WO2024080461A1

WO2024080461A1 - Autonomously traveling disaster prevention device, and control method therefor

Info

Publication number: WO2024080461A1
Application number: PCT/KR2023/003823
Authority: WO
Inventors: 이준수; 윤삼진
Original assignee: 주식회사 웨이브에이아이
Priority date: 2022-10-11
Filing date: 2023-03-22
Publication date: 2024-04-18
Also published as: KR102593906B1

Abstract

Disclosed are an autonomously traveling disaster prevention device and a control method therefor. The autonomously traveling disaster prevention device of the present invention is characterized by comprising: a stereo camera which captures an image of an area in front of the disaster prevention device; a sensor module which detects the bearing of the disaster prevention device; a travel module which moves the disaster prevention device; a disaster prevention module which drives the disaster prevention device; memory; and a processor operatively coupled to the stereo camera, sensor module, travel module, disaster prevention module, and memory, wherein the processor drives the travel module by running an executable program stored in the memory, setting a destination in the image captured by the stereo camera, and then setting a travel direction, corrects the travel direction in response to bearing changes input from the sensor module while performing avoidance travel when obstacles are detected, and activates the disaster prevention module when crops are recognized in the captured image.

Description

Autonomous driving disaster prevention device and its control method

The present invention relates to a self-driving disaster prevention device and its control method. More specifically, the present invention relates to an autonomous disaster prevention device that sets a target point from an image captured by a stereo camera, corrects the posture, and performs a set disaster prevention task when crops are identified while driving autonomously. It relates to driving disaster prevention devices and their control methods.

In general, Smart Farm refers to a type of intelligent farm that minimizes the need for human labor by automating farming technology by combining information and communication technology (ICT).

According to this smart farm technology, the temperature, humidity, sunlight, carbon dioxide, soil, etc. of the crop cultivation facility are measured and analyzed using Internet of Things (IoT) technology, and the growth status of the crops is analyzed. The results of the analysis are Accordingly, crops can be grown in an optimal growth environment by running an automated system, and remote management is also possible through mobile devices such as smartphones.

It is also possible to automatically spray fertilizers and pesticides for pest control.

Meanwhile, these smart farms can be installed in various forms and at various costs depending on how the system is configured, but because they usually cost a lot of money, research has recently been conducted on open-air smart farms, which are cheaper to install than greenhouse-type smart farms. there is.

Open land is land that is not covered by a roof, and in agriculture, it refers to rice paddies and fields without facilities.

However, in order to manage the smart farm, it is desirable to perform leveling work first. However, in the case of open-field smart farms, the smart farm system can be installed in open fields (e.g. orchards, highland vegetables, etc.) that are not leveled due to the nature of the open field. Even if flattening has been achieved, it may be transformed into a non-flattened state due to the effects of wind (typhoon), rain (heavy rain), or sunlight (heat wave).

The background technology of the present invention is disclosed in Republic of Korea Patent No. 10-1556301 (registered on September 22, 2015, device for controlling harmful elements in crops using an unmanned automatic robot).

In the case of an unmanned transport device running on an open-air smart farm, its posture may continuously change while driving as it drives on an uneven driving space, and evasive driving may occur if the driving space is damaged or deformed due to a typhoon or heavy rain. Since it is possible to perform, there is a problem that the disaster prevention effect is reduced when performing disaster prevention work, etc. due to deviation of the driving path due to cumulative error if the posture is not restored while driving.

The present invention was created to improve the problems described above, and the purpose of the present invention according to one aspect is to set a target point from an image captured by a stereo camera and then correct the posture to prevent disasters when crops are identified while driving autonomously. The purpose is to provide an autonomous driving disaster prevention device that performs tasks and its control method.

An autonomous driving disaster prevention device according to one aspect of the present invention includes a stereo camera that photographs the front; A sensor module that detects the posture of the disaster prevention device; A driving module that moves the disaster prevention device; A disaster prevention module that operates a disaster prevention device; Memory; and a processor operatively coupled to a stereo camera, sensor module, driving module, disaster prevention module, and memory, wherein the processor drives an executable program stored in the memory to set a target point from the captured image from the stereo camera. After that, the driving direction is set and the driving module is driven. If an obstacle is detected, the driving direction is corrected according to the attitude change input from the sensor module while performing evasive driving. When crops are recognized in the captured video, the disaster prevention module is activated. It is characterized by

In the present invention, the processor sets a virtual boundary line with crops planted on both sides of the driving space in the captured image and then extends the virtual boundary line to set a target point.

In the present invention, the processor detects a target mark in a captured image and sets a target point.

In the present invention, the processor is characterized in that it resets the driving direction according to the posture change to the driving direction based on the target point at a set time period.

The present invention further includes a communication module operatively connected to the processor, and the processor receives operation commands and work commands through the communication module and transmits and receives operation information and work information to the management terminal.

The present invention is characterized in that when the processor performs evasive driving, driving information is transmitted to the management terminal along with the captured image.

