KR20220106313A - User Designating Line Tracking Autonomous Driving Sprayer - Google Patents

Abstract

The present invention relates to an autonomous driving pest controlling device for tracking a user designated line comprising: a body unit; a driving unit; a pest controlling unit; a path recognizing unit; and a controlling unit. The driving unit is moved with respect to the body unit. The pest controlling unit is installed on the body unit, and performs pest controlling work by connecting movement of the driving unit and spraying a chemical solution. The path recognizing unit is installed on the body unit, and recognizes a line mark installed through a camera. The controlling unit is installed on the body unit, performs overall control of the pest controlling device, and controls the driving unit and the pest controlling unit depending on a line mark recognizing signal transmitted from the path recognizing unit. The present invention performs autonomous driving and performs pest control by recognizing a line having a color designated by a user; performs the pest control work in a narrow arable land by being manufactured in a small size; solves a problem of shortage of workers in a rural area by providing the low-cost mass production pest controlling device; solves a poisoning problem caused by spraying pesticides; and increases a penetration rate of an agricultural machine.

Description

User Designating Line Tracking Autonomous Driving Sprayer

The present invention relates to a user-defined line-tracking autonomous driving control system, and more specifically, it is made in a small size so that it can be used effectively even in narrow arable land, and a low-cost mass-produced unmanned control system is proposed, in particular, a machine learning camera. A user-defined line tracking autonomy that allows the user to learn a specific color selected using It's about driving control.

According to recent statistics, the number of farm households is decreasing from 2.75 million to 2.31 million between 2014 and 2018, and the aging rate calculated based on the age of 65 and older is also decreasing from 39.1% to 44.7%, exacerbating the labor shortage in rural areas. is becoming

In addition, as a result of a 2009 survey of Korean consumers, the number of deaths due to accidental pesticide poisoning increased by 69.9% from 290 in 2003 to 415 in 2007.

In addition, from 2010 to 2016, the mechanization rate of field agricultural machinery remained in the 50% range, and in particular, due to the too high price of agricultural machinery, it is a great burden on farms to secure it.

In addition, a speed sprayer (SS machine) is being used among the existing pest control agricultural machinery, which has been difficult to use for pest control work in facility cultivation areas due to its enlarged size.

In addition, among the existing control systems, the elevating automatic control system, that is, the gantry robot type, has limitations that can only be used in large-scale plantations. had limitations, such as being used only in extensive arable land.

Accordingly, there is a demand for the development of agricultural machinery that can reduce the number of cases of pesticide poisoning, as well as reduce the number of cases of pesticide poisoning, as well as solve the deepening manpower shortage such as a decrease in labor in rural areas.

In particular, there is a need to develop a machine that can be used by entering a narrow arable land while reducing the burden on the farmer for the cost of the machine.

On the other hand, when looking at the prior art, in Korean Patent No. 10-1965774, "Unmanned driving pesticide spraying that emits infrared rays to a moving line located on the ground of arable land and sprays pesticides while driving a path according to the intensity of the reflected infrared rays device" is disclosed.

In addition, in Korea Patent Registration No. 10-1861778, "As the pesticide spraying device moves, it sprays pesticides to crops through the spray nozzle, protects the health of workers from the pesticides scattered in the spray state, Disclosed is a drivable pesticide spraying device that allows easy adjustment of the tension of the tracked belt, which is automated and repeatedly moved along the uneven ground, from time to time.

In addition, in Korean Patent No. 10-1941187, "a camera unit that acquires images in the front, rear, left, right, up and down directions of the traveling device, a traveling device control unit that receives a remote control signal, and a sensor unit that detects objects in the front, back, left, right, up and down directions And, pesticide spraying through remote control, including a driver control unit that transmits a remote control signal, a display unit that displays on the screen so that the driver can understand the state of the vehicle, and a work drive unit that is driven through a work drive signal from the driver control unit Driving device" is disclosed.

However, the prior art described above is different from the present invention in which a pesticide is sprayed while autonomously driving along a route by tracing a line by specifying it through user definition in technical configuration and driving principle.

Republic of Korea Patent Publication No. 10-1965774 Republic of Korea Patent Publication No. 10-1861778 Republic of Korea Patent Publication No. 10-1941187

The present invention has been devised to solve the problems of the prior art as described above, and uses a machine learning camera to learn a specific color selected by a user, and recognizes a line having a specified color with a camera while spraying pesticides. The purpose is to provide a user-defined line-tracking autonomous driving control system that allows the vehicle to autonomously travel along the path and to carry out the control operation according to a set mark.

