KR20240032191A - Autonomous agricultural robot and control method thereof - Google Patents

Abstract

The present invention relates to a self-driving agricultural robot, comprising: a body part; A camera module that captures image information of the front and rear sides of the body part; A sensor module including a plurality of sensors; A plurality of travel modules are disposed on the body to move the body; An agricultural function module detachably provided in the body and exchangeable according to the agricultural function to be performed; And a processor that controls the driving module and the agricultural function module based on information from the camera module and the sensor module, wherein the processor maps the surrounding environment of the body part in real time and obtains driving environment information. , Entering the work space or avoiding obstacles to perform agricultural functions.

Description

Autonomous agricultural robot and its control method {AUTONOMOUS AGRICULTURAL ROBOT AND CONTROL METHOD THEREOF}

The present invention relates to a self-driving agricultural robot and its control method. More specifically, the present invention relates to a self-driving agricultural robot and its control method. More specifically, the present invention relates to a field or a field through a map generated by applying SLAM (Simultaneous localization and mapping) technology to an agricultural robot. This relates to a self-driving agricultural robot and its control method that can autonomously navigate a rice field and perform various agricultural functions depending on the type of agricultural function module attached.

As population decline and urbanization progress, the agricultural population is aging and is on the decline.

Therefore, there is a greater need for agricultural robots that can perform various agricultural functions on behalf of people.

Accordingly, various agricultural devices have been developed to help farmers. However, most devices require human hands, and in some cases, agricultural devices can be controlled remotely. However, there is no robot that automatically performs agricultural functions. am.

In addition, even if separate agricultural devices are not purchased depending on the agricultural function, by simply attaching and detaching the agricultural function module, one device (i.e., agricultural robot) can move on its own through autonomous driving and automatically perform various agricultural functions. There is a need for agricultural robots.

The background technology of the present invention is disclosed in Republic of Korea Patent No. 10-1156477 (registered on May 22, 2012, weeding robot).

According to one aspect of the present invention, the present invention was created to solve the above problems, and autonomously drives a field or rice field through a map generated by applying SLAM technology to an agricultural robot and performs an attached agricultural function. The purpose is to provide a self-driving agricultural robot and its control method that can perform various agricultural functions depending on the type of module.

A self-driving agricultural robot according to one aspect of the present invention includes a body part; A camera module that captures image information of the front and rear sides of the body part; A sensor module including a plurality of sensors; A plurality of travel modules are disposed on the body to move the body; An agricultural function module detachably provided in the body and exchangeable according to the agricultural function to be performed; and a processor that controls the driving module and the agricultural function module based on information from the camera module and the sensor module, wherein the processor maps the surrounding environment of the body part in real time and obtains driving environment information. , It is characterized by entering the work space or avoiding obstacles to perform agricultural functions.

In the present invention, when performing agricultural functions, the processor distinguishes between crops and obstacles through the camera module and the sensor module, avoids the obstacles, and performs agricultural functions only on crops.

In the present invention, in order to perform the agricultural function, the processor separately generates a driving map and an obstacle map for entering the work space or avoiding obstacles, and based on the driving map and the obstacle map, moves the body part forward. , It is characterized by performing reverse, left turn, and right turn control.

In the present invention, the processor receives a driving map and an obstacle map generated according to input information from the camera module and the sensor module, and starts driving when the driving map and the obstacle map are input, and the sensor module A driving algorithm is performed through the input information, and the driving algorithm checks whether the point is designated in the driving map and obstacle map, and performs an avoidance action at a location where there is an avoidance point while driving. If it is a work space, the corresponding agricultural function is performed. It is characterized in that it performs, checks whether it is the end point of the path specified in the driving map and obstacle map, drives all paths to perform the agricultural function, and repeatedly performs the avoidance operation and the agricultural function.

In the present invention, the processor is characterized in that the driving map and obstacle map acquire route coordinates by driving a route, and then create a precise map through SLAM to generate the route.

In the present invention, the processor determines whether the body part of the agricultural robot has entered the work space through the sensor module, and when entry into the work space is determined, lowers or raises the agricultural function module, and It checks whether the agricultural function module is in contact with the destination for performing the relevant agricultural function, and when the agricultural function module contacts the destination, the descending or rising of the agricultural function module is stopped, and the agricultural function module is driven to perform the agricultural function. The function is started and the agricultural function is monitored through the camera module.

