KR20230124231A - Method and apparatus for remotely controlling robotic agricultural machine - Google Patents

Abstract

The present invention may provide a method for remotely controlling a robotic agricultural machine. At this time, the method for remotely controlling the robotic agricultural machine includes collecting information on the surrounding environment of the robotic agricultural machine through at least one camera, performing autonomous driving in a straight section based on the collected information in an autonomous driving mode Step, receiving a command indicating a remote control mode from a user's device, receiving motion control information of the user for driving in the remote control mode, in the remote control mode, based on the motion control information and performing operation in the curved section by doing so. Here, the motion control information includes user's motion command information indicating a steering control angle of the robot agricultural machine, and the at least one camera is selected from among at least one camera installed at different heights or at least one wide-angle camera. It can be at least one.

Description

Method and apparatus for remotely controlling robotic agricultural machines

The present invention can provide a method and apparatus for remotely controlling a robotic agricultural machine.

Specifically, the present invention may provide a method and apparatus for remotely controlling a robotic agricultural machine by using information about the surrounding environment collected by the robot agricultural machine.

Recently, the introduction of automation systems using robot technology is active in various fields. Representative examples include household cleaning robots, guide service robots, transport robots for logistics automation, and autonomous vehicles.

In the case of agriculture, simple repetitive work is often performed in a high temperature and high humidity environment. Agricultural machines capable of mechanically processing tasks such as seeders, rice transplanters, weeders, weeders, and harvesters are already in common use. Representative agricultural work such as sowing, transplanting, weeding, control, and harvesting has been mechanized to a large extent, and productivity has dramatically increased compared to traditional agricultural work. Following this trend, there is considerable interest and demand for robot automation that does not require manpower in the agricultural sector.

An object of the present invention is to provide a method and apparatus for remotely controlling a robotic agricultural machine.

An object of the present invention is to provide a method and apparatus for remotely controlling a robotic agricultural machine by using information about the surrounding environment collected by the robot agricultural machine.

Other objects and advantages of the present invention can be understood by the following description, and will be more clearly understood by the examples of the present invention. It will also be readily apparent that the objects and advantages of the present invention may be realized by means of the instrumentalities and combinations thereof set forth in the claims.

According to one embodiment of the present invention, it is possible to provide a method for remotely controlling a robot agricultural machine. At this time, the method for remotely controlling the robotic agricultural machine includes collecting information on the surrounding environment of the robotic agricultural machine through at least one camera, performing autonomous driving in a straight section based on the collected information in an autonomous driving mode Step, receiving a command indicating a remote control mode from a user's device, receiving motion control information of the user for driving in the remote control mode, in the remote control mode, based on the motion control information and performing operation in the curved section by doing so. Here, the motion control information includes user's motion command information indicating a steering control angle of the robot agricultural machine, and the at least one camera is selected from among at least one camera installed at different heights or at least one wide-angle camera. It can be at least one.

According to the present invention, it is possible to provide a method and apparatus for remotely controlling a robotic agricultural machine.

According to the present invention, by providing a method and apparatus for remotely controlling a robotic agricultural machine, it is possible to provide an advantage of increasing user convenience for remotely controlling an agricultural machine.

Effects obtainable in the present disclosure are not limited to the effects mentioned above, and other effects not mentioned may be clearly understood by those skilled in the art from the description below. will be.

1 shows an example of a route for control work in an orchard environment using a robot agricultural machine equipped with remote driving technology according to an embodiment of the present invention.
2 shows an example of a procedure for remotely controlling an agricultural machine according to an embodiment of the present invention.
Figure 3 shows a robot sprayer equipped with remote driving technology according to an embodiment of the present invention.
4 illustrates an example of an image screen captured by a first camera and a second camera installed in the robot agricultural machine of FIG. 3 according to an embodiment of the present invention.
5 illustrates a user interface for remotely driving a robot agricultural machine implemented in a smart phone according to an embodiment of the present invention.
6 shows an example of a device configuration according to the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present disclosure will be described in detail so that those skilled in the art can easily implement the present disclosure. However, this disclosure may be embodied in many different forms and is not limited to the embodiments set forth herein.