It is an object of the present invention to provide a user-defined line tracking autonomous driving control device that is manufactured in a small size so that it can be usefully carried out control work even in narrow arable land.

The present invention provides a user-defined line-tracking autonomous driving control system that can solve the problem of labor shortage in rural areas through autonomous driving control, such as using it as a low-cost mass-produced unmanned control system, and solve the problem of poisoning caused by pesticide spraying but it has a purpose.

A user-defined line tracking autonomous driving control device according to the present invention for achieving the above object, the body portion; a traveling part provided to be movable with respect to the body part; a control unit installed on the body part and performing a control operation by spraying a chemical in conjunction with the movement of the traveling unit; a path recognition unit installed on the body and recognizing a line mark installed through a camera; It is installed on the body part, but performs overall control of the pest control unit, the control unit for controlling the driving unit and the control unit according to the line mark recognition signal transmitted from the path recognition unit; characterized in that it comprises a.

Here, the body part may be formed of a frame structure to enable easy use while stably installing the driving part, the control part, the path recognition part, and the control part.

Here, the body part may be configured to be manufactured in a small and light weight using an aluminum profile and to be easily replaced and used.

Here, the control unit, the chemical storage tank is fixedly installed on the body portion; a power sprayer for withdrawing the chemical solution stored in the chemical solution reservoir by using power; It is installed at the rear of the body part and is for spraying the chemical liquid drawn out and supplied from the power sprayer, and one or more control nozzles are installed. It can be configured to adjust the output and control flow rate of the power sprayer by adjusting the carburetor.

Here, the control nozzle is provided with a height adjustment guide rail vertically disposed in the downward direction from the upper end of the rear of the body portion, and can be configured to be used by adjusting the installation height on the height adjustment guide rail.

Here, the control nozzle is provided with an angle adjusting mechanism so that it can be used while adjusting the spraying angle in response to various crops, and can be used by being mounted on the angle adjusting mechanism.

Here, the path recognition unit installs a camera in front of the body unit, and transmits a line mark recognized as an image by the camera-side photographing to the control unit to autonomously travel a predetermined path; The camera can be configured to autonomously drive along a line mark of a specific color specified by the user by providing the camera as a machine learning camera that has learned a specific color specified by the user.

Here, the control unit may include: a mode change switch for a user to select a mode from among three modes of an autonomous driving mode, a manual mode, and a neutral mode; an LED indicator that enables visual identification by displaying a mode state selected when a mode is selected through the mode change switch; a joystick for adjusting the control device when the user selects a manual mode through the mode change switch; a microcontrol unit for performing overall control of the control unit; It may be a configuration including; a first potentiometer for adjusting the initial speed of the traveling unit.

Here, the carburetor may be configured to operate only during forward driving in the autonomous driving mode to perform control by injecting a chemical solution.

Here, an ultrasonic sensor is mounted in the front of the body to detect an obstacle when there is an obstacle in front during autonomous driving and transmit an obstacle detection signal to the control unit to stop or move the control unit to avoid it. have.

Here, a second potentiometer may be provided in the control unit, and the power sprayer side carburetor may be adjusted by adjusting the servo motor side angle by adjusting the second potentiometer.

According to the present invention, it is a method of learning a specific color selected by a user using a machine learning camera, and while spraying a pesticide, a line having a color specified by the user is recognized with a camera to autonomously drive a predetermined path, and along with a predetermined mark It is possible to provide a user-defined line-tracking autonomous driving control device that can perform control operations while autonomously driving along the

According to the present invention, it is possible to solve the problem of labor shortage in rural areas by providing a new control device such as a small-sized production and useful control operation even in a narrow arable land, and using it as an unmanned control device that can be mass-produced at low cost, and can be used for pesticide spraying. It is possible to solve the problem of addiction and achieve usefulness that can increase the penetration rate of agricultural machinery.

According to the present invention, since the user can directly designate and learn the line mark for autonomous driving, it is possible to expand the scalability according to the use of the pest control device compared to the existing one, and it consumes less power compared to the existing agricultural machines and marks the mark. This line can be easily designated by the user to move, and usefulness can be achieved that can implement economic feasibility.

1 is a configuration diagram showing a user-defined line tracking autonomous driving control device according to an embodiment of the present invention.
2 is a configuration diagram showing a user-defined line tracking autonomous driving control device according to an embodiment of the present invention from another angle.
3 is a side view illustrating a user-defined line tracking autonomous driving control device according to an embodiment of the present invention.
4 is a block diagram illustrating a configuration having an electrical control element in a user-defined line tracking autonomous driving control device according to an embodiment of the present invention.
5 is a circuit configuration diagram including a control unit in a user-defined line tracking autonomous driving control device according to an embodiment of the present invention.
6 is a flowchart illustrating a driving algorithm in an autonomous driving mode in a user-defined line tracking autonomous driving control device according to an embodiment of the present invention.
7 is a diagram illustrating an example of correcting a moving direction in an autonomous driving mode in a user-defined line tracking autonomous driving control device according to an embodiment of the present invention.