In the present invention, when the agricultural function is started through the agricultural function module, the processor continues to perform the agricultural function if it recognizes a crop, and performs an avoidance drive if it is not a target crop for performing the agricultural function. However, it is characterized by continuous repetition until all agricultural functions are completed on the designated map.

A control method of a self-driving agricultural robot according to another aspect of the present invention includes a body unit, a camera module for capturing image information of the front and rear sides of the body unit, a sensor module including a plurality of sensors, and a plurality of sensors disposed on the body unit. A method of controlling an autonomous agricultural robot comprising a driving module for moving a body portion, and an agricultural function module detachably provided on the body portion and exchangeable according to the agricultural function to be performed, wherein the processor includes the camera module and Based on the information from the sensor module, the driving module and the agricultural function module are controlled, and the surrounding environment of the body is mapped in real time, driving environment information is obtained, and entry into the work space or obstacles for performing the agricultural function is performed. It is characterized by performing avoidance.

In the present invention, in order to control the agricultural function module, the processor receives a driving map and an obstacle map generated according to input information of the camera module and the sensor module; When the driving map and obstacle map are input, starting driving; performing a driving algorithm using input information from the sensor module; Checking whether the point is designated in the driving map and obstacle map through the driving algorithm, performing an avoidance action at a position where there is an avoidance point while driving, and performing the corresponding agricultural function if it is a work space; and checking whether the route is the end point of the route specified in the driving map and the obstacle map, driving all routes on which the agricultural function is to be performed, and repeatedly performing avoidance movements and the relevant agricultural function.

In the present invention, in the step of starting the driving, the processor acquires path coordinates by driving a path for the driving map and obstacle map, and then generates a path by creating a precision map through SLAM. It is characterized by further including ;.

In the present invention, after the step of starting the driving, the processor determines whether the body part of the agricultural robot has entered the work space through the sensor module; Upon determining entry into the work space, lowering or raising the agricultural function module; Checking whether the agricultural function module is in contact with a destination for performing the agricultural function through the sensor module; stopping the descent or rise of the agricultural function module when the agricultural function module contacts the destination; Starting the agricultural function by driving the agricultural function module; and performing monitoring of the relevant agricultural function through the camera module.

In the present invention, when an agricultural function is started through the agricultural function module, the processor continues to perform the agricultural function if it recognizes a crop, and performs an avoidance drive if it is not a target crop for performing the agricultural function. However, it is characterized in that it further includes a step of continuously repeating until all agricultural functions are completed in the designated map.

According to one aspect of the present invention, the present invention can autonomously drive a field or rice field through a map generated by applying SLAM technology to an agricultural robot and perform various agricultural functions depending on the type of agricultural function module attached. Let it happen.

1 is an exemplary diagram showing the schematic configuration of an autonomous agricultural robot according to an embodiment of the present invention.
Figure 2 is a flow chart showing a control method of a self-driving agricultural robot according to an embodiment of the present invention.
Figure 3 is a flowchart for explaining the control operation of the agricultural function module in Figure 2.

Hereinafter, an embodiment of a self-driving agricultural robot and its control method according to the present invention will be described with reference to the attached drawings.

In this process, the thickness of lines or sizes of components shown in the drawing may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 1 is an exemplary diagram showing the schematic configuration of an autonomous agricultural robot according to an embodiment of the present invention.

An agricultural robot including a traveling module according to an embodiment of the present invention is composed of a body portion (not shown) and a traveling module 170, as shown in FIG. 1.

The body part (not shown) is a base structure located in the center among the components of the agricultural robot, and is provided as a frame structure in which multiple frames are connected for a useful coupling structure of the traveling module 170.

The body portion (not shown) is preferably provided in a form with an increased ground clearance through a support combination of the travel module 170. This prevents damage to crops grown in the work area (work space) and creates a raised work area. It can provide the advantage of enabling easy mobility in the (workspace).