In describing the embodiments of the present disclosure, if it is determined that a detailed description of a known configuration or function may obscure the gist of the present disclosure, a detailed description thereof will be omitted. And, in the drawings, parts irrelevant to the description of the present disclosure are omitted, and similar reference numerals are attached to similar parts.

In the present disclosure, when a component is said to be "connected", "coupled" or "connected" to another component, this is not only a direct connection relationship, but also an indirect connection relationship between which another component exists. may also be included. In addition, when a component "includes" or "has" another component, this means that it may further include another component without excluding other components unless otherwise stated. .

In the present disclosure, terms such as first and second are used only for the purpose of distinguishing one element from another, and do not limit the order or importance of elements unless otherwise specified. Accordingly, within the scope of the present disclosure, a first component in one embodiment may be referred to as a second component in another embodiment, and similarly, a second component in one embodiment may be referred to as a first component in another embodiment. can also be called

In the present disclosure, components that are distinguished from each other are intended to clearly explain each characteristic, and do not necessarily mean that the components are separated. That is, a plurality of components may be integrated to form a single hardware or software unit, or a single component may be distributed to form a plurality of hardware or software units. Accordingly, even such integrated or distributed embodiments are included in the scope of the present disclosure, even if not mentioned separately.

In the present disclosure, components described in various embodiments do not necessarily mean essential components, and some may be optional components. Accordingly, an embodiment comprising a subset of elements described in one embodiment is also included in the scope of the present disclosure. In addition, embodiments including other components in addition to the components described in various embodiments are also included in the scope of the present disclosure.

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the following detailed description of the embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments presented below and can be implemented in various different forms, only the present embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs. It is provided to fully inform the person who has the scope of the invention.

Recently, the development of agricultural machines that perform given agricultural tasks autonomously by recognizing the environment, such as self-driving cars, away from the method of directly driving agricultural machines by humans has been actively developed. In particular, in the case of North America and Europe, automatic guidance devices have been developed around large agricultural machinery manufacturers and are being mounted on various agricultural machinery such as tractors. Since this automatic guidance device provides an accurate location recognition function with an error of several centimeters (cm) through a real time kinematic global positioning system (RTK-GPS), its use is steadily increasing, especially in large farms. For this reason, research on devices and methods for automatically performing agricultural work by recognizing the environment using a light detection and ranging (LIDAR) and a camera sensor has been actively conducted. Since this method has the effect of improving the environmental recognition function of agricultural machinery, it is in the spotlight as a work assistance function in the near future.

However, various environmental assisting devices such as an RTK-GPS system, LIDAR, and camera sensors are either expensive in themselves or costly to implement a system including individual elements. Therefore, it is difficult to implement the automation of agricultural work using the corresponding devices. In particular, unlike large farms in North America or Europe, domestic farms are mainly composed of small and medium-sized farms. Therefore, in the case of Korea, it is more difficult to introduce an apparatus and method for automatically performing agricultural work.

In particular, when autonomous functions are installed in agricultural machines, errors are often caused by the agricultural machines inaccurately recognizing the environment due to various field conditions. Such an error causes user dissatisfaction, and costs increase because a separate backup device and method must be applied to the agricultural machine to solve the error. In addition, in the case of fruit farms, GPS signals are easily blocked by fruit trees, so it is difficult to apply the RTK-GPS-based location recognition and control method designed assuming a completely open space. That is, since the RTK-GPS-based method requires expensive equipment and sophisticated system settings, it is still difficult to generalize.

Recently, many studies have been conducted to control the work flow of agricultural machines using end-to-end learning. The study of "End-to-End Learning for Autonomous Crop Row-following" (AgriControl, 2019) published by M. Bakken et al. presented a concept that can be directly applied to control operations using robots. However, the references show limitations in not accurately generating the steering control angle required for actual control work. This is because it is not only difficult to model various terrain conditions and unpredictable situations in the actual field, but also difficult to secure data for learning.