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

The terms used in the present invention are terms defined in consideration of the functions in the present invention, which may vary depending on the intention or custom of the user or operator, so the definitions of these terms correspond to the technical matters of the present invention and should be interpreted as a concept.

1 to 7 are views illustrating a user-defined line tracking autonomous driving control device according to the present invention.

A user-defined line tracking autonomous driving control device according to an embodiment of the present invention, as shown in FIGS. 1 to 5 , a body part 100 , a driving part 200 , a control part 300 , a route recognition part 400 , and a control unit 500 .

The body part 100 is a configuration that becomes the main body constituting the autonomous driving control device of the present invention.

In order to enable easy use while stably installing the components including the driving unit 200, the control unit 300, the path recognition unit 400, and the control unit 500, the body unit 100 is It may be formed of a frame structure.

To this end, the body part 100 is preferably made of an aluminum profile, and can be manufactured to be small and lightweight and can be easily replaced and used. have.

The traveling part 200 is configured to be movable with respect to the body part 100 .

The driving unit 200 includes a driving wheel 210 mounted on a lower surface of the body unit 100 , and a driving motor mounted on the body unit 100 and connected to provide rotational force to the driving wheel 210 . (220).

Here, the driving wheel 210 may include a main wheel and an auxiliary wheel, and two driving motors 220 may be used for driving efficiency.

The driving unit 200 travels by transmitting a command from the control unit 500 according to the path recognition by the path recognition unit 400 .

The control unit 300 is installed on the body unit 100 and is configured to perform a control operation by spraying a chemical in conjunction with the movement of the traveling unit 200 .

The control unit 300 is fixedly installed on the body part 100, and a chemical solution reservoir 310 in which a chemical solution such as a pesticide for control is stored, and the chemical solution stored in the chemical solution reservoir 310 using power. and a power sprayer 320 for taking it out.

In addition, it is installed in the rear (rear) of the body portion 100, and includes a control nozzle 330 for spraying the chemical liquid drawn out from the power sprayer 320 is supplied.

The power sprayer 320 is preferably provided with a carburetor 340, but is configured to control the output and control flow rate of the power sprayer 320 by controlling the carburetor 340 by the servomotor 350.

One or more control nozzles 330 may be installed.

The control nozzle 330 is provided with a height adjustment guide rail 360 vertically disposed in the downward direction from the upper end of the rear of the body portion 100, and the installation height is adjusted on the height adjustment guide rail 360 . can be configured for use.

In this case, the height adjustment guide rail 360 may have a configuration for forming fixing holes spaced apart in the vertical direction.

Here, the control nozzle 330 is provided with an angle adjusting mechanism 370 so that it can be used while adjusting the spraying angle in response to various crops, and can be used by being mounted on the angle adjusting mechanism 370 .

The angle adjustment mechanism 370 may have a configuration provided with a fixing protrusion so as to be fixed by being fitted into the fixing hole of the height adjustment guide rail 360 .

The path recognition unit 400 is installed on the body unit 100 and is configured to recognize the installed line mark through photographing using the camera 410 .

The path recognition unit 400 is configured to install a camera 410 in front of the body unit 100, and recognize a line mark as an image by shooting from the camera 410 side, and use the recognized line mark. It is transmitted to the control unit 500 to enable autonomous driving of a determined path.

Here, it is preferable that the camera 410 is configured to autonomously drive along a line mark of a specific color designated by the user by providing it as a machine learning camera that has learned a specific color designated by the user.

For example, the camera 410 may be configured to learn a line mark of a specific color designated by the user by having a configuration including a learning button that enables machine learning.

Here, the path recognition unit 400 allows the user to recognize the line mark designated by the user through learning by machine learning, so the user can directly designate and learn the line mark for autonomous driving, compared to the existing control system. It can provide the advantage of expanding the scalability according to the use of

The control unit 500 is installed on the body unit 100, and performs overall control of the pest control unit, but according to the line mark recognition signal transmitted from the path recognition unit 400, the driving unit 200 and the control unit ( 300) is configured to control.

The control unit 500 includes a microcontrol unit 510 for performing overall control of the pest control unit, and a mode change switch for the user to select a mode from among three modes: an autonomous driving mode, a manual mode, and a neutral mode. It includes a 520 and an LED indicator 530 that enables visual identification by displaying a mode state selected when a mode is selected through the mode change switch 520 .

