Autonomous mobile robots for agricultural work based on ultra-wideband (UWB) wireless communication.

Abstract

To provide an autonomous mobile work robot for agricultural use based on ultra-wideband (UWB) wireless communication and ultrasonic sensors that can recognize objects to be followed and objects to be avoided, thereby improving the recognition rate of objects to be followed. [Solution] An autonomous mobile work robot for agricultural use based on UWB, comprising: a UWB remote control carried by the user to generate UWB signals and to which the user inputs operations for operation; and a robot body that determines the object to be followed based on the UWB signals received from the UWB remote control, determines the presence or absence of obstacles in the surroundings using an ultrasonic module, and moves in pursuit of the object to be followed while avoiding the obstacles.

Description

Technical Field

[0001] The present invention relates to an autonomous driving work robot for agricultural work based on Ultra Wide Band (UWB) wireless communication, and particularly to a UWB-based autonomous driving work robot for agricultural work that uses UWB to recognize a following object and uses ultrasonic sensors to avoid obstacles during autonomous driving.

Background Art

[0002] An agricultural intelligent robot refers to a robot that recognizes the agricultural work and service environment by itself in the entire process of agricultural production, distribution, and consumption, judges the situation, and provides intelligent work and services through autonomous operation. Agricultural intelligent robots utilize the integration with fourth-generation industrial technologies and include technologies based on information and communication technology (ICT) related to the automation of agricultural production, artificial intelligence, etc. At this time, the market for agricultural intelligent robots is rapidly growing in demand to introduce agricultural robots as a flexible alternative means to replace labor using robots and to keep up with rapidly changing business environments such as climate change.

[0003] However, in the case of conventional technologies, when realizing the autonomous driving of a work robot for agricultural work, the robot recognizes the position of the following object and performs work. At this time, there are problems that the recognition rate is not stable, and it is difficult to maintain the distance and angle according to the movement of the following object. Also, when deviating from the communication distance, it is difficult for the user to know the state of the robot in real time, and there is also a problem that it is difficult to move in various terrains in a single following mode. Furthermore, since agricultural work is carried out on uneven terrain, the current situation is that the accident rate such as overturning is high when the work robot follows.

[0004] Therefore, there is a current need for an autonomous driving work robot that improves the stability of following during the operation of a conventional work robot for agricultural work.

Prior Art Documents

[0005] [Patent Document 1] Korean Registered Patent Publication No. 2642503 [Overview of the project] [Problems that the invention aims to solve]

[0006] To solve the problems of the conventional technology described above, one embodiment of the present invention aims to provide an autonomous mobile work robot for agricultural use based on UWB that can recognize a followed object and an object to be avoided using UWB and ultrasonic sensors, thereby improving the recognition rate of the followed object. [Means for solving the problem]

[0007] According to one aspect of the present invention for solving the above problems, an autonomous mobile work robot for agricultural work based on UWB is provided, which includes a UWB remote control that is carried by a user to generate UWB signals and into which the user inputs operations for operation, and a robot body that determines the object to be followed based on the UWB signals received from the UWB remote control, determines the presence or absence of obstacles in the surroundings using an ultrasonic module, and moves in pursuit of the object to be followed while avoiding the obstacles.

[0008] In one embodiment, the work robot includes a first UWB receiver located on the left side and a second UWB receiver located on the right side in work mode, and determines the distance from the position of the UWB remote control to the UWB remote control based on the UWB signal. If the distance to the UWB remote control is within a certain distance, it operates based on the signal of the UWB remote control. However, if the distances between the first UWB receiver, the second UWB receiver, and the UWB remote control are different, it may operate in a first rotation mode, and if the distances are the same, it may operate in a first straight-line mode.

