KR20220135033A - Electric agricultural transport vehicle with remote control - Google Patents

Abstract

The present invention relates to a remotely controllable electric agricultural transport vehicle. According to an embodiment of the present invention, the electric agricultural transport vehicle, which can be remotely controlled through a remote control, comprises: a camera installed on the body of a vehicle; a communication unit for transmitting an image, from the camera, to the remote control; and a processor for controlling movement of the vehicle, based on an operating signal transmitted from the remote control. The remote control includes: a display unit for displaying the image transmitted from the camera of the electric agricultural transport vehicle; and an operating panel unit provided with a plurality of operating buttons for controlling movements of the electric agricultural transport vehicle.

Description

ELECTRIC AGRICULTURAL TRANSPORT VEHICLE WITH REMOTE CONTROL

The present invention relates to a remote-operable electric agricultural transport vehicle, and more particularly, to a remote-operable electric agricultural transport vehicle capable of controlling the electric agricultural transport vehicle using wireless communication technology.

Currently, in agriculture, there is an urgent need to improve agricultural conditions due to a decrease in the agricultural population, an aging population, and an increase in agricultural operating costs. Agricultural work, such as fruit trees and facility gardening, is labor-intensive, and there are many tasks such as pruning, composting, weeding, fertilization, attracting, and harvesting, and most of the tasks are difficult to mechanize.

In addition, it is true that transport work is always performed in most work systems, and the ratio of labor consumed for transport work among various work stages is very high. Accordingly, many types of transport vehicles have been developed and marketed, and many other work machines that combine transport vehicles have also been developed.

However, due to the strengthening of international environmental regulations such as the Convention on Climate Change due to the acceleration of global warming, the pressure on the use of eco-friendly energy and the enhancement of the utilization of new and renewable energy is increasing day by day, and the depletion of fossil fuels is expected to become a reality soon. Accordingly, attention is being paid to the marketization of next-generation energy such as hydrogen and fuel cells.

These electric vehicles have high energy efficiency and have superior maintenance costs compared to power carriers that use fossil fuels, so they emerged as a concept to prevent air pollution in confined spaces or downtown areas. expected to play a major role in

Republic of Korea Patent Publication No. 2019-0092654 (published on August 8, 2019) describes an integrated control device of an electric transport vehicle for agricultural use. The integrated control device of the agricultural electric transport vehicle described in this patent document receives the signal from the steering and rotation control lever of the operation switch to control the power supply to the motor drive and the hydraulic system, and when there is no input from the operation switch for a certain period of time, the motor drive It is configured to cut off power to the hydraulic system and to minimize power consumption by switching to power standby mode.

However, in the case of such an electric agricultural transport vehicle, there is a shortage of people who can directly drive the agricultural transport vehicle due to the recent aging problem, and there is also a problem that leads to an accident in the case of a driver who is not familiar with the agricultural transport vehicle.

An object of the present invention is to provide an electric agricultural transport vehicle that can be operated remotely using a remote controller as well as autonomous driving as an invention devised based on the above problems.

According to one aspect of the present invention in order to solve the above problems, there is provided an electric agricultural transport vehicle that can be remotely operated through a remote controller, the electric agricultural transport vehicle comprising: a camera installed on the vehicle body; a communication unit for transmitting the image from the camera to the remoto controller; and a processor for controlling the movement of the vehicle based on the operation signal transmitted from the remote controller,

The remote controller includes a display unit for displaying the image transmitted from the camera of the electric agricultural transport vehicle; and an operation panel portion provided with a plurality of operation button portions for controlling the movement of the electric agricultural transport vehicle.

In the above aspect, the electric agricultural transport vehicle includes: a manual driving mode in which the electric agricultural transport vehicle is driven by a driver's operation; an autonomous driving mode in which an agricultural transport vehicle is driven along a pre-stored autonomous driving route; and a remote control mode in which the electric agricultural transport vehicle is driven by the control of the remote controller.

In addition, in the above aspect, the remote control of the electric agricultural transport vehicle by the remote controller is configured to be performed only when the electric agricultural transport vehicle is set to either a remote control mode or an autonomous driving mode.