Therefore, many studies have been conducted on technologies to supplement the autonomous functions of remote controls in unexpected situations. Jessie Y.C. Chen et al. introduce the remote control robot technology they investigated in detail in "Human performance issues and user interface design for teleoperated robots". According to the literature, among various sensors, a camera is mainly used for remote control. The literature extensively introduces the effects of remote control performance depending on camera parameters. These parameters include field-of-view (FOV), robot's current pose, camera viewpoint, 3D depth perception, video frame rate, time delay, and the remote control user's own motion. includes

Agricultural machines mainly used in the open field and orchard environment are tractors, pest control machines, combines, rice transplanters, and weeders. The working speed of most agricultural machines is only about 5 km/h, which is the walking speed or warning level of a person. Therefore, the parameters presented in the above document do not directly affect remote operation or control. Factors that have a decisive influence on the remote operation of slow-moving agricultural machinery are the viewing angle and time delay parameters. Since most agricultural machines perform work through straight-ahead and U-turn-type rotational motions, it can be an important factor whether the agricultural machine can be controlled remotely in a sharp turning path. In particular, the speed of transmitting or receiving a video from a camera in a remote location, which has become faster due to the development of wireless networking/communication technology, as a stream is not a practical issue considering the slow working speed of agricultural machinery. In addition, since there is no case in which a remote operator remotely controls an agricultural machine while moving, it is sufficient to examine only whether or not the efficiency of remote operation is reduced according to the viewing angle and time delay.

In order to secure a viewing angle, the robot agricultural machine may generate a top-view by applying a 360-degree surround view monitoring view, and remotely drive the agricultural machine using the top-view. This method can be conveniently applied to remote operation when the ground and the fruit heat can be clearly distinguished in the fruit water environment, but it may cause a problem that the situation around the robot is distorted through the camera lens. In addition, this method has a disadvantage in that it is difficult to control the steering through the naked eye of a remote driver because the ground and terrain features around the robot are often similar in agricultural work sites. In particular, in the case of remotely operating the pest control machine, when the driver controls the steering angle to the right or left in the turning section while driving the control machine along the fruit heat, the ground and the fruit heat are often not distinguishable with the naked eye. In this case, if a time delay effect occurs, the remote operator fails to operate the pesticide remotely, and the pesticide may collide with a nearby fruit tree.

Meanwhile, time delay refers to a delay between data input to the remotely operated agricultural machine and remote image output during remote operation. Time delay occurs in the process of transmitting a video stream through a communication network. Time delays vary from a few milliseconds (ms) to a few seconds (s). Due to the time delay, the work efficiency of the remote operation may decrease. Although there is a time delay, as in the move and wait strategy, most users adapt to the time delay by considering the slow operation speed of agricultural machinery, so difficulties in directly operating agricultural machinery (e.g., noise, In case of vibration and control work, inhalation of harmful substances due to spraying of control solution, collision with surrounding terrain features, scratches, etc.), this is a level that can be considered.

Therefore, in most cases, securing a stable viewing angle is the biggest issue in order to remotely operate agricultural machinery. In addition, even if a viewing angle is secured, a simple and effective remote driving interface is required because it causes considerable fatigue for a remote operator to control an agricultural machine while continuously watching the screen.

Although many attempts have been made on remote driving, methods for providing user convenience by applying remote driving technology to agricultural work have been insufficient. Recently, as communication technologies such as 5G and wireless mesh technology are rapidly developing, resolution degradation or time delay due to video streaming will be gradually resolved. Therefore, it will be possible to actively introduce an interface that can secure a viewing angle for remote driving based on advanced communication technology and significantly reduce the fatigue of remote driving users. In other words, even in an atypical and dynamic agricultural work environment where it is difficult to actively introduce autonomous driving functions, it will be possible to simply and conveniently perform existing tasks and secure productivity through remote operation of agricultural machinery using advanced communication technology.

However, recent agricultural machine remote driving technology still has difficulty in securing a viewing angle and requires continuous user intervention, so it is difficult to actually introduce it to the field. In order to solve these problems, the present invention proposes a remote operation-based robot agricultural machine control device using video and a method of using the same, which is easy to use and can be implemented at low cost in actual farms. In addition, the present invention proposes a technology capable of driving autonomously in most straight sections, excluding sections where automation is difficult, such as turning sections, which do not require continuous user intervention. To this end, the present invention uses a separate straight-line movement assisting device together with a camera. According to the present invention, it is possible to significantly reduce fatigue of a remote operator and secure high agricultural work efficiency.