[0009] In one embodiment, the work robot operates in follow mode when an obstacle is within a certain distance from the front or side, and operates in follow and avoidance mode when the obstacle is within a range of 40 cm to 1.2 m from the front, or is more than 1.2 m from the front and within 70 cm to the left or right, and is detected by at least one of the first UWB receiver and the second UWB receiver, and the obstacle is located more than 1.2 m from the front and more than 70 cm to the left or right, and the first UWB If the distances between the receiving unit and the second UWB receiving unit and the UWB remote control are different, the device may operate in the second rotation mode. If the distances are the same, the device may re-evaluate the distance to the obstacle. Based on this re-evaluation, if the obstacle is within 2m from the front, or more than 2m from the front and more than 1.3m from the side, the device may operate in the avoidance mode. Based on this re-evaluation, if the obstacle is more than 2m from the front and more than 1.3m from the side, the device may operate in the second straight-ahead mode.

[0010] In one embodiment, in the avoidance mode, the work robot decelerates the left motor when an obstacle on the right is closer than an obstacle on the left, using a reduction ratio that is 10 times the difference between the value of the first ultrasonic transceiver located on the left and the value of the second ultrasonic transceiver located on the right to avoid obstacles to the left. When an obstacle on the right is further away than an obstacle on the left, the right motor decelerates, using a reduction ratio that is 10 times the difference between the value of the first ultrasonic transceiver located on the left and the value of the second ultrasonic transceiver to avoid obstacles to the right, and the direction indicator lamps on both sides may flash.

[0011] In one embodiment, the work robot, in the first straight-line mode or the second straight-line mode, decelerates the right motor when the UWB remote control is on the right side within a first distance, using a reduction ratio that is the square of the difference between the value of the first UWB receiver and the value of the second UWB receiver exceeding a threshold value, and gradually moves forward to the right; decelerates the left motor when the UWB remote control is on the left side within a first distance, using a reduction ratio that is the square of the difference between the value of the first UWB receiver and the value of the second UWB receiver exceeding a threshold value, and gradually moves forward to the left; and when the UWB remote control is not on either the left or right side within a first distance, the speeds of the right motor and the left motor are set to the same, and the robot moves in a straight line, and the direction indicator lamps on both sides may be lit. [Effects of the Invention]

[0012] An autonomous mobile work robot for agricultural use based on UWB according to one embodiment of the present invention can improve the recognition rate of the object being followed by using UWB signals and ultrasonic sensors in combination, thereby increasing the work efficiency required by the user.

[0013] An autonomous mobile robot for agricultural work based on a UWB according to one embodiment of the present invention can improve the accuracy of maintaining the distance between the robot and the user, who is carrying a remote control, by sensing the distance between the user and the robot and controlling the robot to follow the user. This ensures the safety of the user when working with the robot even in an agricultural production environment.

[0014] Furthermore, the autonomous mobile work robot for agricultural use based on UWB according to one embodiment of the present invention can determine the distance to the object being followed by using the difference in UWB signals recognized on both sides of the front of the work robot. This allows the robot to recognize not only the distance to the object being followed but also its direction, enabling more accurate tracking. As a result, it can reduce the amount of human labor required for transportation in agricultural production environments and improve productivity.

[0015] Furthermore, the autonomous mobile agricultural robot based on UWB according to one embodiment of the present invention can accurately sense the location of obstacles and actively avoid them by recognizing and avoiding them using ultrasonic sensors. This not only ensures user safety but also prevents robot failure due to collisions.

[0016] Furthermore, the autonomous mobile agricultural robot based on UWB according to one embodiment of the present invention flashes its directional indicator lamps in response to movement and sudden stops, allowing the user to anticipate actions requiring attention, such as the robot reversing or avoiding obstacles. This enables immediate response to emergency situations such as sudden stops or deviations from the communication range, allowing the robot to continue its work. [Brief explanation of the drawing]

