KR20210157043A - Autonomous agricultural machine device to increase the recognition rate of autonomous traveling path and operation method thereof - Google Patents

Abstract

The present invention relates to an autonomous agricultural machine device, and in detail, to a technology for increasing recognition accuracy when an autonomous agricultural machine recognizes an autonomous driving route and environment. The autonomous agricultural machine device of the present invention comprises: a tillage line marking module for marking tillage lines on a farmland along a running direction of the autonomous agricultural machine device; and an autonomous driving control module for determining an uncultivated area, based on the tillage lines formed by the tillage line marking module and image information of the farmland, and controlling the autonomous agricultural machine device to travel the uncultivated area.

Description

AUTONOMOUS AGRICULTURAL MACHINE DEVICE TO INCREASE THE RECOGNITION RATE OF AUTONOMOUS TRAVELING PATH AND OPERATION METHOD THEREOF

The present invention is an autonomous driving agricultural machine device, and in detail, a technology for increasing recognition accuracy when an autonomous driving agricultural machine device recognizes an autonomous driving route and environment.

Recently, the domestic industry is building an industrial system comparable to the level of advanced technological countries such as the United States, Germany, and Japan by converging artificial intelligence and ICT technology under the slogan of the 4th industrial revolution. This change in the industrial structure also affects the agricultural sector, and the smart farm is cited as a representative example of a new industrial system in the agricultural sector.

Autonomous driving technology is basically applied to vehicles driving on roads, but it is also widely used for military purposes and agricultural technology. Specifically, there is an autonomous driving tractor as an agricultural machine to which autonomous driving technology is applied. The self-driving tractor is a tractor that moves on its own, and when a work path suitable for cultivated land is set by measuring the location and size of cultivated land, it is configured to perform work while moving along the working path.

On the other hand, research related to autonomous tractors has been actively conducted in Korea, and technologies such as automatic route generation have been developed. is difficult to obtain.

In other words, in the process of recognizing the autonomous driving route and environment, the recognition rate is low, so it is difficult to secure stability.

An object of the present invention is to provide an autonomous driving agricultural machine device and an operating method thereof for increasing accuracy in the process of recognizing an autonomous driving route and environment.

An autonomous driving agricultural machine device, comprising: a cultivation line display module for displaying cultivation lines on farmland along a running direction of the autonomous driving farm machine device; and an autonomous driving control module that determines a cultivated area and controls the autonomous driving agricultural machine device to drive in the uncultivated area.

The autonomous driving control module is configured to include: an area boundary determiner that determines a boundary between cultivated areas based on the image information and cultivated area pattern information; and a non-cultivated area based on the boundary and the cultivated area pattern information; and an uncultivated area determinant that creates a path.

The autonomous driving agricultural machine apparatus further includes a pattern information learning unit that learns the cultivated area pattern information, updates the cultivated area pattern information, and provides it to the area boundary determiner and the non-cultivated area determiner.

The region boundary determining unit generates a first driving path by extracting a first boundary from the image information of the cultivated land based on the cultivation area pattern information during a first driving, and when driving after the first driving, the cultivation region pattern A second boundary is extracted based on the information.

The first boundary is a boundary that separates an area to be cultivated and an area not to be cultivated by the autonomous driving agricultural machine device, and the second boundary is a boundary that separates the non-cultivated area from the cultivated area.

The cultivation line display module includes a display unit for displaying a cultivation line in the uncultivated area according to a driving direction of the autonomous driving agricultural machine device, and an extension part extending from the autonomous driving farm machine device to the cultivated land and fixing the display unit .

The autonomous driving control module controls the autonomous driving agricultural machine device to cultivate overlapping 5 to 10% of the cultivation area.

A method of operating an autonomous driving agricultural machine device, comprising: displaying, by a cultivation line display module, a cultivation line on farmland along a driving direction of the autonomous driving farm machine device; and determining an uncultivated area based on the image information of the cultivated land, and controlling the autonomous driving agricultural machinery to drive the uncultivated area.

The controlling to drive the uncultivated area may include: determining, by an area boundary determining unit, a boundary between cultivated land areas based on cultivated area pattern information; and determining the uncultivated area and creating a travel route.

The displaying of the tillage line on the cultivated land includes: an extension extending from the autonomous driving agricultural machine to the cultivated land, fixing the display, and the displaying part on the uncultivated area according to the driving direction of the autonomous driving agricultural machine. and marking the tillage line.