In addition, the joystick 540 for the user to directly adjust the control device when the user selects the manual mode through the mode change switch 520 , and the first potentiometer 550 for adjusting the initial speed of the driving unit 200 . ) and a second potentiometer 560 for adjusting the angle of the servomotor 360 on the side of the control unit 300 .

The microcontrol unit 510 controls the control device to be controlled simultaneously with driving according to an input signal such as the camera 410 while performing overall control of the pest control unit.

When the autonomous driving mode is selected through the mode change switch 520, the carburetor 340 can be controlled to perform the control, and the carburetor 340 operates only during forward driving in the autonomous driving mode to perform the control.

When the autonomous driving mode is selected through the mode change switch 520, the control unit 500 performs autonomous driving (+) or (-) based on an error (DCT) generated with respect to the vehicle centerline position as a reference. If necessary, it steers, makes it a loop, and drives, and when driving is performed, the control unit 300 is operated separately from steering to perform control.

When the manual mode is selected through the mode change switch 520 , the joystick 540 is adjusted to provide a control signal, so that the motor driver 570 can be driven and the driving motor 220 can be moved.

When the neutral mode is selected through the mode change switch 520 , the control unit 500 maintains a stopped state.

By adjusting the second potentiometer 560, the angle of the servo motor 360 side can be adjusted, and thereby the power sprayer 320 side carburetor 340 can be adjusted.

The control unit 500 includes a motor driver 570 for driving the driving unit 200 side driving motor 220 .

In addition, in the present invention, it may include a configuration in which the ultrasonic sensor 600 is mounted in the front of the body part 100 .

When there is an obstacle in front during autonomous driving of the pest control device through the ultrasonic sensor 600, it functions to detect an obstacle. It can be configured to stop the control device by sending Sometimes it can be configured to move away from the obstacle when it detects an obstacle.

Meanwhile, in the user-defined line tracking autonomous driving control device according to the present invention having the above-described configuration, the driving principle for driving and control performed in the autonomous driving mode will be described with reference to FIG. 6 as follows.

When the user selects the autonomous driving mode through the mode change switch 520 , the microcontrol unit 510 receives a detection signal from the ultrasonic sensor 600 and detects whether there is an obstacle in front of the control unit.

If an obstacle is not detected through the detection signal from the ultrasonic sensor 600 , it is checked whether the camera 410 is recognized.

Here, when an obstacle is detected from the ultrasonic sensor 600, it is stopped immediately to prevent damage to the control device.

When the camera 410 is recognized, a secondary confirmation process of checking whether the communication protocol matches the communication protocol is performed after first checking the communication protocol.

In the microcontrol unit 510, after determining whether or not learning about the line mark on the camera 410 side is performed, if learning is not performed, the microcontrol unit 510 learns the line mark of a specific color specified by the user, and if learning is performed, the driving unit 200 and control By controlling the unit 300 at the same time, multi-threading of driving and control is performed.

The microcontroller unit 510 determines whether the second potentiometer 560 is operated during the control operation through the control unit 300 , and operates the servo motor 350 when the second potentiometer 560 is operated to operate the power sprayer. By controlling the carburetor 340 of the 320, the chemical spray is performed but sprayed through the control nozzle 330.

In addition, in the microcontrol unit 510, when autonomous driving through the driving unit 200, as shown in FIG. 7, based on the error (DCT) generated based on the position of the vehicle centerline as a reference (+) or (-) Steer as needed.

That is, (+) or (-) of the correction value for the error (DCT) generated based on the position of the vehicle center line is determined.

At this time, if the correction value for the error (DCT) generated based on the vehicle centerline position is (+), the steering is turned right, and the correction value for the error (DCT) generated based on the vehicle centerline position is (-) If the correction value for the error (DCT) generated based on the position of the vehicle center line is "0", it is determined that the line mark coincides with the center line of the vehicle and proceeds straight ahead.

In addition, when the correction value for the error DCT generated based on the position of the vehicle center line is not "0", it is determined that the line mark does not match the center line of the vehicle, and feedback processing is performed in the initial stage.

Accordingly, through the user-defined line tracking autonomous driving control device according to the present invention having the above-described configuration and driving principle by autonomous driving, it is possible to recognize a line with a color specified by the user and perform control while autonomously driving, and It is possible to carry out pest control work even in narrow arable land by manufacturing this with a low-cost pesticide that can be mass-produced to solve the problem of labor shortage in rural areas, as well as solve the problem of poisoning caused by spraying pesticides and increase the penetration rate of agricultural machinery. It can be increased, and the user can directly designate and learn the line markers for autonomous driving, so it is possible to expand the scalability according to the use of pesticides compared to the existing ones. It can provide the advantage that the user can easily designate the line to be moved.