The driving module 170 is a pair of components disposed on both left and right sides of the body (not shown) and is responsible for the mobility of the body (not shown) through rotation by power transmission, using a frame, etc. It is provided to play the role of increasing the ground clearance of the body part (not shown) by supporting and coupling it to the lower part of the body part (not shown) through a connection. For this purpose, the traveling module 170 includes a traveling frame 171, lower wheels 172, support frame 173, power unit 174, first auxiliary frame 175, and second auxiliary frame 176. It can be included.

The traveling frame 171 is located outside the lower end of the body portion (not shown) and is rotatably disposed in contact with the ground.

The lower wheels 172 are supported and coupled to the inner lower part of the traveling frame 171, and are arranged in multiple pieces. The lower wheels 172 rotate by receiving rotational power from the power unit 174, thereby moving the traveling frame 171 side. It is provided to function to assist rotation.

The support frame 173 is a structure that is supported and coupled to cover the upper part of a plurality of arranged lower wheels 172, and is also a component fastened to and fixed to the body portion (not shown). It is a configuration that serves as a connection medium connecting the and the driving module 170.

At this time, the power unit 174 is fixedly coupled to the second auxiliary frame 176 fixedly coupled to the support frame 173 and located on the upper side of the lower wheel 172, and provides rotational power to the lower wheel 172. It is transmitted to the side and rotates the traveling frame 171 forward and backward to provide mobility, and is installed in a non-protruding form so as not to deviate from the traveling width of the traveling frame 171.

In detail, the power unit 174 may include a power motor, a direction change module, a direction change shaft, a first power transmission shaft, a second power transmission shaft, and a rotation gear member.

For reference, although not specifically shown in the drawing, the power motor generates rotational power by receiving power from the power supply module 110 including a battery, and is located inside the traveling frame 171 to form a traveling frame ( 171) are arranged in parallel so as not to exceed the width. The direction change module is fixedly coupled to the second auxiliary frame 176 and is coupled to the power motor to change the direction of rotation with respect to the rotational power generated from the power motor. The direction change module is provided with a housing part that is coupled to the power motor, and a direction change gear part such as a bevel gear is built into the housing part to change the direction of the rotational power on the power motor side. The direction change shaft is coupled to the direction change module to provide rotational power. The direction changing shaft is fastened to the direction changing gear unit on the direction changing module side and is provided to provide direction changed rotational power. The first power transmission shaft is connected to the direction change shaft with a belt or chain to transmit rotational power. The second power transmission shaft is connected to the first power transmission shaft with a belt or chain to receive rotational power. The rotation gear member is fixedly coupled and rotated by being fastened to the second power transmission shaft, and is supported in contact with the inner surface of the traveling frame to ultimately induce rotation of the traveling frame. Through this, it is possible to provide the advantage of stably rotating the traveling frame 171.

Accordingly, through the driving module 170 having the above-described configuration, it is possible to improve the existing problem of forming a snag on the ridge of the field and the problem of interfering with the work of various agricultural functions, and prevent interference with crops planted in the field. It can provide the advantage of improving problems that are formed and cause damage to crops.

The processor 150 controls the driving module 170 to enable driving, and automatically controls the driving of the body part (not shown) according to input information from various sensors and follows the path of the work area (work space). It is a component that makes autonomous driving possible.

To this end, the processor 150 may include a power supply module 110, a driving module 120, a camera module 130, and a sensor module 140.

Here, the sensor module 140 includes a variety of sensors for determining location, distance, and obstacles, such as a lidar sensor, radar sensor, ultrasonic sensor, infrared sensor, and GPS sensor.

The power supply module 110 is configured to distribute and supply power in order to supply stable power to necessary components operated by power, such as the power unit and sensors.

The driving module 120 is configured to control the driving of the motor on the power unit side.

The camera module 130 is configured to provide image information from the front or front and rear.

The sensor module 140 provides GPS coordinate information for guidance from the position of the body part (not shown) to the work start point before entering the work space of the work site (work space), and also provides GPS coordinate information for guiding the body part (not shown) when following the work path. This is a configuration to check whether there is a deviation from the route based on the city's location information judgment.

The sensor module 140 is used to map the surrounding environment of the agricultural robot, that is, the body (not shown), in real time, obtain driving environment information of the body (not shown), and guide entry into the work space. This is a configuration for

The sensor module 350 is configured to follow the work path within the work area, check for path deviation, and collect signal information for driving control.