The present invention relates to an apparatus and method for controlling a robot agricultural machine using a remote driving function. More specifically, it relates to a remote operation-based robot agricultural machine control device and method for performing various agricultural tasks simply and effectively by controlling the operation of the robot agricultural machine through a video stream transmitted from a remotely located robot agricultural machine. According to the present invention, it is possible to overcome the user's viewing angle limitation during work and minimize the user's steering control intervention by combining at least one camera capable of observing the front and surrounding space and a steering control device for assisting straight movement in the robot agricultural machine. can Also, as another example, the viewing angle limitation can be overcome by using a camera equipped with a wide-angle lens (fisheye lens).

The remote operation-based robot agricultural machine control apparatus and method using the video proposed in the present invention will be described for the control work of fruit farms. However, the apparatus and method proposed in the present invention are not limited to a specific work of a specific farm, and may be applied to other farms and other farm machines.

In the following description, the robotic agricultural machine may be included in a robotic device having a low degree of autonomy according to ISO8373:2012 Robots and Robotic Devices - Vocabulary standard document. Therefore, the robot agricultural machine according to the present invention can be regarded as a device equipped with a certain level of autonomous function in various types of agricultural machines such as existing tractors, pesticides, weeders, rice transplanters, harvesters (eg, combines), and seeders. However, as described above, the level of autonomy applied to the robotic agricultural machine may be a low-level level of autonomy including remote driving.

1 shows an example of a route for control work in an orchard environment using a robot agricultural machine equipped with remote driving technology according to an embodiment of the present invention.

Referring to FIG. 1 , the robot agricultural machine 110 may perform straight ahead, right turn, and left turn from the starting point to the ending point by itself. The work path may include a straight movement section 130 and a curved movement section 120 . The work path of FIG. 1 is not limited to a specific work such as control work, and may be applied to various works such as weeding, transplanting, harvesting, and sowing. The following embodiments will be described by way of an example of a pest control machine that performs a control operation, but is not limited to a specific agricultural machine.

When a user remotely drives a pest control machine equipped with a camera, the user can remotely control the steering wheel of the control machine while viewing a video stream of the surrounding environment collected from the camera mounted on the control machine through a smartphone screen. there is. Controlling the steering while the user constantly checks the smartphone screen can cause great fatigue to the user as the scale of the farm grows. In particular, in the case of fruit farms, these difficulties (eg, causing fatigue) are aggravated because fruit trees and ground have similar topographical structures and color distributions. Therefore, the present invention proposes a method in which the robot agricultural machine autonomously operates in the straight movement section 130 and the user intervenes and directly controls the robot farm machine in the curved movement section 120 requiring a rotation operation.

2 shows an example of a procedure for remotely controlling an agricultural machine according to an embodiment of the present invention. 2 illustrates a method of operation of an apparatus for performing agricultural work.

Referring to FIG. 2 , the device collects information about the surrounding environment of the device through at least one camera (step S201). In this case, the device may operate autonomously or may be controlled remotely by a user. As an example, the device may be a robotic agricultural machine equipped with a camera. The device can drive autonomously in a straight section and can be controlled by a user in a turning section. The information on the surrounding environment of the device may be captured images of fruit trees, topography, and the like, sensor information measured on the surrounding environment, and GPS information. For example, the robot agricultural machine may capture a situation around the robot agricultural machine using at least one camera. The user can observe the movement and work situation of the robot farm machine through the captured image.

In the autonomous driving mode, the device performs autonomous driving in a straight section based on the collected information (step S203). The user can control the robot agricultural machine to perform autonomous driving in a straight section using his/her device. The device may include a display panel capable of outputting information about the surrounding environment. Devices may include smartphones and tablet PCs. For example, a user may check an image of a surrounding environment captured by a robot agricultural machine through his/her device. An interface for remotely operating the robot agricultural machine may be displayed on the screen of the user's smartphone along with the captured image. The user can control the operation of the robot agricultural machine through the interface while checking the surrounding environment of the robot agricultural machine through the captured image.