[0017] [Figure 1] This is a perspective view of an autonomous mobile work robot for agricultural use based on a UWB according to one embodiment of the present invention. [Figure 2] This is a block diagram of the robot body of an autonomous mobile work robot for agricultural use based on a UWB according to one embodiment of the present invention. [Figure 3] A block diagram showing a UWB remote control for an autonomous mobile work robot for agricultural use based on a UWB, according to one embodiment of the present invention. [Figure 4] This is an example of buttons included in a UWB remote control for an autonomous agricultural work robot based on UWB according to one embodiment of the present invention. [Figure 5] This is a process diagram showing the working modes of an autonomous mobile work robot for agricultural use based on a UWB according to one embodiment of the present invention. [Figure 6] This is a process diagram showing the follow mode of an autonomous mobile work robot for agricultural use based on a UWB according to one embodiment of the present invention. [Figure 7] This is a process diagram showing the avoidance mode of an autonomous mobile work robot for agricultural use based on a UWB according to one embodiment of the present invention. [Figure 8]It is a process flow diagram showing the straight - ahead mode of an autonomous driving work robot for agricultural work based on UWB according to an embodiment of the present invention.

Embodiments for Carrying out the Invention

[0018] Hereinafter, based on the accompanying drawings, embodiments of the present invention will be described in detail so that those having ordinary knowledge in the technical field to which the present invention pertains can easily implement it. The present invention can be embodied in various different forms and is not limited to the embodiments described here. In the figures, in order to clearly explain the present invention, parts irrelevant to the explanation are omitted, and throughout the specification, similar parts are denoted by similar reference numerals.

[0019] Hereinafter, based on the accompanying drawings, an autonomous driving work robot for agricultural work based on UWB according to an embodiment of the present invention will be described in detail.

[0020] FIG. 1 is a perspective view for understanding an autonomous driving work robot 10 for agricultural work based on UWB according to an embodiment of the present invention.

[0021] Referring to FIG. 1, an autonomous driving work robot 10 for agricultural work based on UWB according to an embodiment of the present invention is a system that causes the robot body 100 to follow a UWB remote controller 200 carried by a user. By using both UWB signals and ultrasonic sensors, it can recognize the user and obstacles, etc., and can follow the user while avoiding obstacles for the robot body 100.

[0022] Here, ultra - wideband wireless communication (Ultra Wide Band; UWB) is a short - range wireless communication technology that transmits and receives data in a wide frequency band using short - time pulse signals, and is characterized by having very high - definition spatial recognition and directivity. Since a terminal equipped with such UWB operates so as to accurately recognize the surrounding environment, it can be used when it is necessary to accurately search for the positions of objects such as a remote controller and a target to be followed over a wide range.

[0023] The robot body 100 can automatically move in accordance with the UWB remote control 200. The robot body 100 can also be moved manually by operating the UWB remote control 200. In this case, the robot body 100 can indicate its direction of travel via the direction indicator lamps 112 and 114.

[0024] The UWB remote control 200 can generate UWB signals necessary for the robot body 100 to recognize the object being followed and the object to be avoided. At this time, the user can operate the robot body 100 in manual mode using the UWB remote control 200.

[0025] Figure 2 is a block diagram of the robot body 100 of an autonomous mobile work robot 10 for agricultural work based on a UWB according to one embodiment of the present invention.

[0026] Referring to Figure 2, the robot body 100 may include a direction indicator lamp 110, a speaker 120, a UWB module 130, a motor unit 150, and a control unit 160.

[0027] The directional indicator lamps 110 are located on the lower front of the robot body 100 and may include a flashing function. Here, the directional indicator lamps 110 can flash in the direction of movement of the robot body 100. When moving straight, both directional indicator lamps 110 light up, and when making a sudden stop or moving backward, a warning buzzer output from the speaker 120 sounds while both directional indicator lamps 110 flash, informing the user of the robot body 100's movement and status. Furthermore, both directional indicator lamps 110 can also flash when an obstacle is recognized and avoidance mode is executed.

[0028] The speaker 120 can output a warning sound corresponding to the warning buzzer to notify the user if the robot body 100 suddenly stops or moves backward.