In addition, the electric agricultural transport vehicle, a GNSS sensor for measuring the position of the electric agricultural transport vehicle; Travel sensors for measuring the speed and heading angle of the electric agricultural haulage vehicle; and a memory in which the autonomous path of the electric agricultural transport vehicle is stored,

The processor may include: receiving positioning data from the GNSS positioning sensor while driving an autonomous driving target's agricultural work route using an electric agricultural transport vehicle; checking and storing the quality of the location data; generating a waypoint by using the positioning data when the driving of the electric agricultural transport vehicle is finished; and storing the generated waypoint;

The operation of inspecting and storing the quality of the positioning data may include: storing the positioning data calculated by the positioning sensor at regular time intervals; And among the quality information of the positioning data, if the ambiguity number of the GNSS-RTK is not fixed or the GNSS update elapsed time exceeds 1 second, it is determined that the quality is poor, and the operation of stopping the manual operation of the agricultural work machine and receiving the positioning data again; is configured to include

Also in the above aspect, when the electric agricultural haulage vehicle is operating in the remote control mode and an autonomous driving input is received from the remote controller, the electric agricultural haulage vehicle searches for a nearby waypoint within a pre-stored autonomous driving route and selects the retrieved waypoint. It is configured to perform autonomous driving based on the

According to the present invention, even a driver unfamiliar with the agricultural transport vehicle is installed by installing a wireless communication means in the electric agricultural transport vehicle and operating the electric agricultural transport vehicle through a remote control device capable of communicating with the wireless communication means installed in the electric agricultural transport vehicle. Agricultural transport vehicles can be operated easily and safely.

1 is a view showing a remote-operable electric agricultural transport vehicle and a remote controller according to the present invention;
2 is a view showing an exemplary internal configuration of the electric agricultural transport vehicle according to the present invention;
3 is a flowchart illustrating a process of generating an autonomous driving route in an electric agricultural transport vehicle according to the present invention;
4 is a view showing a flow of waypoint generation during an autonomous driving path generation process of the electric agricultural transport vehicle according to the present invention;
5 is a flowchart showing the flow of the autonomous driving path merging process of the electric agricultural transport vehicle according to the present invention;
6 is a flowchart illustrating an autonomous driving method for executing autonomous driving using an autonomous driving route created according to the present invention;
7 is a view showing the principle of Enclosed based line of sight guidance.
8 is a diagram schematically illustrating the configuration of a remote controller for remotely operating an electric agricultural transport vehicle according to the present invention.

Advantages and features of the present invention, and methods of achieving them, will become apparent with reference to the embodiments described below in detail in conjunction 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 those of ordinary skill in the art to which the present invention pertains to the scope of the present invention. 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 specifically described in order to avoid obscuring the present invention.

Like reference numerals refer to like elements throughout. In addition, the terms used (mentioned) herein are for the purpose of describing the embodiments and are not intended to limit the present invention. In this specification, the singular also includes the plural, unless specifically stated otherwise in the phrase. In addition, elements and operations referred to as 'include (or include)' 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 herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. Also, terms defined in commonly used dictionary are not to be interpreted ideally or excessively unless defined.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. 1 shows an electric agricultural transport vehicle 10 according to the present invention and a remote controller 20 connected thereto to operate the electric agricultural transport vehicle 10 . The electric agricultural transport vehicle 10 is provided with a communication unit 150 for performing wireless communication with the remote controller 20 , and the user can operate the electric agricultural transport vehicle 10 through the remote controller 20 .

The electric agricultural transport vehicle 10 has a front wheel 101 and a rear wheel 102 arranged as a pair of front and rear left and right, and a driver and a passenger are mounted on a body frame between the front wheel 101 and the rear wheel 102 . A driver's seat space 103 for boarding is provided. A seat portion for seating is provided in the driver's seat space 103 , and various manipulation devices including a steering for steering are disposed on the front dashboard panel side.

