administrator. For example, the server 200 provides information on the measurement including the position, speed, and direction angle of the speed sprayer 1 through a mobile communication network such as 3G and LTE, and the running/ Information on the operation situation may be transmitted to the electronic device 300.

The electronic device 300 may perform a function for controlling the speed sprayer 1. In this case, the electronic device 300 is implemented as a dedicated controller for controlling the speed sprayer 1, or a smartphone or a tablet PC (tablet personal computer) in which an application for executing the function is installed. Can be implemented.

To this end, the electronic device 300 may provide a user interface for controlling the speed sprayer 1 to the electronic device. In the user interface, information indicating the current operating status of the speed sprayer 1 provided from the server may be displayed, and a GUI (Graphical User Interface) for receiving a user command for controlling the speed sprayer 1 is provided. Can be displayed.

Next, an autonomous driving method of a speed sprayer according to an embodiment of the present invention will be described below.

First, the processor uses sensors to detect the position and movement of the speed sprayer. And, based on the detected position and movement of the speed sprayer, the speed sprayer is controlled to travel along the autonomous driving path stored in the memory. Here, the sensor may include a Global Navigation Satellite System (GNSS) sensor. The autonomous driving route may be generated based on data acquired from the GNSS sensor while the speed sprayer is driving the preset route. Here, the data acquired from the GNSS sensor may include the position, speed, and direction angle of the speed sprayer.

Meanwhile, while the speed sprayer is traveling on a preset path, the speed sprayer's geodesic coordinates are acquired through the GNSS sensor, the acquired geodesic coordinates are converted into local coordinates, and the speed sprayer's direction angle is acquired through the GNSS sensor. , Based on the obtained direction angle, the shape of the route the speed sprayer moves is determined, an autonomous driving route is generated based on the local coordinates and the determined route shape, and the generated autonomous driving route may be stored in the speed sprayer. .

On the other hand, the step of controlling to drive along the autonomous driving route stored in the speed sprayer is to compare a factor for determining the quality of the GNSS sensor with a preset reference value, and if the factor satisfies the preset reference value, it is less than the current time. By comparing the current position of the speed sprayer predicted through the navigation solution before a certain time and the current position of the speed sprayer obtained through the GNSS sensor, it is determined whether the position of the speed sprayer obtained through the GNSS sensor is in good condition. , It is possible to control the running of the speed sprayer according to the determined state. In this case, if it is determined that the position of the speed sprayer obtained through the GNSS sensor is not good, the speed sprayer in motion may be stopped.

In addition, if it is determined that the position of the speed sprayer obtained through the GNSS sensor is good, the speed of the speed sprayer detected by the GNSS sensor is compared with a preset operating speed to control the speed of the speed sprayer. Specifically, if the detected speed exceeds a preset operating speed, the speed of the moving speed sprayer may be reduced, and if the detected speed is less than the preset operating speed, the speed of the moving speed sprayer may be increased. .

On the other hand, the step of controlling to drive along the autonomous driving path stored in the speed sprayer is to obtain a navigation solution prior to the time of the current time when it is determined that the position of the speed sprayer obtained through the GNSS sensor is good, and the obtained navigation Based on the solution, the first position after a specific time is estimated based on the current time on the autonomous driving route, and the second position after a specific time is estimated based on the obtained navigation solution, and the current speed sprayer The direction angle difference between the first vector to the first position based on the position and the second vector to the second position based on the current position of the speed sprayer is calculated, and the moving speed based on the calculated direction angle difference The direction of movement of the sprayer can be controlled.

Meanwhile, a specific method of controlling the autonomous driving of the speed sprayer has been described above. Meanwhile, various embodiments of the present disclosure may be implemented as software including instructions stored in a machine-readable storage media (eg, a computer). The device is stored from a storage medium. As a device capable of calling a command and operating according to the called command, it may include an electronic device (eg, electronic device A) according to the disclosed embodiments. When the command is executed by a processor, the processor is directly executed by the processor. Alternatively, a function corresponding to the command may be performed using other components under the control of the processor.

Instructions may include code generated or executed by a compiler or interpreter. A storage medium that can be read by a device may be provided in the form of a non-transitory storage medium. Here,'non-transient' means that the storage medium does not contain a signal and is tangible, but does not distinguish between semi-permanent or temporary storage of data in the storage medium.