A control method of an autonomous driving disaster prevention device according to another aspect of the present invention includes the steps of having a processor drive an executable program according to an operation command to receive captured images from a stereo camera; A step of the processor setting a driving direction after setting a target point from the captured image; A processor driving a travel module based on the travel direction; Performing evasive driving when an obstacle is detected while the processor drives the driving module; A step of correcting the driving direction according to the change in posture input from the sensor module while the processor drives the driving module; And a step of operating the disaster prevention module when the processor recognizes a crop in the captured image.

In the present invention, the step of setting the driving direction involves the processor setting a virtual boundary line with crops planted on both sides of the driving space in the captured image, extending the virtual boundary line to set a target point, and then setting the driving direction. It is characterized by

In the present invention, the step of setting the driving direction is characterized in that the processor detects a target mark in the captured image, sets the target point, and then sets the driving direction.

The present invention is characterized in that it further includes a step of the processor resetting the driving direction according to the posture change to the driving direction based on the target point at a set time period.

The present invention is characterized in that it further includes a step of the processor receiving operation commands and work commands through a communication module and transmitting and receiving operation information and work information to the management terminal.

The present invention is characterized in that the step of transmitting and receiving to the management terminal transmits driving information along with the captured image to the management terminal when the processor performs evasive driving.

The self-driving disaster prevention device and its control method according to one aspect of the present invention sets a target point from an image captured by a stereo camera, corrects the posture, and performs a set disaster prevention task when crops are identified while autonomously driving, Even if the driving space is damaged and unstable in an open-air smart farm, disaster prevention work can be performed while driving stably, thereby increasing the disaster prevention effect.

1 is a block diagram showing an autonomous driving disaster prevention device according to an embodiment of the present invention.

Figure 2 is an example diagram of setting a target point in an autonomous driving disaster prevention device according to an embodiment of the present invention.

Figure 3 is a flowchart for explaining a control method of an autonomous driving disaster prevention device according to an embodiment of the present invention.

Hereinafter, the autonomous driving disaster prevention device 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 a block diagram showing an autonomous driving disaster prevention device according to an embodiment of the present invention, and Figure 2 is an example diagram of setting a target point in an autonomous driving disaster prevention device according to an embodiment of the present invention.

As shown in Figure 1, the autonomous driving disaster prevention device according to an embodiment of the present invention includes a stereo camera 10, a sensor module 20, a driving module 50, a disaster prevention module 60, a memory 70, and It may include a processor 40 and a communication module 30.

The stereo camera 10 can capture the front of the disaster prevention device through two cameras and detect the distance from the captured image.

The sensor module 20 may include a gyro sensor that detects changes in three-dimensional posture, such as the left or right tilt of the disaster prevention device.

The driving module 50 can move the disaster prevention device forward, backward, left and right.

The disaster prevention module 60 can drive the disaster prevention device to spray water and medicine.

The memory 70 contains an execution program for driving and operating the disaster prevention device.

The processor 40 is operatively coupled to the stereo camera 10, sensor module 20, driving module 50, disaster prevention module 60, and memory 70.

Accordingly, the processor 40 drives the execution program stored in the memory 70 to set a target point from the captured image from the stereo camera 10 and then sets the driving direction to drive the driving module 50.

Here, the processor 40 can set a virtual boundary line with crops planted on both sides of the driving space in the captured image as shown in (a) of FIG. 2, then extend the virtual boundary line and set the contact point as the target point. there is.

On the other hand, as shown in (b) of Figure 2, the target mark (TM) may be displayed at the end of the driving space, then the target mark (TM) may be identified in the captured image, and then the target mark (TM) may be set as the target point. there is.

After setting the target point in this way, the processor 40 sets the driving direction based on the target point and drives the driving module 50, thereby enabling driving in a straight line at the center of the driving space.

In this way, after setting the driving direction based on the target point, if the driving space is damaged or an obstacle is detected while driving the driving module 50 and moving, the processor 40 performs evasive driving and receives input from the sensor module 20. The driving module 50 can be driven by correcting the driving direction according to the change in posture.

At this time, the processor 40 may reset the driving direction according to the posture change to the driving direction based on the target point at a set time period.

In other words, while correcting the driving direction according to changes in posture, when the set time elapses, a target point is set and the driving direction is reset to prevent the driving direction from changing due to the accumulated error of the sensor, thereby ensuring more stable and accurate driving. You can.

Meanwhile, the processor 40 can perform disaster prevention by operating the disaster prevention module 60 when crops are recognized in the captured image according to the disaster prevention command.

In addition, data can be transmitted and received with the management terminal 80 by including a communication module 30 that is operatively connected to the processor 40.

Therefore, the processor 40 can receive operation commands and work commands through the communication module 80 and transmit and receive operation information and work information with the management terminal 80.

At this time, when evasive driving is performed, the processor 40 may transmit driving information along with the captured image to the management terminal 80 so that the reason for evasive driving can be determined.