The processor 150 is configured to automatically control the autonomous driving of the agricultural robot using an algorithm according to each input information sensed by the camera module 130 and the sensor module 140.

The agricultural function module 160 is a component that is detachably provided on the body (not shown) and includes at least one module for watering, pesticide application, grain/seed planting, field/paddy plowing, crop harvesting, etc. It is removable.

As described above, the processor 150 of the agricultural robot detects the attached agricultural function module 160 and performs the agricultural functions of the module (e.g. watering, pesticide administration, grain/seed planting, field/paddy plowing, crop harvesting, etc. ) is performed.

For example, detection data is received from the camera module 130 and the sensor module 140 to identify the current location of the agricultural robot and at the same time compare it with a pre-created route map to generate a route. To this end, the map may have a route information file generated according to input information from the camera module 130 and the sensor module 140 stored in advance through a remotely located server or a user's file upload means. Here, the route information file means creating a route by acquiring route coordinates by driving the route and then creating a precise map through SLAM (Simultaneous localization and mapping). Here, the SLAM is a technology that recognizes the surrounding environment in an already input map and updates the changed parts. It is a technology that updates parts that are inconsistent with the input map in real time and at the same time searches the route using the updated map.

In addition, the processor 150 can reflect the obstacle map to the autonomous driving path and determine whether there are obstacles on the path while performing SLAM using image data acquired from the camera module 130 and sensor module 140. will be judged. If the obstacle map determines that the path cannot proceed due to an obstacle, the existing obstacle location information is changed through input information from the GPS side and this is input to the processor 150.

The processor 150 executes aircraft movement control such as forward, backward, left turn, and right turn based on the driving map and obstacle map.

The processor 150 determines whether the module is attached depending on the type of agricultural function module 160 and performs the corresponding agricultural function (e.g. watering, pesticide administration, planting grains/seeds, field/seeds, etc.) according to the designated agricultural function algorithm. plowing rice fields, harvesting crops, etc.).

Figure 2 is a flowchart shown to explain a control method of a self-driving agricultural robot according to an embodiment of the present invention. The processor 150 controls autonomous driving of the agricultural robot through the following method.

The processor 150 receives a driving map and an obstacle map generated according to input information from the camera module 130 and the sensor module 140 (S101).

Additionally, the processor 150 starts driving when the generated driving map and obstacle map are input (S102). Here, the driving map and obstacle map mean that the route is generated by driving the route, acquiring the route coordinates, and then creating a precise map through SLAM (simultaneous location estimation and mapping). Also, here, the SLAM is a technology that recognizes the surrounding environment in an already input map and updates the changed parts. It updates parts that are inconsistent with the input map in real time and simultaneously searches the route using the updated map. it means.

Additionally, the processor 150 performs a driving algorithm through input information from the sensor module 140 (S103).

The driving algorithm checks whether the point is designated in the driving map and obstacle map (S104), performs an avoidance operation at a location where there is an avoidance point while driving, and performs the corresponding agricultural function if it is an agricultural point (i.e. work space). (S105).

The processor 150 checks whether the end point of the path specified in the driving map and obstacle map is the end point of the path (S106), repeats step S105 until the point of the path ends, and all paths to perform agricultural functions are completed. Check whether it has been completed (S107), and repeat steps S103 to S107 until the agricultural function for all paths is terminated.

Figure 3 is a flowchart for explaining the control operation of the agricultural function module in Figure 2.

Referring to FIG. 3, the processor 150 determines whether the body part (not shown) of the agricultural robot has entered the work site (i.e., agricultural site) through the sensor module 140 (S201).

When it is determined that the body part (not shown) has entered a work area (i.e., an agricultural point), the processor 150 lowers (or raises) the agricultural function module 160 (S202).

Additionally, the processor 150 checks whether the agricultural function module 160 is in contact with a destination (e.g., ground, tree branch, etc.) through the sensor module 140 (S203).

When the agricultural function module 160 contacts the destination (e.g., ground, tree branch, etc.) (example in S203), the processor 150 stops the descent (or rise) of the agricultural function module 160 (S204 ).