The autonomous driving agricultural machine system includes an autonomous driving farm machine device and a camera for photographing a cultivation area, wherein the autonomous driving farm machine device includes a cultivation line display module for displaying cultivation lines on farmland along a driving direction of the autonomous driving farm machine device, and the and an autonomous driving control module that determines an uncultivated area based on the image information of the cultivated line and the cultivated land generated by the tillage line display module, and controls the autonomous driving agricultural machinery to drive the uncultivated area.

Through the present invention, in the process of recognizing an autonomous driving route and environment, it is possible to increase the recognition accuracy without the need for a small budget and complex additional algorithms.

1 is a block diagram of an autonomous driving agricultural machine apparatus according to an embodiment of the present invention.
2 is a block diagram of a cultivation line display module according to an embodiment of the present invention.
3 is a photograph of an autonomous driving agricultural machine to which a cultivation line display module is attached according to an embodiment of the present invention.
4 is a block diagram of an autonomous driving control module according to an embodiment of the present invention.
5 is a block diagram illustrating another embodiment of an autonomous driving control module.
6A is a photograph showing the results of the autonomous driving agricultural machine apparatus not including the cultivation line display module, and FIG. 6B is a photograph showing the results of the autonomous driving agricultural machine apparatus including the cultivation line display module.
7 is a flowchart illustrating a method of operating an autonomous driving agricultural machine apparatus according to an embodiment of the present invention.
8 is a flowchart illustrating a method of determining an uncultivated area according to an embodiment of the present invention.
9 is a view showing an autonomous driving agricultural machine system according to an embodiment of the present invention.

Hereinafter, embodiments disclosed in the present specification will be described in detail with reference to the drawings. Unless otherwise specified in the text, like reference numbers in the drawings indicate like elements. Exemplary embodiments described above in the detailed description, drawings, and claims are not intended to be limiting, and other embodiments may be used, and other changes may be made without departing from the spirit or scope of the technology disclosed herein. Those skilled in the art may arrange, construct, combine, and design in variously different configurations the elements of the present disclosure, i.e., the elements generally described herein and illustrated in the drawings, all of which are clearly devised, and the present disclosure It can be easily understood that it forms a part of In the drawings, in order to clearly express various layers (or films), regions, and shapes, the width, length, thickness, or shape of the components may be exaggerated.

Since the description of the disclosed technology is only an embodiment for structural or functional description, the scope of the disclosed technology should not be construed as being limited by the embodiment described in the text. That is, since the embodiment may have various changes and may have various forms, it should be understood that the scope of the disclosed technology includes equivalents capable of realizing the technical idea.

The singular expression is to be understood as including the plural expression unless the context clearly dictates otherwise, and terms such as “comprises” or “have” refer to the embodied feature, number, step, action, component, part or these It is to be understood that this is intended to indicate that a combination exists, and does not preclude the possibility of addition or existence of one or more other features or numbers, steps, operations, components, parts, or combinations thereof.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the disclosed technology belongs, unless otherwise defined. Terms defined in commonly used dictionaries should be interpreted as being consistent with the meaning of the context of the related art, and cannot be interpreted as having an ideal or excessively formal meaning unless explicitly defined in the present application.

1 is a block diagram of an autonomous driving agricultural machine apparatus 100 according to an embodiment of the present invention. Referring to FIG. 1 , the autonomous driving agricultural machine apparatus 100 includes a cultivation line display module 130 and an autonomous driving control module 150 .

The autonomous driving agricultural machine apparatus 100 may refer to various operating means used for work such as plowing, fertilizer spraying, fertilizer transport, and transporting of various crops, such as a tractor, a combine, and a tiller.

The cultivation line display module 130 displays the cultivation line on the farmland along the driving direction of the autonomous driving agricultural machine device 100 . Since the cultivation line display module 130 displays the cultivation lines on the cultivated land, the boundary between the cultivated area and the non-cultivated area can be clearly recognized with the naked eye. In addition, it can be clearly recognized when using image processing techniques such as artificial intelligence algorithms or machine learning. In this case, the image for the image processing technique may be a 2D image such as LiDAR, or DEPTH or texture, which is 3D information.

The cultivation line display module 130 may be detachably attached to the autonomous driving agricultural machine apparatus 100 . In addition, it may be provided to enable angle adjustment and height adjustment. Details of the cultivation line display module 130 will be described later with reference to FIG. 2 .