A battery mounting space (not shown) is formed in the vehicle body frame located below the seat portion 104 , and a battery pack charged with electric energy as a power source is mounted in the battery mounting space. And a deck 105 capable of loading small items or crops is provided on the vehicle exposed side behind the seat portion, and a rear differential shaft for power transmission to the rear wheel 102 is disposed below the deck 105 and this vehicle A rear-wheel-side electric drive motor is disposed between the coaxial and the battery pack.

In addition, the hood part 106 is disposed on the front side of the seat part 104, the front wheel differential shaft for power transmission to the front wheel 101 is disposed below the hood part 106, and the front wheel 101 is disposed in the vicinity of the current differential shaft. A front wheel side electric drive motor for driving is disposed.

As shown in FIG. 1 , the remote controller 20 includes a display unit 210 for displaying an image from the camera 160 provided to the electric agricultural transport vehicle 10 and the user operates the electric agricultural transport vehicle 10 . It includes an operation panel unit 220 provided with operation buttons and the like necessary to do so.

The user can drive the vehicle through the operation panel 220 while viewing the screen image transmitted from the agricultural transport vehicle 10 through the display unit 210 .

2 is a view showing a schematic configuration of the electric agricultural transport vehicle 10 . On the other hand, as shown in FIG. 2 , the electric agricultural transport vehicle 10 may be implemented as an electric agricultural transport vehicle capable of autonomously moving along a preset route even if the user does not board, for this purpose, the electric agricultural transport vehicle Reference numeral 10 may include an actuator unit 110 , an autonomous driving-related sensor unit 120 , an internal memory 130 , a processor 140 , a communication unit 150 , and a camera 160 .

The actuator unit 110 is configured for running of the electric agricultural transport vehicle 10 . For example, the actuator unit 110 includes an accelerator actuator, a brake actuator, and a steering angle control actuator, and increases the rotational speed of a wheel provided in the electric agricultural transport vehicle 10 through the accelerator actuator, or uses a brake actuator By reducing the rotational speed of the wheels provided in the electric agricultural transport vehicle 10 through, or by stopping the wheels, or by rotating the axis of rotation of the wheels provided in the electric agricultural transport vehicle 10 through the steering angle control actuator, the electric agricultural transport vehicle (10) is made to rotate in the left or right direction.

The driving-related sensor group 120 detects the position and movement of the electric agricultural transport vehicle 10 . To this end, the driving-related sensor 120 may include a positioning sensor 121 such as a global navigation satellite system (GNSS) and a driving sensor 122 as shown in FIG. 2 .

The GNSS sensor 121 as a positioning sensor may measure the position, speed, direction angle, etc. of the electric agricultural transport vehicle 10 using a satellite. Here, the position, speed, direction angle, etc. of the electric agricultural transport vehicle 10 obtained through the positioning sensor 121 may be referred to as the positioning of the GNSS sensor.

Among positioning sensors, a GNSS sensor refers to a system that calculates coordinates of a specific location using radio waves transmitted from satellites in space. As such, in that the GNSS uses satellites, it is not limited by time and space and can acquire position, speed, and time information relatively stably compared to other systems.

The GNSS sensor 121 determines its position by using the GNSS signal received from the satellite, receives the positioning correction information from the RTK (Real TimeKinematic) reference station 300, and uses the positioning correction information to receive the 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 single frequency-based low-cost GNSS sensor. That is, in the case of agricultural machines, in that they move at a relatively low speed compared to a drone, a flying vehicle, a ship, etc., a sufficiently accurate position can be measured only with a single frequency. As such, according to the embodiment of the present invention, in terms of using a single frequency-based GNSS sensor, it is possible to measure the position of the electric agricultural transport vehicle 10 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 to calculate a position with cm-level accuracy and provide it to the low-cost GNSS sensor 121 .

The travel sensor 122 may measure a speed, a direction angle, and the like of the electric agricultural transport vehicle 10 . To this end, the travel sensor 122 may include a steering angle sensor for measuring the direction angle of the electric agricultural transport vehicle 10 and a speed sensor for measuring the speed of the electric agricultural transport vehicle 10 .