As described above, according to the self-driving disaster prevention device according to an embodiment of the present invention, a target point is set from an image captured by a stereo camera, the posture is corrected, and the set disaster prevention task is performed when crops are identified while driving autonomously, Even if the driving space is damaged and unstable in an unleveled open field smart farm, disaster prevention work can be performed while driving stably, thereby increasing the disaster prevention effect.

As shown in FIG. 3, in the control method of the autonomous driving disaster prevention device according to an embodiment of the present invention, first, the processor 40 drives an execution program according to an operation command and receives captured images from the stereo camera 10. (S10).

After receiving the captured image in step S10, the processor 40 sets a target point from the captured image (S20).

Here, the processor 40 sets a virtual boundary line with crops planted on both sides of the driving space in the captured image as shown in (a) of FIG. 2, then extends the virtual boundary line and sets the contact point as the target point. You can.

After setting the target point in step S20, the processor 40 sets the driving direction based on the target point (S30).

After setting the driving direction in step S30, the processor 40 drives the driving module 50 based on the driving direction to enable driving in a straight line at the center of the driving space (S40).

In step S40, when the driving module 50 is driven to move the disaster prevention device and an obstacle is detected in the captured image, the processor performs evasive driving (S50).

In addition, when the driving module 50 is driven and moved in step S40 or evasive driving is performed in step S50, the processor 40 corrects the driving direction according to the attitude change input from the sensor module 20 (S60) ).

In this way, the processor 40 can perform disaster prevention by operating the disaster prevention module when crops are recognized from the captured image according to a disaster prevention command while autonomously driving the disaster prevention device along the driving space (S70).

Meanwhile, the processor 40 can receive operation commands and work commands through the communication module 80 and transmit and receive operation information and work information with the management terminal 80.

As described above, according to the control method of the self-driving disaster prevention device according to an embodiment of the present invention, a target point is set from an image captured by a stereo camera, the posture is corrected, and the set disaster prevention task is performed when crops are identified while driving autonomously. By performing this, disaster prevention work can be performed while driving stably even if the driving space is damaged and unstable in an unleveled open field smart farm, thereby increasing the disaster prevention effect.

Implementations described herein may be implemented, for example, as 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.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will recognize that various modifications and other equivalent embodiments are possible therefrom. You will understand.

Therefore, the true technical protection scope of the present invention should be determined by the claims below.

Claims

a stereo camera that captures the front;

A sensor module that detects the posture of the disaster prevention device;

a traveling module that moves the disaster prevention device;

A disaster prevention module that drives the disaster prevention device;

Memory; and

Including a processor operatively coupled to the stereo camera, the sensor module, the driving module, the disaster prevention module, and the memory,

The processor drives the executable program stored in the memory, sets a target point from the captured image from the stereo camera, sets a driving direction, and drives the driving module. When an obstacle is detected, the processor performs evasive driving while moving from the sensor module. An autonomous driving disaster prevention device, characterized in that the driving direction is corrected according to the input posture change and the disaster prevention module is activated when crops are recognized in the captured image.
The autonomous driving disaster prevention method of claim 1, wherein the processor sets a virtual boundary line with crops planted on both sides of the driving space in the captured image and then extends the virtual boundary line to set the target point. Device.
The autonomous driving disaster prevention device according to claim 1, wherein the processor detects a target mark in the captured image and sets the target point.
The autonomous driving disaster prevention device according to claim 1, wherein the processor resets the driving direction according to the posture change to the driving direction according to the target point at a set time period.
The method of claim 1, further comprising a communication module operatively connected to the processor,

The processor is an autonomous driving disaster prevention device characterized in that it receives operation commands and work commands through the communication module and transmits and receives operation information and work information to a management terminal.
The autonomous driving disaster prevention device according to claim 5, wherein when the processor performs evasive driving, driving information is transmitted to the management terminal along with the captured image.
A step in which a processor drives an executable program according to an operation command to receive captured images from a stereo camera;

Setting a driving direction by the processor after setting a target point from the captured image;

allowing the processor to drive a travel module based on the travel direction;

performing evasive driving when an obstacle is detected while the processor drives the driving module;

Compensating the driving direction according to a change in posture input from a sensor module while the processor drives the driving module; and

A method of controlling an autonomous disaster prevention device comprising: operating a disaster prevention module when the processor recognizes a crop in the captured image.
The method of claim 7, wherein the step of setting the driving direction includes: the processor sets a virtual boundary line with crops planted on both sides of the driving space in the captured image and then extends the virtual boundary line to set the target point. A control method of an autonomous driving disaster prevention device, characterized in that the driving direction is set after the driving direction is set.
The control method of claim 7, wherein the step of setting the driving direction includes the processor detecting a target mark in the captured image, setting the target point, and then setting the driving direction. .
The control method of claim 7, further comprising the step of the processor resetting the driving direction according to the posture change to the driving direction based on the target point at a set time period.
The control method of claim 7, further comprising the step of the processor receiving operation commands and work commands through a communication module, and transmitting and receiving operation information and work information to and from a management terminal.
The control method of claim 11, wherein in the step of transmitting and receiving to the management terminal, when the processor performs evasive driving, driving information along with a captured image is transmitted to the management terminal.