The above description is illustrative of the present invention, and the embodiments published in the specification are intended to explain, not to limit the technical idea of the present invention, so those of ordinary skill in the art to which the present invention pertains Various modifications and variations will be possible without departing from the technical idea of Therefore, the protection scope of the present invention is interpreted by the matters described in the claims, and technical matters within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: body part 200: driving part
210: drive wheel 220: drive motor
300: control unit 310: chemical storage tank
320: power sprayer 330: control nozzle
340: carburetor 350: servo motor
360: height adjustment guide rail 370: angle adjustment mechanism
400: path recognition unit 410: camera
500: control unit 510: micro control unit
520: mode change switch 530: LED indicator
540: joystick 550: first potentiometer
560: second potentiometer 570: motor driver
600: ultrasonic sensor

Claims (11)

body part;
a traveling part provided to be movable with respect to the body part;
a control unit installed on the body part and performing a control operation by spraying a chemical in association with the movement of the traveling unit;
a path recognition unit installed on the body and recognizing a line mark installed through a camera;
a control unit installed on the body unit, performing overall control of the pest control unit, but controlling the driving unit and the pest control unit according to a line mark recognition signal transmitted from the path recognition unit; A user-defined line tracking autonomous driving control device comprising a.
The method according to claim 1,
The body part,
A user-defined line tracking autonomous driving control device, characterized in that it is made of a frame structure to enable easy use while stably installing the driving unit, the control unit, the path recognition unit, and the control unit.
3. The method according to claim 2,
The body part,
A user-defined line tracking autonomous driving control system, characterized in that it is made to be small and lightweight using an aluminum profile and configured to be easily replaced and used.
The method according to claim 1,
The control unit,
a chemical storage container that is fixedly installed on the body part;
a power sprayer for withdrawing the chemical solution stored in the chemical solution reservoir by using power;
a control nozzle installed at the rear of the body part and for spraying the chemical liquid drawn out from the power sprayer and supplied, at least one control nozzle is installed; includes,
A user-defined line tracking autonomous driving control system, characterized in that the power sprayer includes a carburetor, and is configured to adjust the output and control flow rate of the power sprayer by controlling the carburetor by a servo motor.
5. The method according to claim 4,
The control nozzle is
A user-defined line tracking autonomous driving control device, characterized in that it is provided with a height adjustment guide rail vertically arranged in the downward direction from the upper end of the rear of the body part, and is configured to be used by adjusting the installation height on the height adjustment guide rail.
6. The method of claim 5,
The control nozzle is
A user-defined line tracking autonomous driving control device, characterized in that it is provided with an angle adjustment mechanism so that it can be used while adjusting the spray angle in response to various crops, and is mounted on the angle adjustment mechanism for use.
The method according to claim 1,
The path recognition unit,
A camera is installed in front of the body part,
transmitting a line mark recognized as an image by the camera-side photographing to the control unit to autonomously drive a predetermined path;
The camera is a user-defined line tracking autonomous driving control device, characterized in that it is provided with a machine learning camera that has learned a specific color specified by the user and configured to autonomously drive along the line mark of the specific color specified by the user.
The method according to claim 1,
The control unit is
a mode change switch for the user to select a mode from among three modes: an autonomous driving mode, a manual mode, and a neutral mode;
an LED indicator that enables visual identification by displaying a mode state selected when a mode is selected through the mode change switch;
a joystick for adjusting the control device when the user selects a manual mode through the mode change switch;
a microcontrol unit for performing overall control of the control unit;
a first potentiometer for adjusting the initial speed of the driving unit; A user-defined line tracking autonomous driving control device comprising a.
5. The method according to claim 4,
The carburetor is
A user-defined line tracking autonomous driving control system, characterized in that it operates only during forward driving in the autonomous driving mode to perform control by spraying a chemical solution.
The method according to claim 1,
An ultrasonic sensor is mounted in the front of the body part to detect an obstacle in the case of an obstacle in the front during autonomous driving and transmit an obstacle detection signal to the control unit to stop or move the control unit to avoid it. A custom line-tracking autonomous vehicle control system.
5. The method according to claim 4,
A user-defined line tracking autonomous driving control device comprising a second potentiometer in the control unit, and configured to adjust the power sprayer side carburetor by adjusting the servomotor side angle by adjusting the second potentiometer.

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