The memory 130 stores an autonomous driving route. In this case, the electric agricultural transport vehicle 10 may run autonomously along an autonomous driving route without a human being. On the other hand, although not shown in FIG. 2, whether to operate the transport vehicle by unmanned driving in the electric agricultural transport vehicle 10, or whether the driver directly drives the transport vehicle, or selects whether to drive by remote control by the remote controller 20 A mode selection unit may be further provided.

When the user selects manual driving through the mode selector, the processor 140 operates the vehicle according to the first manipulation signal generated based on the manipulation from the user, whereas when the user selects the unmanned driving through the mode selector, the processor The vehicle is operated in a predetermined autonomous driving mode, and when the user selects the remote control mode, the processor operates the vehicle according to the second manipulation signal generated from the remote controller 20 .

The autonomous driving path may be generated based on data obtained from the GNSS sensor 120 while the electric agricultural transport vehicle 10 manually drives the autonomous driving path to be generated. For example, the autonomous driving route is obtained from the GNSS sensor 120 during manual driving, in which the electric agricultural transport vehicle 10 manually travels the autonomous driving target path (eg, a path such as farmland, rough road, road, etc.) It may be generated by the position, speed and direction angle of the electric agricultural transport vehicle 10 . A detailed method of generating such an autonomous driving path will be described later.

In addition, as shown in FIG. 2 , the processor 140 includes a path generation module 141 , a motor drive control module 142 , and a vehicle information processing module 145 . Although the modules are shown individually in FIG. 2, it is obvious that these modules may be combined and implemented as one unit.

The processor 140 controls the overall operation of the electric agricultural transport vehicle 10 . To this end, the processor 140 executes a dedicated processor (eg, an embedded processor) for controlling the operation of the electric agricultural transport vehicle 10, or one or more software programs stored in the memory device, thereby performing the operations. It may be implemented as a generic-purpose processor (eg, CPU or application processor).

The communication unit 150 may wirelessly exchange data with a peripheral device, for example, the remote controller 20 . For example, the communication unit 150 performs communication with the remote controller 20 through mobile communication such as 4G or 5G, infrared (IR) communication, RF communication, Bluetooth communication, Zigbee communication, WiFi communication, and the like.

The communication unit 150 transmits image data captured in real time from the camera 160 to the remote controller 20 when the agricultural transport vehicle 10 is operating in the remote control mode, and a second operation signal from the remote controller 20 is received and transmitted to the processor 140 , and the processor 140 controls the vehicle based on the second manipulation signal.

In the present invention, "path generation technology for autonomous driving" is a technology for generating a path for autonomous driving operation, and a waypoint, which is an autonomous driving path, is generated based on the positional position obtained by manually operating an agricultural machine by a user. is a technique to The autonomous driving path generation technology developed in the present invention consists of an autonomous driving path generating algorithm for a moving path and an autonomous driving path merging algorithm, and will be described below.

go. Autonomous driving route generation algorithm

In the present invention, a location information-based autonomous driving route generation algorithm was developed that generates a route using location information obtained by manually driving an agricultural machine on a route for a user to autonomously drive. The processing process of the location information-based autonomous driving path generation algorithm is summarized as follows.

The location information-based autonomous driving path generation algorithm performs a function of generating a waypoint-based autonomous driving path by acquiring a location measurement for a path that a vehicle can move.

3 is a flowchart illustrating a processing process of an algorithm for generating an autonomous driving route based on location information according to the present invention. As shown in Fig. 3, the location information-based autonomous driving route generation data is processed in the following order: ① receiving positioning from a positioning sensor ② real-time positioning data quality inspection and storage ② generating waypoint data, ④ saving waypoint data.

First, the step of receiving the positioning from the positioning sensor means receiving the positioning received from the GNSS sensor or the positioning sensor 121 in the path generating module 141 as shown in FIG. 3 . When the user manually drives the transport vehicle to generate an autonomous driving path, the positioning sensor transmits positioning data to the path generating module 141 at regular time intervals.

In a subsequent step, the path generation module 141 performs a real-time quality check of the positioning data, for example, the path generation module 141 provides quality based on positioning and quality information provided by the positioning sensor at predetermined time intervals. Save this good positioning.