Additionally, the processor 150 drives the agricultural function module 160 to start the agricultural function (S205). At the same time, the processor 150 monitors agricultural functions through the camera module 130 (S206).

When the agricultural function is started through the agricultural function module 160, the processor 160 continues to perform the agricultural function (e.g. crop harvesting) when recognizing the crop (example in S207) (S208), and performs the agricultural function. If it is not the target crop (No in S207), avoidance drive is performed (S209) to prevent damage to the agricultural function module 160 or to prevent damage to crops other than the target crop. The operation continues until all agricultural functions in the designated map are completed.

As described above, the autonomous agricultural module according to this embodiment performs various agricultural functions while performing autonomous driving by replacing the agricultural function module 160.

In addition, although not specifically shown in the drawing, the self-driving agricultural robot according to this embodiment senses and processes external information using SLAM technology when driving, recognizes the surrounding environment, and autonomously determines the driving path. , it runs independently using its own power, prevents collisions with obstacles existing in the driving path, and can drive on its own by adjusting the vehicle speed and driving direction according to the shape of the road.

Additionally, the self-driving agricultural robot according to this embodiment is not limited to the agricultural field and can be used in various fields.

For example, in the field of transporting goods, location information and object coordinate information in the image are utilized from image information obtained using transport sensor technology and SLAM technology, enabling active human and material exchange not only for agricultural purposes but also for large marts, department stores, and golf courses. When transporting goods in various spaces that occur frequently, a mobile robot can recognize a specific object or person and then be applied to improve the working environment.

Also, in the field of public security, using sensor technology and SLAM technology in a quiet space, the police can check and utilize location information and coordinate information within the image in real time, which can help prevent crime.

Additionally, in the field of route guidance for the visually impaired, SLAM technology can be used to guide visually impaired people to the safest route to their destination by utilizing image information and location information object coordinates, and helps visually impaired people stay safe. Guide dogs who walk together are always a social issue, and they are often criticized by people just for being animals, so this technology can be used in the field of guiding dogs on safe paths by mounting them on small robots.

Also, in the field of walking assistance, it can provide navigation and help with walking to people who have difficulty walking upright, such as those who have difficulty walking because of their age or those who need physical therapy for their legs due to an accident.

As mentioned above, many agricultural fields use a lot of heavy items and materials, and since the activity area of ordinary vehicles is limited in places such as small fields or rice fields, workers move them manually. In this agricultural field, this agricultural robot using SLAM technology obtains location information and coordinate information of goods and people, detects and processes external information, recognizes the surrounding environment, and determines the driving path on its own. , by moving independently using its own power to transport necessary goods, it has the effect of lowering the burden of transportation work and allowing wider use of the activity area.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and various modifications and equivalent embodiments can be made by those skilled in the art. You will understand the point. Therefore, the scope of technical protection of the present invention should be determined by the scope of the patent claims below. Implementations described herein may also be implemented as, for example, a method or process, device, software program, data stream, or signal. Although discussed only in the context of a single form of implementation (eg, only as a method), implementations of the features discussed may also be implemented in other forms (eg, devices or programs). The device may be implemented with appropriate hardware, software, firmware, etc. The method may be implemented in a device such as a processor, which generally refers to a processing device that includes a computer, microprocessor, integrated circuit, or programmable logic device. Processors also include communication devices such as computers, cell phones, portable/personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end-users.

110: Power supply module
120: driving module
130: Camera module
140: sensor module
150: processor
160: Agricultural function module
170: Driving module

Claims (12)