The device receives a command indicating a remote control mode from the user's device (step S205). For example, the robot farm machine may receive control information about the release of the straight driving mode from the user's device. For example, a robot agricultural machine operating in a straight driving mode may receive control information about execution of a remote control mode from a user's device. Upon receiving the command instructing the remote control mode, the robot agricultural machine may cancel the straight driving mode and execute the remote control mode. In the remote control mode, the robot farm machine can wait for other control commands from the user.

The device receives the user's motion control information for driving in the remote control mode (step S207). The user can check the surrounding situation of the device through the captured image of the surroundings of the device output from the device. A user may control the operation of the device by inputting a command to the device using an interface output to the device. As an example, the user may cancel the straight driving mode of the robot agricultural machine when the robot agricultural machine moves in a straight section by autonomous driving and arrives at the end point of the fruit sequence, which is the position where the rotational motion starts. When the straight driving mode of the device is released, the user can directly control the steering angle to perform a rotational operation using icons such as left turn, right turn, and U-turn included in the interface. When the robot agricultural machine enters the next straight section after performing a rotational motion, the user can use the straight driving mode again.

In the remote control mode, the device operates based on the motion control information (step S209). The device may perform navigation based on motion control information received from the user's device. For example, the robotic agricultural machine may receive a command to adjust the steering control angle to the right from the device. For example, the robotic agricultural machine may receive a command to adjust the steering control angle to the left from the user's device. The robot farm machine may perform left turn, right turn, and u-turn based on motion control information.

Figure 3 shows a robot sprayer equipped with remote driving technology according to an embodiment of the present invention.

Referring to FIG. 3 , sensors disposed in the robot releaser 300 can be identified. The first camera 310 may be used for forward looking, and may photograph the front environment including the front part of the robot releaser. The second camera 320 may be installed so as to be positioned higher than the first camera 310 on the rear side of the robot releaser. The second camera 320 is installed at a high rear surface of the robot releaser 300, so that the robot releaser 300 can reliably check the surrounding space when moving. Through the arrangement of the first camera 310 and the second camera 320, while the robot control unit 300 is moving straight, it is possible to secure a viewing angle as if the driver is sitting in the driver's seat and looking forward.

4 illustrates an example of an image screen captured by a first camera and a second camera installed in the robot farm machine of FIG. 3 according to an embodiment of the present invention.

Referring to FIG. 4A , it is possible to check an image of a front space viewed from the first camera. Referring to FIG. 4B , an image of a surrounding space viewed from a second camera may be checked. The image captured by the second camera has a wider viewing angle than the image captured by the first camera. The user can easily drive the robot agricultural machine to move in a curved section through a right turn or a left turn after moving straight through the image captured by the second camera.

According to another embodiment of the present invention, an ultra-wide-angle lens such as a fisheye lens may be mounted on a robot agricultural machine. Since the viewing angle of the captured image input through the ultra-wide-angle lens dramatically increases even if some distortion occurs in the periphery, it may be easier to rotate the robot agricultural machine remotely (left, right turn, etc.). Therefore, when a wide-angle lens such as a fisheye lens is installed in a robot agricultural machine, as shown in FIG. 2 , two cameras may not be used. For example, a camera using an ultra-wide-angle lens may be installed at one of positions of the first camera and the second camera. The tilt angle of the installed camera can be adjusted to simultaneously view the front and surrounding space.

5 illustrates a user interface for remotely driving a robot agricultural machine implemented in a smart phone according to an embodiment of the present invention. Users can remotely operate the robot farming machine through a smartphone app.

Referring to FIG. 5 , a user may check an interface 500 implemented on a smartphone with a photographed image of a robot farm machine having an extended viewing angle according to the present invention. According to an embodiment of the present invention, the robot agricultural machine can perform autonomous driving in a straight section by generating a 3D occupancy grid map and controlling a steering angle in a straight section. The robotic farm machine may include a robot control machine. For example, in the case of an orchard farm, the robot pest control machine can move straight sections and rotation sections by effectively following fruit trees using a 3D occupancy grid map generated during movement.