In order to generate a path using a positioning position with a similar level of positioning precision, if the positioning quality information is poor, a stop command is sent to the motor drive control module 142 to temporarily stop the manual operation of agricultural machinery, and the positioning quality information is good When canceled, the stop command is released to the motor drive control module 142 so that the manual operation of the agricultural machine can be continued.

The failure criterion of positioning quality information may be set when the GNSS-RTK ambiguity number is not fixed or the elapsed time of transmission of the GNSS-RTK reference station correction signal exceeds 1 second. When the user completes the manual operation of the movement route, the route generation module 141 transmits a travel completion command to the agricultural machine to stop the manual operation of the agricultural machine, and positioning data for generating waypoint data is stored. The storage format of real-time measurement data is as follows.

[Table 1] Real-time location measurement format

In the next step, waypoints for autonomous driving are created using the stored positioning data. In this step, location data for high-quality autonomous driving routes obtained by the user through manual driving of the transport vehicle is used. Waypoint data generation generates a waypoint that is an autonomous driving route for a moving path by using the stored real-time positioning data, the distance between adjacent points for determining whether to stop, and an angle reference value for determining whether a rotation section exists.

4 is a flowchart illustrating a flow of generating a waypoint that is an autonomous driving route. In this flowchart, when sequentially stored real-time positioning data is input (S110), the distance between the previous and current positions is calculated (S111), and in step S113 for determining whether to stop, if the distance between adjacent points is less than the reference value, the previous position After calculating the average position of the and current position (S210), the average position is converted to the previous position (S211), and if the distance is greater than the reference value in step S113, a straight line is generated using the previous position and the current position (S114).

In addition, if the distance between the previously generated straight line and the currently generated straight line in step S117 for determining whether the rotation section is smaller than the angle reference value for determining whether the rotation section is present, convert the previously generated straight line to the currently generated straight line ( S118) If the angle is greater than the reference value, the current position is stored as a waypoint (S214).

Referring back to FIG. 4 , in the step of storing the waypoint data, network data containing information on whether the waypoint is an autonomous driving route and whether the waypoint is accessible is stored. The waypoint data and network data storage format are shown in the table below.

[Table 2] Waypoint data storage format

[Table 3] Network data storage format

me. Autonomous route merging algorithm

In the present invention, the autonomous driving route generation generates a waypoint using data obtained by manually driving an agricultural machine in order for a user to create an autonomous driving route based on location information for a moving route, so that all information about the actual work environment is generated. There is a limit in which a path cannot be acquired at once. In order to compensate for this limitation, the present invention developed an autonomous driving route merging algorithm capable of merging waypoint data generated for some routes. The autonomous driving path merging algorithm can be divided into a working path merging algorithm and a detour path merging algorithm.

5 is a flowchart illustrating an autonomous driving path merging algorithm. As shown in FIG. 5 , the working path merging algorithm first merges the working path waypoints in the following way when the user sequentially inputs the working path waypoints to be merged in step S301.

After the work route waypoint is input in step S301, the latitude, longitude, and ellipsoid height, which are the geodesic coordinates of all the work route waypoints input based on the starting point of the work route in step S302, are calculated based on the NED (North East Down) coordinate system. Convert to coordinates.

In the subsequent step S303, it is determined whether there is an intersection between the input work path waypoints. The existence of an intersection is determined through an intersection determination algorithm on a straight line created as an adjacent waypoint. The intersection determination algorithm uses Line-Line intersection: https://en.wikipedia.org/wiki/Line%E2%80%93line_intersection.

If there is an intersection, the working path waypoint input first extracts the working path from the first waypoint to the waypoint containing the intersection, and the next input working path waypoint is the waypoint from the waypoint containing the intersection to the end point waypoint. is extracted and merged. If there is no intersection point, the distance between the end point of the previously entered work path waypoint and the start point of the next input work path waypoint is calculated. . When the merging of waypoints is completed, the waypoint index is sequentially redefined from the starting point, and the waypoints are saved according to the output format of the waypoint and the network data storage format.

The detour route merging algorithm plays a role in generating the final autonomous driving route waypoint by merging the working route waypoint and the detour route waypoint. The NED coordinate transformation and intersection determination of the detour path merging algorithm is the same as the working path merging algorithm, but there is a difference in that the waypoint index start number is designated differently to distinguish the detour path from the work path.