The autonomous driving control module 150 determines an uncultivated area based on the image information of the cultivated line and the cultivated land generated by the cultivated line display module 130 . In addition, the autonomous driving agricultural machine apparatus 100 is controlled to travel in an uncultivated area.

The autonomous driving control module 150 controls the autonomous driving agricultural machine device 100 to overlap 5 to 10% of the cultivation area to cultivate. The cultivation of overlapping 5 to 10% of the tillage area makes it possible that the tillage line generated by the tillage line display module 130 is within the overlapping range during the next work and disappears at the same time as the tillage work so as not to affect the tillage condition. .

When the autonomous driving control module 150 generates a work route, the most important considerations include at least one of a distance between cultivation sections, a turning method and a turning distance, the number of turning tasks, or a driving route and order. This is because the distance between the work sections has to take into account the inherent working width of the autonomous driving agricultural machine device 100 and the tiller, and if this is not taken into account, a phenomenon of overlapping cultivation occurs.

In addition, since the working width and length of the autonomous driving agricultural machine device 100 are larger than that of a general vehicle, and also have a large weight, and cannot easily reverse and rotate, the optimal turning path and the optimal number of turning operations must be considered. . And if the calculation of the driving route and order is poor, there is a section where the work overlaps or a space where the work is not performed. Therefore, it is necessary to create a cultivation path taking all these factors into consideration. Details of the autonomous driving control module 150 will be described later with reference to FIGS. 4 and 5 .

According to the autonomous driving agricultural machine device 100 according to the embodiment of the present invention, without a large change in the physical configuration of the autonomous driving agricultural machine device 1000, it is possible to clearly recognize the cultivated area and the uncultivated area at a low cost, so that the cultivation work can be improved. efficiency can be further increased.

2 is a block diagram of a cultivation line display module 130 according to an embodiment of the present invention. 3 is a photograph of the autonomous driving agricultural machine apparatus 100 to which the cultivation line display module is attached according to an embodiment of the present invention. 2 and 3 , the cultivation line display module 130 includes a display unit 132 and an extension unit 134 .

The display unit 132 displays the cultivation line in the uncultivated area according to the driving direction of the autonomous driving agricultural machine device 100 . A plurality of display units 132 may be provided. The display unit 132 may be at least one of a rod, a protrusion, and a liquid or powder discharging means. At this time, the liquid discharging means may constantly discharge the liquid component to mark the cultivation line in the cultivation area. Similarly, the flour discharging means may discharge the flour component uniformly to mark the tillage line in the tillage area.

The extension part 134 may extend from the autonomous driving agricultural machine device 100 to the farmland, and may fix the display part 132 . 3 is for reference only, two or more extensions may be provided. The extension 134 may be provided in the same number as the number of display units 132 , and may be connected to the rear surface of the autonomous driving agricultural machine apparatus 100 . A display unit 132 may be coupled to one end of the extension unit 134 .

The extension part 134 may adjust the height and angle of the display part 132 . For example, if it is desired to use only one extension 134 among the three extension portions 134 on the rear surface of the autonomous driving agricultural machine apparatus 100, the two extension portions 134 may be adjusted to be parallel to the ground. and the angle can be adjusted so that only one extension 134 faces the ground.

In an embodiment of the present invention, the autonomous driving agricultural machine apparatus 100 may further include a cultivation line display control module. The cultivation line display control module controls the height and angle of the at least one display unit 132 based on the driving path generated by the uncultivated area generation unit 154 of the autonomous driving agricultural machine apparatus 100 .

For example, when the driving path rotates counterclockwise, the display unit located at the rear left side (13.2 million cultivation lines) is controlled to form. Specifically, only the display unit 132 located at the rear left side faces the ground. The angle is controlled, and the other display units 132 are controlled to be parallel to the ground As another example, when the driving path rotates clockwise, only the display unit located on the right rear side is controlled to form a tillage line. Specifically, the angle is controlled so that only the display unit 132 located at the rear of the right hand faces the ground, and the other display units 132 are controlled to be parallel to the ground. At this time, the angle of the display unit 132 is the may be equal to the angle.

4 is a block diagram of an autonomous driving control module 150 according to an embodiment of the present invention. 5 is a block diagram illustrating another embodiment of the autonomous driving control module 150'.

Referring to FIG. 4 , the autonomous driving control module 150 includes an area boundary determining unit 152 and an uncultivated area determining unit 154 .

The area boundary determining unit 152 determines boundaries between cultivated land areas based on the cultivated area pattern information.