The user can cancel the straight driving mode of the robot pest control machine when the robot control machine reaches the end point of the overheating by autonomous driving. For example, the user can cancel the straight driving mode by using the straight driving mode icon 510 of the interface (hereinafter referred to as 'interface') 500 for remote control of the robot releaser output from the device. As another example, the robot controller may release the straight driving mode by itself when it arrives at the end point of the overheating. When the straight driving mode is released, the user can directly control the robot controller to turn right, turn left, or make a U-turn. The user can control to perform a rotation operation using the left rotation icon 520 and the right rotation icon 530 of the interface.

After the robot control machine performs a rotation operation, when entering the next straight section, the user can use the straight driving mode again. For example, when the robot controller successfully enters the next straight section, the user may press the straight-ahead auxiliary operation icon 510 again to allow the robot controller to autonomously drive. The robot control unit may complete the control operation for the entire fruit string by repeating this operation for each fruit string.

On the other hand, it is essential for the robot control system to successfully perform the control operation by detecting the end point of overheating. According to the present invention, in order to accurately detect the end point of the fruit sequence, the robot agricultural machine can widen the viewing angle of the surrounding space through the second camera located at the rear of the first camera higher than the first camera, as shown in FIG. 3 . As another example, the viewing angle may be widened by installing the wide-angle lens camera at the location of the first camera or the second camera. In addition, if a separate easily identifiable structure or mark is installed at the end point of the fruit sequence according to the user's situation, the remote operation performance of the robot agricultural machine can be improved.

According to another embodiment of the present invention, as shown in FIG. 2, by using the image around the robot agricultural machine input by at least one camera and the RTK-GPS system, the robot agricultural machine autonomously performs until the rotation operation in the curved section. You can control it. At this time, the user can directly control the robot agricultural machine when an unexpected situation occurs while monitoring the work status transmitted through the video stream.

RTK-GPS equipment provides accurate location information on the order of several centimeters (cm), but is difficult to apply to agricultural machinery because of its high price. However, since the price of RTK-GPS equipment continues to decrease, automation of rotational motion of robot agricultural machinery using the RTK-GPS system may be possible in the future in terms of economic feasibility.

For example, a user may directly drive a robot pest control machine along a control work path in an orchard farm. The position of the robot sprayer according to the movement path can be recorded through RTK-GPS equipment. After the robot releaser completes recording the location, information on the end point of the fruit sequence in the movement path of the robot releaser may be separately stored. The robot sprayer can move autonomously without user intervention in a straight section using a straight driving assist device. The robot pest control machine can perform a straight-ahead motion, and when it reaches the end point of the fruit sequence stored through the RTK-GPS device, it can perform a rotational motion by itself. For example, whether or not the end point of the fruit sequence has been reached may be determined according to whether the distance between the current position of the robot controller and the previously stored end point of the fruit sequence is equal to or less than a preset value. The user can perform the control operation more conveniently by monitoring the operation of the robot control machine in the straight section and the curved section through the video stream.

6 shows an example of a device configuration according to the present invention. Referring to FIG. 6 , the device may include a memory 602 , a processor 603 , a transceiver 604 and a peripheral device 601 . Also, as an example, the device may further include other configurations, and is not limited to the above-described embodiment. At this time, as an example, the device may be a device for remotely controlling the robot agricultural machine. More specifically, the device of FIG. 6 may be exemplary hardware/software that remotely controls a robotic agricultural machine using semi-autonomous driving. At this time, for example, the memory 602 may be a non-removable memory or a removable memory. For example, the peripheral device 601 may include a detector for detecting a spatial image. Also, as an example, the peripheral device 601 may include a display, GPS, or other peripheral devices, and is not limited to the above-described embodiment. Also, as an example, the above-described device may include a communication circuit like the transceiver 604, and based on this, communication with an external device may be performed.