Next, an autonomous driving method will be described.

6 is an operation flowchart illustrating a flow of an autonomous driving operating method according to the present invention. As shown in FIG. 6 , the autonomous driving method according to the present invention controls the motor drive 142 using the autonomous driving path generation method as described above, that is, the positioning position calculated by the positioning sensor and the waypoint that is the autonomous driving path. After calculating the parameters, they are transmitted to the motor drive to follow the autonomous driving route. The autonomous driving technology consists of steps ① defining a route for autonomous driving (S401), ② determining whether autonomous driving is operating (S402), ③ changing waypoints (S403), ④ determining a target point (S404), and ⑤ calculating driving control parameters (405). include

In step S401, the path definition for autonomous driving is to find the nearest position of a waypoint that is an autonomous driving route based on the current position when the autonomous driving operation technology is executed, and a way for driving to the final end point based on the nearest position. points are extracted. The above process is processed only once when autonomous driving is executed, and autonomous driving is performed using the generated and extracted waypoints.

In step S402, the determination of whether autonomous driving is operated performs a role of determining whether or not autonomous driving is operated by examining the quality of positioning provided by the positioning sensor. In the present invention, it is defined to perform autonomous driving when the elapsed time of updating the GNSS-RTK measurement value with a fixed number of ambiguities among the quality information of the positioning sensor is within 2 seconds and the positional accuracy is within 0.5m. If the above reference value is exceeded, the left and right track speeds of 0 are transmitted to the motor drive to stop the vehicle.

In step S403, the waypoint switching determines whether to continue using the current waypoint or to switch to the next waypoint. During autonomous driving, agricultural machinery moves between successive waypoints that are autonomous driving paths, so in order to improve the stability of autonomous driving, it is necessary to appropriately switch waypoints according to the current location. In addition, since the caterpillar-type agricultural machine can rotate in place, it is necessary to first determine whether the current waypoint is a place of rotation when changing a waypoint.

Whether or not the position turns point can be defined as shown in the following formula, and waypoint conversion is processed in the following order.

1) Calculate the angle between the current waypoint and the two straight lines created by the adjacent waypoints

2) If the angle between the two straight lines is greater than the reference angle for in-place rotation, it is defined as the in-place rotation point.

Here, n is the currently selected waypoint index, WPn _North and WPn _East are the coordinates of the north and east directions of the current waypoint expressed based on the NED (North East Down) coordinate system based on the current agricultural machine position as the origin, respectively, and r is Represents an in-place rotation reference angle that determines whether or not an in-place rotation point is present.

If the currently selected waypoint is a turn point, if the difference between the yaw of the current agricultural machine and the azimuth created by the current waypoint and the next waypoint is within a certain angle, it is switched to the next waypoint, and vice versa, the current waypoint points will be kept.

If the currently selected waypoint is not a turning point, the waypoint is switched if the distance between the current position of the agricultural machine and the currently selected waypoint is within a certain radius as shown in the following equation. will keep

Here, R _WP means a reference radius for determining whether to switch a waypoint.

6 is an explanatory diagram for explaining the principle of Enclosed based Line of Sight (LOS) Guidance. In the present invention, as shown in FIG. 6 , in the target point determination step S404, a location point to be moved to the next time is set based on the current vehicle location and the selected waypoint.

The target point determination method is an "Enclosed based Line of Sight" that determines the target point at the point where the straight line created with the current waypoint and the previous waypoint and the circle created through the reference radius (R) with the current vehicle position as the center of the circle. (LOS) Guidance (Jensen, T. M. Waypoint-following guidance based on feasibility algorithms, Master dissertation, Norwegian University of Science, Norway, 2011.)" was applied.

If the distance between the current vehicle position and the current waypoint is smaller than the reference radius R, the target point is selected as the coordinates of the current waypoint.

Next, the control parameter calculation step ( S405 ) will be described. In the control parameter calculation step, the speed values of the left and right tracks for reaching the target point at the next time are calculated by dividing the rotation in place and the time of movement.