The region boundary determiner 152 generates a first driving path by extracting a first boundary from image information of the cultivated land based on the cultivated region pattern information during the first driving. When driving after the first driving, the second boundary is extracted based on the cultivation area pattern information.

The first boundary is a boundary dividing an area to be cultivated and an area not to be cultivated by the autonomous driving agricultural machine apparatus. In other words, there are areas in which autonomous driving agricultural machinery should drive and areas in which it should not. For example, it could be arable land that should be cultivated and a weir that should not be cultivated. The second boundary is a boundary dividing the uncultivated area and the cultivated area.

Deep learning algorithms are used to recognize boundaries. The deep learning algorithm detects based only on the segmentation result. In this case, there is a problem in that it is difficult to accurately detect the segmentation. To solve this problem, a line is fitted to the segmentation result through post-processing. According to the present invention, by displaying the cultivation line, the boundary can be recognized without a post-processing process, and the efficiency of the cultivation operation can be increased.

The cultivation area pattern information may be provided from the pattern information learning unit 151 . The pattern information learning unit 151 may exist outside the autonomous driving control module to provide data.

For example, the pattern information learning unit 151 is located in the cloud server, receives image information from the autonomous driving control module 150, learns an image based on a deep learning algorithm, and a cultivation area based on the learned image Recognizes pattern information of The pattern information learning unit 151 learns the cultivated area pattern information, updates the cultivated area pattern information, and provides it to the area boundary determiner and the non-cultivated area determiner.

The uncultivated area determining unit 154 determines an uncultivated area based on the boundary determined by the area boundary determining unit 152 .

The uncultivated area is determined based on the boundary between the areas and the cultivated area pattern information. A boundary between regions is determined by comparing preset pattern information with a photographed image, and an uncultivated region is determined by comparing the boundary between the determined regions with preset region information. In this case, the preset area information is area information learned by pattern information.

The uncultivated area determining unit 154 classifies the cultivated land into at least one or more areas. The cultivated land may be classified so that the number of driving paths included in each area becomes a predetermined value equal to each other. Also, even when cultivation is stopped in the middle, it is possible to control a portion in which the points of the cultivated area and the non-cultivated area alternately appear in a small range in the cultivated land. Accordingly, the division between the cultivated area and the non-cultivated area is easily made clear, and cultivation can be smoothly resumed.

The pattern information learning unit 151 learns the cultivated area pattern information, updates the cultivated area pattern information, and provides it to the area boundary determiner 152 and the non-cultivated area determiner 154 . The pattern information learning unit 151 extracts boundaries between farmland areas from image information captured by at least one or more cameras, identifies and stores patterns between the boundaries. The pattern information learning unit 151 may include a technology for calculating distance information between the boundaries of the cultivation area and the autonomous driving agricultural machine.

The pattern information learning unit 151 generally learns pattern information through a deep learning algorithm in order to solve the problem that the error rate between regions is high when images are processed based on similar colors and shapes.

The pattern information learning unit 151 recognizes the pattern information of the current cultivated land based on the learned pattern information. In this case, the pattern information includes at least one of color, shape, material, structure, and Saturn. For example, the relatively dark portions may be cultivated areas and the relatively light portions may be uncultivated areas.

On the other hand, since the color of the soil is different depending on the soil type, it is difficult to distinguish the cultivated area from the uncultivated area by color. Therefore, it is difficult to accurately distinguish a cultivated area from an uncultivated area only with the pattern area information. As will be described later, according to the present invention, by recognizing not only the pattern area information but also the cultivation line, the accuracy for distinguishing the cultivated area from the non-cultivated area can be increased.

Referring to FIG. 5 , the autonomous driving control module 150 ′ includes a pattern information learning unit 151 ′, an area boundary determining unit 152 ′, and an uncultivated area determining unit 154 ′. The pattern information learning unit 151 ′, the area boundary determining unit 152 ′, and the uncultivated area determining unit 154 ′ include the pattern information learning unit 151 , the area boundary determining unit 152 and the uncultivated area determining unit 152 shown in FIG. 4 . Since it is the same as the cultivation area determining unit 154 , the detailed description will be omitted.

The difference from FIG. 4 is that the pattern information learning unit 151' is located in the autonomous driving control module 150'. When a non-heavy algorithm is used, the pattern information learning unit 151 ′ is located in the autonomous driving control module 150 ′ to simplify the process. For example, the algorithm used by the pattern information learning unit 151 ′ may be stored in an external server, and an algorithm execution result may be received from the external server, the pattern information of the cultivated area may be determined, and the boundary may be determined by the area boundary determining unit. .