body part;
A camera module that captures image information of the front and rear sides of the body part;
A sensor module including a plurality of sensors;
A plurality of travel modules are disposed on the body to move the body;
An agricultural function module detachably provided in the body and exchangeable according to the agricultural function to be performed; and
A processor that controls the driving module and the agricultural function module based on information from the camera module and the sensor module,
The processor,
A self-driving agricultural robot that maps the surrounding environment of the body in real time, acquires driving environment information, and enters a workspace or avoids obstacles to perform agricultural functions.
The method of claim 1, wherein the processor:
When performing agricultural functions, an autonomous agricultural robot is characterized in that it distinguishes between crops and obstacles through the camera module and the sensor module, avoids the obstacles, and performs agricultural functions only on crops.
The method of claim 2, wherein the processor:
In order to perform the agricultural function, a driving map and an obstacle map are separately created for entry into the work space or obstacle avoidance,
An autonomous agricultural robot, characterized in that it performs forward, backward, left turn, and right turn control of the body part based on the driving map and obstacle map.
The method of claim 1, wherein the processor:
Receive driving maps and obstacle maps generated according to input information from the camera module and the sensor module,
When the driving map and obstacle map are input, driving begins,
Perform a driving algorithm using input information from the sensor module,
Through the driving algorithm, it checks whether the point is designated in the driving map and obstacle map, performs an avoidance action at a location where there is an avoidance point while driving, and performs the relevant agricultural function in the case of a work space,
A self-driving agricultural robot, characterized in that it checks whether the end point is on the path specified in the driving map and obstacle map, drives all paths to perform agricultural functions, and repeatedly performs avoidance movements and the agricultural functions.
The method of claim 4, wherein the processor:
The driving map and obstacle map are obtained by driving a route and obtaining route coordinates,
A self-driving agricultural robot that generates a path by creating a precise map through SLAM.
The method of claim 1, wherein the processor:
Determine whether the body part of the agricultural robot has entered the work space through the sensor module,
When entry into the work space is determined, the agricultural function module is lowered or raised,
Check whether the agricultural function module contacts the destination for performing the agricultural function through the sensor module,
When the agricultural function module contacts the destination, the descent or rise of the agricultural function module is stopped,
Start the agricultural function by running the agricultural function module,
An autonomous agricultural robot characterized in that it monitors agricultural functions through the camera module.
The method of claim 6, wherein the processor:
When the agricultural function is started through the agricultural function module,
If a crop is recognized, the relevant agricultural function continues to be performed, and if it is not a crop intended to perform the agricultural function, an evasive drive is performed.
A self-driving agricultural robot that continues to repeat until all agricultural functions are completed on a designated map.
A body unit, a camera module for capturing image information of the front and rear sides of the body unit, a sensor module including a plurality of sensors, a plurality of travel modules arranged on the body unit to move the body unit, and detachably provided on the body unit. In a method of controlling a self-driving agricultural robot including an agricultural function module that can be exchanged according to the agricultural function to be performed,
The processor controls the driving module and the agricultural function module based on information from the camera module and the sensor module,
A control method for a self-driving agricultural robot, characterized in that it maps the surrounding environment of the body part in real time, obtains driving environment information, and performs entry into a work space or obstacle avoidance for performing agricultural functions.
The method of claim 8, in order to control the agricultural function module,
The processor,
Receiving a driving map and an obstacle map generated according to input information from the camera module and the sensor module;
When the driving map and obstacle map are input, starting driving;
performing a driving algorithm using input information from the sensor module;
Checking whether the point is designated in the driving map and obstacle map through the driving algorithm, performing an avoidance action at a position where there is an avoidance point while driving, and performing the corresponding agricultural function if it is a work space; and
Checking whether the end point is on the path specified in the driving map and obstacle map, driving all paths to perform the agricultural function, and repeating the avoidance action and the agricultural function. Robot control method.
The method of claim 9, wherein in the step of starting the driving,
The processor,
The driving map and obstacle map are obtained by driving a route and obtaining route coordinates,
A control method for a self-driving agricultural robot, further comprising generating a path by creating a precision map through SLAM.
The method of claim 8, after the step of starting the driving,
The processor,
Determining whether the body part of the agricultural robot has entered the work space through the sensor module;
Upon determining entry into the work space, lowering or raising the agricultural function module;
Checking whether the agricultural function module is in contact with a destination for performing the agricultural function through the sensor module;
stopping the descent or rise of the agricultural function module when the agricultural function module contacts the destination;
Starting the agricultural function by driving the agricultural function module; and
A method of controlling a self-driving agricultural robot, further comprising: performing monitoring of the relevant agricultural function through the camera module.
The method of claim 11, when the agricultural function is started through the agricultural function module,
The processor,
If a crop is recognized, the relevant agricultural function continues to be performed, and if it is not a crop intended to perform the agricultural function, an evasive drive is performed.
A control method for a self-driving agricultural robot, further comprising the step of repeating continuously until all agricultural functions are completed in the designated map.

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