In case of in-place rotation, the distance between the current position of the transport vehicle and the current waypoint position is less than the radius (R). The magnitude of the left and right track speed is specified as a constant constant value, and Codes are assigned differently. For example, in the case of a left turn in place, the sign of the left track speed has a positive number and the sign of the right track speed has a negative number.

In the case of movement, the distance between the current position of the agricultural machine and the current _waypoint position is greater than the radius ( _R ). .

Here, TP _North and TP _Wast are the position coordinates in the north and east directions of the current target point expressed based on the NED (North-East-Down) coordinate system based on the current location of the agricultural machine as the origin, respectively, and ψ is the Yaw, Vmin of the current vehicle. and Vmax are the minimum vehicle speed and the maximum vehicle speed, respectively, and σ is the reference value for deceleration according to the rotation angle of the agricultural machine.

When the target angle and target speed are calculated, the left and right track speeds for moving to the target point are calculated.

Here, v _Left and v _Right are the left and right track speeds, respectively, the distance between the left and right tracks, and Δt is the control time interval (seconds).

8 is a view showing an example of a remote controller 20 for remotely controlling the electric agricultural transport vehicle 10 according to the present invention. As shown in FIG. 8 , the remote controller 20 includes a display unit 210 and an operation panel unit 220 . The display unit functions to display the image transmitted from the camera 160 of the electric agricultural transport vehicle 10 as described above.

The operation panel 220 includes an operation button for operating the agricultural transport vehicle 10 . The operation button unit includes a power button unit 221 , a connection button unit 222 , an autonomous driving button unit 223 , a front wheel drive button unit 224 , a rear wheel drive button unit 225 , a movement button unit 226 , and a direction button. part 227 .

In such a configuration, the user must perform a connection with the electric agricultural transport vehicle 10 by pressing the connection button unit 222 in a state in which the power button unit 221 is turned on. In order to connect the remote controller 20 to the electric agricultural transport vehicle 10, the user must first select either the remote control mode or the autonomous driving mode as an operation mode of the vehicle through the control panel of the electric agricultural transport vehicle 10. Otherwise, an error message to change the operation mode of the vehicle is output to the monitor 210 of the remote controller 20 .

The autonomous driving button unit 223 supports the user to execute autonomous driving in the remote control mode. After the user moves the agricultural transport vehicle 10 around the waypoint on the work route using the remote controller 20 and presses the autonomous driving button unit 223, the processor of the agricultural transport vehicle 10 searches the waypoint. After that, it will start autonomous driving. On the other hand, when the autonomous driving button 223 is pressed and the processor of the agricultural transport vehicle 10 cannot find a nearby waypoint, an error message of “the waypoint cannot be found” is output to the user.

The front wheel drive button unit 224 and the rear wheel drive button unit 225 function to determine whether to operate the agricultural transport vehicle 10 in front wheel drive or rear wheel drive. For example, when the user presses only the front wheel drive button unit 224, the processor drives only the front wheels of the agricultural transport vehicle 10 to operate the vehicle, whereas when the user presses only the rear wheel drive button unit 225, the processor is for agricultural use. Only the rear wheels of the transport vehicle 10 are driven to operate the vehicle. Meanwhile, when the user presses both the front wheel drive button unit 224 and the rear wheel drive button unit 225 , the processor operates the vehicle in 4 wheel drive mode.

The moving button unit 226 functions to enable the user to move the agricultural conveyance vehicle 10 forward and backward, and the direction button unit 227 functions to enable the user to turn the agricultural conveying vehicle 10 to the left or right. .

The device described above may be implemented as a hardware component, a software component, and/or a combination of the hardware component and the software component. For example, devices and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), It may be implemented using one or more general purpose or special purpose computers, such as a programmable logic unit (PLU), microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For convenience of understanding, although one processing device is sometimes described as being used, one of ordinary skill in the art will recognize that the processing device includes a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that may include For example, the processing device may include a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as parallel processors.