6A is a photograph showing the results of the autonomous driving agricultural machine apparatus not including the cultivation line display module, and FIG. 6B is a photograph showing the results of the autonomous driving agricultural machine apparatus including the cultivation line display module.

Referring to FIG. 6A , since the cultivated area and the uncultivated area were not clearly recognized, as a result of image processing, it was confirmed that only a part of the boundary was recognized.

For example, when an autonomous driving agricultural machine goes around the periphery of a cultivated field, the autonomous driving control module distinguishes the boundary between an uncultivated area and a cultivated area only by color or pattern through image processing.

Referring to FIG. 6B , cultivation lines are displayed on the cultivated area, and as a result of image processing, it can be confirmed that the boundary between the cultivated area and the uncultivated area is clearly recognized. In addition, when an image processing technique such as an artificial intelligence algorithm or machine learning is used, it is clearly recognized and a high recognition rate can be displayed.

For example, when the autonomous driving agricultural machinery device goes around the periphery of the cultivated land, a cultivation line is created in the cultivation area by the cultivation line display module. The autonomous driving control module can recognize the cultivation line through image processing and clarify the boundary between the uncultivated and cultivated areas.

7 is a flowchart illustrating a method of operating an autonomous driving agricultural machine according to an embodiment of the present invention. 8 is a flowchart illustrating a method of determining an uncultivated area according to an embodiment of the present invention. Referring to FIGS. 7 and 8 , the method of operating the autonomous driving agricultural machine includes a step of displaying a cultivation line ( S11 ), a step of determining an uncultivated area ( S13 ), and a step of driving an uncultivated area ( S15 ).

The cultivation line display step S11 is a step in which the cultivation line display module displays the cultivation line on the farmland along the driving direction of the autonomous driving agricultural machine. In the cultivation line display step, the extension fixes the display unit from the autonomous driving agricultural machine device. After that, the display unit displays the cultivation line in the uncultivated area according to the traveling direction of the autonomous driving agricultural machine.

The uncultivated area determination step S13 is a step in which the autonomous driving control module determines the uncultivated area based on the image information of the cultivated line and the cultivated land generated by the tillage line display module. Image information is learned through a deep learning algorithm, and boundaries are determined based on pattern information and cultivation lines. The uncultivated area may be determined by comparing the boundary between the areas with preset area information. In the present invention, the boundaries between areas can be made clearer by marking the cultivation lines.

Specifically, referring to FIG. 8 , the step of determining the uncultivated area ( S13 ) includes the step of determining the first boundary ( S131 ), the step of determining the second boundary ( S133 ), and the step of determining the uncultivated area ( S135 ). include In the step of determining the first boundary ( S131 ), during the first driving, the autonomous driving control module extracts the first boundary from the image information of the cultivated land based on the cultivation area pattern information. In the step of determining the second boundary ( S133 ), the autonomous driving control module extracts the second boundary based on the cultivation area pattern information. In the step of determining the uncultivated area ( S135 ), the autonomous driving control module determines the uncultivated area by comparing the boundary between the areas with preset area information.

The uncultivated area driving step S15 is a step in which the autonomous driving control module controls the autonomous driving agricultural machinery to drive the uncultivated area. In the step of driving the uncultivated area, the area boundary determining unit determines a boundary between the cultivated areas based on the cultivated area pattern information, and generates a driving route based on the boundary. In addition, the uncultivated area determining unit determines the uncultivated area in the cultivated land based on the boundary.

9 is a diagram illustrating an autonomous driving agricultural machine system 1000 according to an embodiment of the present invention. Referring to FIG. 9 , the autonomous driving agricultural machine system 1000 includes an autonomous driving agricultural machine device 100_1 and a camera 200 . Since the autonomous driving device is the same as the autonomous driving agricultural machine device 100 shown in FIG. 1 , it will be omitted.

The camera 200 captures an image of cultivated land, and there may be a plurality of cameras. In addition, the camera 200 may be attached to the autonomous driving agricultural machine device or may be disposed outside the cultivated land to photograph the cultivated land. At this time, the camera 200 is an RGB camera, an IP camera, an HD-SDI camera, an analog camera, a fire detection color camera, a thermal imager, an HD (1920x5080, HD5080p) camera, an IP zoom at the resolution of the SD (720x486, NTSC) level. It may be at least one of a speed camera or a CCTV camera. Production costs and additional technology development costs can be reduced through a technology that can be used for autonomous driving using only the camera 200 without using expensive equipment such as RTK-GPS or a laser sensor.