Also, as an example, the processor 603 may include a general purpose processor, a digital signal processor (DSP), a DSP core, a controller, a microcontroller, application specific integrated circuits (ASICs), field programmable gate array (FPGA) circuits, any other It may be at least one or more of a tangible integrated circuit (IC) and one or more microprocessors associated with a state machine. That is, it may be a hardware/software configuration that performs a control role for controlling the above-described device. At this time, the processor 603 may execute computer executable instructions stored in the memory 602 to perform various essential functions of the node. Also, the processor 603 may perform flattening of a spatial image. PSNR for comparison between spatial image and 2D original image can be measured. Also, the processor may compare PSNR with a specific value. Also, the processor may perform flattening of the spatial image again when the PSNR is less than a specific value. The processor 603 may control at least one of signal coding, data processing, power control, input/output processing, and communication operations. Also, the processor 603 may control a physical layer, a MAC layer, and an application layer. Also, as an example, the processor 603 may perform authentication and security procedures in an access layer and/or an application layer, and is not limited to the above-described embodiment.

Also, as an example, the processor 603 may communicate with other devices through the transceiver 604 . For example, the transmitter/receiver 604 may transmit/receive the PSNR value and the SSIM value calculated by the processor 603. Also, the transceiver 604 may transmit a 3D spatial image or a flattened spatial image stored in the memory 602 to the outside. Also, the processor 603 may control a node to communicate with other nodes through a network through execution of computer executable instructions. That is, the communication performed in the present invention can be controlled. For example, information collected to remotely control a robot agricultural machine using semi-autonomous driving may be transmitted to a user's device. For example, the transceiver 604 may transmit an RF signal through an antenna and may transmit the signal based on various communication networks. In addition, as an example, MIMO technology, beamforming, etc. may be applied as an antenna technology, and is not limited to the above-described embodiment. In addition, a signal transmitted and received through the transceiver 604 may be modulated and demodulated and controlled by the processor 603, and is not limited to the above-described embodiment.

Various embodiments of the present disclosure are intended to explain representative aspects of the present disclosure, rather than listing all possible combinations, and matters described in various embodiments may be applied independently or in combination of two or more.

In addition, various embodiments of the present disclosure may be implemented by hardware, firmware, software, or a combination thereof. For hardware implementation, one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), It may be implemented by a processor (general processor), controller, microcontroller, microprocessor, or the like. For example, the processor may be implemented as software written in a computer-readable programming language, and may take various forms including the general-purpose processor. It is obvious that it may be disclosed as hardware consisting of one or more combinations.

The scope of the present disclosure is software or machine-executable instructions (eg, operating systems, applications, firmware, programs, etc.) that cause operations according to methods of various embodiments to be executed on a device or computer, and such software or It includes a non-transitory computer-readable medium in which instructions and the like are stored and executable on a device or computer.

Since the present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention to those skilled in the art to which the present invention belongs, the scope of the present invention is not limited to the foregoing. It is not limited by one embodiment and accompanying drawings.

In order to implement the method according to the present disclosure, other steps may be included in addition to the exemplified steps, other steps may be included except for some steps, or additional other steps may be included except for some steps.

Various embodiments of the present disclosure are intended to explain representative aspects of the present disclosure, rather than listing all possible combinations, and matters described in various embodiments may be applied independently or in combination of two or more.

In addition, various embodiments of the present disclosure may be implemented by hardware, firmware, software, or a combination thereof. For hardware implementation, one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), It may be implemented by a processor (general processor), controller, microcontroller, microprocessor, or the like.

The scope of the present disclosure is software or machine-executable instructions (eg, operating systems, applications, firmware, programs, etc.) that cause operations according to methods of various embodiments to be executed on a device or computer, and such software or It includes a non-transitory computer-readable medium in which instructions and the like are stored and executable on a device or computer.

Claims (1)

A method for remotely controlling a robotic agricultural machine,
Collecting information about the environment around the robot farm machine through at least one camera;
In an autonomous driving mode, performing autonomous driving in a straight section based on the collected information;
Receiving a command indicating a remote control mode from a user's device;
receiving motion control information of the user for driving in the remote control mode;
In the remote control mode, performing driving in a curved section based on the motion control information,
The motion control information includes user's motion command information indicating a steering control angle of the robot agricultural machine,
The method of claim 1 , wherein the at least one camera is at least one of at least one camera installed at different heights and at least one wide-angle camera.

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