The software may comprise a computer program, code, instructions, or a combination of one or more thereof, which configures a processing device to operate as desired or is independently or collectively processed You can command the device. The software and/or data may be any kind of machine, component, physical device, virtual equipment, computer storage medium or device, to be interpreted by or to provide instructions or data to the processing device. , or may be permanently or temporarily embody in a transmitted signal wave. The software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored in one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic such as floppy disks. - includes magneto-optical media, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

Although the embodiments have been described with reference to the limited drawings as described above, various modifications and variations are possible by those skilled in the art from the above description. For example, the described techniques are performed in a different order than the described method, and/or the described components of the system, structure, apparatus, circuit, etc. are combined or combined in a different form than the described method, or other components Or substituted or substituted by equivalents may achieve an appropriate result.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those of ordinary skill in the art to which the present invention pertains. Accordingly, the embodiments disclosed in the present invention are for explanation rather than limiting the technical spirit of the present invention, and the scope of the technical spirit 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 being limited by the above-described embodiments, and all technical ideas within an equivalent range should be interpreted as being included in the scope of the present invention.

10: electric agricultural transport vehicle 20: remote controller
110: actuator 120: driving-related sensing unit
130: memory 140: processor
50: communication unit 160: camera
210: display unit 220: operation panel

Claims (6)

In the electric agricultural transport vehicle that can be remotely operated through a remote controller,
The electric agricultural transport vehicle,
a camera installed on the vehicle body;
a communication unit for transmitting the image from the camera to the remoto controller; and
A processor for controlling the movement of the vehicle based on the operation signal transmitted from the remote controller,
The remote controller is
a display unit for displaying an image transmitted from the camera of the electric agricultural transport vehicle; and
and an operation panel portion provided with a plurality of operation button portions for controlling the movement of the electric agricultural transport vehicle.
A remote-operated electric agricultural haulage vehicle.
According to claim 1,
The electric agricultural transport vehicle,
Manual driving mode in which the electric agricultural transport vehicle is driven by the driver's operation;
an autonomous driving mode in which an agricultural transport vehicle is driven along a pre-stored autonomous driving route; and
Characterized in that it includes a remote control mode in which the electric agricultural transport vehicle is driven by the control of the remote controller.
A remote-operated electric agricultural haulage vehicle.
3. The method of claim 2,
Remote control of the electric agricultural transport vehicle by the remote controller is possible when the electric agricultural transport vehicle is set to either remote control mode or autonomous driving mode
A remote-operated electric agricultural haulage vehicle.
According to claim 1,
The electric agricultural transport vehicle,
a GNSS sensor for measuring the position of an electric agricultural haulage vehicle;
Travel sensors for measuring the speed and heading angle of the electric agricultural haulage vehicle; and
Further comprising a memory in which the autonomous path of the electric agricultural haulage vehicle is stored,
The processor is
receiving positioning data from the GNSS positioning sensor while driving an autonomous driving target's agricultural work route using an electric agricultural transport vehicle;
checking and storing the quality of the location data;
generating a waypoint by using the positioning data when the driving of the electric agricultural transport vehicle is finished; and
is configured to perform an operation of storing the created waypoint;
The operation of checking and storing the quality of the measurement data is,
storing the positioning data calculated by the positioning sensor at regular time intervals; and
Among the quality information of the positioning data, if the ambiguity of the GNSS-RTK is not fixed or the GNSS update elapsed time exceeds 1 second, it is judged to be of poor quality, and the operation of stopping the manual operation of the agricultural machinery and receiving the positioning data again; characterized in that it is configured to include
A remote-operated electric agricultural haulage vehicle.
5. The method of claim 4,
When the electric agricultural transport vehicle is operating in the remote control mode and an autonomous driving input is received from the remote controller, the electric agricultural transport vehicle searches for a nearby waypoint in a pre-stored autonomous driving route and autonomously drives based on the retrieved waypoint characterized in that it is configured to perform
A remote-operated electric agricultural haulage vehicle.
According to claim 1,
The electric agricultural transport vehicle and the remote controller communicate with each other through any one of 4G or 5G mobile communication, infrared (IR) communication, RF communication, Bluetooth communication, Zigbee communication, and WiFi communication, characterized in that
A remote-operated electric agricultural haulage vehicle.

Images