The higher the installation height of the camera 200, the better the image quality can be secured. It is important to set the possible installation position and viewing angle, and since it can be set differently depending on the type of vehicle and the size of the vehicle, the present invention is not limited thereto.

In addition, if the camera 200 is installed on the front, rear, left, and right sides of the autonomous vehicle, images captured by the four cameras 200 can be corrected, and 360° around the autonomous driving agricultural machine device 100_1 can confirm. In this case, it is advantageous to synthesize the images and extract the boundary around the front camera 200 and the rear camera 200 to have the same height to be installed, and to set the left and right cameras 200 to have the same height. .

100: autonomous driving agricultural machinery
200 : camera
130: cultivation line display module
132: display unit
134: extension
150: autonomous driving control module
151: pattern information learning unit
152: region boundary determining unit
154: uncultivated area determining unit
1000: autonomous driving agricultural machinery system

Claims (11)

An autonomous driving agricultural machine device comprising:
a cultivation line display module for displaying cultivation lines on farmland along the driving direction of the autonomous driving agricultural machine device; and
and an autonomous driving control module that determines an uncultivated area based on the image information of the cultivated line and the cultivated land generated by the tillage line display module, and controls the autonomous driving agricultural machine to drive the uncultivated area Autonomous agricultural machinery. According to claim 1,
The autonomous driving control module,
an area boundary determiner configured to determine a boundary between cultivated areas based on the image information and the cultivated area pattern information; and
and an uncultivated area determiner configured to determine the uncultivated area based on the boundary and the cultivated area pattern information and generate a driving route. 3. The method of claim 2,
and a pattern information learning unit that learns the cultivated area pattern information, updates the cultivated area pattern information, and provides the information to the area boundary determining unit and the non-cultivating area determining unit. 3. The method of claim 2,
The region boundary determining unit,
During the first driving, based on the cultivated area pattern information, extracting a first boundary from the image information of the cultivated land to generate a first driving route,
When driving after the first driving, the autonomous driving agricultural machine apparatus extracts a second boundary based on the cultivation area pattern information. 5. The method of claim 4,
The first boundary is a boundary for dividing an area to be cultivated and an area not to be cultivated by the autonomous driving agricultural machine device;
The second boundary is a boundary that separates the uncultivated area from the cultivated area. According to claim 1,
The cultivation line display module,
at least one display unit for displaying a cultivation line in the uncultivated area according to a driving direction of the autonomous driving agricultural machine; and
and at least one extension part extending from the autonomous driving farm machine device to the farmland and fixing the display part. According to claim 1,
The autonomous driving control module controls the autonomous driving agricultural machinery to overlap 5 to 10% of the cultivated area to cultivate the autonomous driving agricultural machinery. A method of operating an autonomous driving agricultural machine, comprising:
displaying, by a cultivation line display module, a cultivation line on the farmland along a driving direction of the autonomous driving agricultural machine;
determining, by the autonomous driving control module, an uncultivated area based on the image information of the cultivated line and the cultivated land generated by the tillage line display module, and controlling the autonomous driving agricultural machinery to drive the uncultivated area A method of operating an autonomous driving agricultural machine comprising a. 9. The method of claim 8,
The step of controlling to drive the uncultivated area comprises:
determining, by an area boundary determining unit, a boundary between cultivated land areas based on the cultivated area pattern information; and
and determining, by an uncultivated area determining unit, the uncultivated area in the cultivated land based on the boundary and the cultivated area pattern information and generating a driving route. 10. The method of claim 9,
The step of marking the cultivation line on the farmland,
an extension portion extending from the autonomous driving agricultural machine device to the farmland, and fixing the display portion; and
and displaying, by the display unit, a cultivation line in the uncultivated area according to a driving direction of the autonomous driving agricultural machine. autonomous agricultural machinery; and
a camera for photographing the cultivated area;
The autonomous driving agricultural machine device,
a cultivation line display module for displaying cultivation lines on farmland along the driving direction of the autonomous driving agricultural machine device; and
and an autonomous driving control module that determines an uncultivated area based on the image information of the cultivated line and the cultivated land generated by the tillage line display module, and controls the autonomous driving agricultural machine to drive the uncultivated area Autonomous agricultural machinery system.

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