According to one embodiment, the method according to various embodiments disclosed in the present invention may be provided by being included in a computer program product. Computer program products can be traded between sellers and buyers as commodities. The computer program product may be distributed online in the form of a device-readable storage medium (eg, compact disc read only memory (CD-ROM)) or through an application store (eg, Play StoreTM). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily generated in a storage medium such as a server of a manufacturer, a server of an application store, or a memory of a relay server.

Each of the constituent elements (eg, modules or programs) according to various embodiments may be composed of a singular or a plurality of entities, and some sub-elements of the aforementioned sub-elements are omitted, or other sub-elements are various. It may be further included in the embodiment. Alternatively or additionally, some constituent elements (eg, a module or a program) may be integrated into one entity, and functions performed by each corresponding constituent element prior to the consolidation may be performed identically or similarly. Operations performed by modules, programs, or other components according to various embodiments are sequentially, parallel, repetitively or heuristically executed, or at least some operations are executed in a different order, omitted, or other operations are added. Can be.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Accordingly, the embodiments posted in the present invention are for explanation, not for limiting the technical idea of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments.

Therefore, the scope of protection of the present invention should be interpreted by the following claims rather than limited by the above-described embodiments, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

1: speed sprayer 10: caterpillar
20: medicine tank 30: spray unit
10a: Caterpillar drive shaft 10b: Reducer (or actuator)
10c: motor 50: battery
31: engine for blowing blades 31a: radiator
32: sprayer 32a: pressure control handle
35: blower blade rotation shaft 34: blower blade
33: air vent 110: actuator unit
120: sensor 130: memory
140: processor

Claims (6)

At least two caterpillars mounted on both sides of a lower body of the speed sprayer to move the speed sprayer, a driving unit for transferring power to the caterpillar, a chemical liquid tank mounted on the body and accommodating a chemical solution; A spray unit disposed to spray a chemical solution from the rear of the body; And in the self-driving speed sprayer including a control panel installed in front of the body,
In the control panel,
A Global Navigation Satellite System (GNSS) sensor for detecting the position and movement of the speed sprayer;
A memory in which autonomous driving routes are stored;
Including; a processor for controlling an actuator such that the speed sprayer travels along the autonomous driving path based on the detected position and movement of the speed sprayer,
The processor of the control panel
Detects the position and movement of the speed sprayer using a GNSS sensor,
Judging the quality of the GNSS sensor;
Characterized in that configured to control the speed sprayer to travel along the autonomous driving path stored in the memory of the speed sprayer based on the sensed position and movement of the speed sprayer
Speed sprayer capable of autonomous driving.
The method of claim 1,
The autonomous driving route is generated based on data acquired from the GNSS sensor while the speed sprayer is driving a preset route.
Speed sprayer capable of autonomous driving.
The method of claim 2,
The determination of the quality of the GNSS sensor in the processor,
When the factor for determining the quality of the GNSS sensor is compared with a preset reference value, and the factor satisfies the preset reference value, the current position of the speed sprayer predicted through a navigation solution before a specific time before the current time And comparing the current position of the speed sprayer obtained through the GNSS sensor to determine whether the position of the speed sprayer obtained through the GNSS sensor is in a good state.
Speed sprayer capable of autonomous driving.
The method of claim 3,
When it is determined that the position of the speed sprayer acquired through the GNSS sensor is good, the processor acquires a navigation solution prior to the time of the current time, and based on the current time on the autonomous driving route based on the obtained navigation solution. Estimates a first position after a specific time, estimates a second position after a specific time than the current time based on the obtained navigation solution, and determines the first position to the first position based on the current position of the speed sprayer. 1 Calculates the difference in direction angle between the vector and the second vector to the second position based on the current position of the speed sprayer, and controls the moving direction of the moving speed sprayer based on the calculated difference in direction angle Configured to
Speed sprayer capable of autonomous driving.
The method of claim 2,
The processor is configured to stop the speed sprayer in motion if it determines that the speed sprayer's position acquired through the GNSS sensor is not good.
Speed sprayer capable of autonomous driving.
The method of claim 2,
When it is determined that the position of the speed sprayer acquired through the GNSS sensor is good, the processor is configured to control the speed of the speed sprayer by comparing the speed of the speed sprayer detected by the GNSS sensor with a preset operating speed.
Speed sprayer capable of autonomous driving.

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