[0029] The speaker 120 can operate when the robot body 100 moves or takes an evasive action, and together with the direction indicator lamp 110, it can inform the user in advance of sudden stops, reverse movements, evasive maneuvers, and other movements of the robot body 100, thereby ensuring safety.

[0030] The UWB module 130 can receive UWB signals transmitted from the UWB transmitter 220 of the UWB remote control 200 carried by the user and pass them on to the control unit 160.

[0031] The UWB module 130 may include a first UWB receiver and a second UWB receiver, and the tracked object determination unit 162 can determine the position of the tracked object by comparing the two values.

[0032] The ultrasonic module 140 can transmit ultrasonic sensor values ​​to the obstacle detection unit 164 of the control unit 160 so that the robot body 100 can recognize obstacles around the robot body 100 as it moves in follow. The ultrasonic module 140 may also include a first ultrasonic transmitting / receiving unit located on the left side and a second ultrasonic transmitting / receiving unit located on the right side.

[0033] Here, the ultrasonic module uses the principle of sound wave reflection to send and receive ultrasonic signals and measure the distance between the robot and the obstacle. Because the ultrasonic module has the advantages of a wide sensing range and a fast response speed, it can be used as a technology that allows the robot body 100 to avoid obstacles when following or moving.

[0034] In this way, the robot body 100, by utilizing ultrasonic sensors, can accurately sense the position of obstacles when recognizing and avoiding them, and can take appropriate actions to create an avoidance path. This ensures user safety, prevents robot failure, and enhances cost reduction by enabling the robot body 100 to appropriately avoid obstacles when performing tasks in follow-me mode.

[0035] The motor unit 150 can follow the object being followed and avoid obstacles by controlling the speeds of the motors on both sides to be different when the robot body 100 is following or moving. The motor unit 150 may include a left motor 152 and a right motor 154. Using ultrasonic values ​​received from the ultrasonic module 140, the obstacle detection unit 164 determines the position of the obstacle, and the deceleration calculation unit 166 calculates and sends the deceleration values ​​for the motors on both sides. The left motor 152 and the right motor 154 of the motor unit 150 then decelerate by an amount corresponding to the corresponding value, allowing the robot body 100 to avoid the obstacle.

[0036] For example, the motor unit 150 can be set to three speed levels: 100, 150, and 250. In this case, if the distance to the remote control 200 is within 1m, the motor unit 150 is fixed at 100 PWM; if the distance to the remote control 200 is between 1 and 2m, the speed increases proportionally to the distance difference as the distance increases; and if the distance to the remote control 200 is 2m or more, the set maximum speed can be applied.

[0037] Furthermore, by applying a reduction ratio during avoidance, the minimum value at which the motor unit 150 can be decelerated is 50 PWM.

[0038] For example, the minimum speed under normal conditions (during driving) may be 100 PWM. Furthermore, the motor unit 150 can apply acceleration and deceleration proportional to the distance.

[0039] Therefore, the minimum speed is 100 PWM in the range of 0 PWM to 255 PWM, the maximum speed is 250 PWM, and it can be reduced to 50 PWM during evasive deceleration.

[0040] The control unit 160 can determine the position of the tracked object by judging the UWB value received from the UWB module 130, determine the position of obstacles based on the ultrasonic value received from the ultrasonic module 140, and perform deceleration calculations to avoid obstacles.

[0041] The control unit 160 is communicatively connected to the direction indicator lamp 110, the speaker 120, the UWB module 130, and the motor unit 150, and can control the overall operation of the robot body 100. The control unit 160 may also include a tracked object detection unit 162, an obstacle detection unit 164, and a deceleration calculation unit 166.

[0042] The tracked object determination unit 162 can determine the tracked object by analyzing the UWB values ​​received from the UWB module 130. When the robot body 100 follows the remote control 200, the tracked object determination unit 162 determines the work mode and the tracking mode based on the UWB values ​​received from the UWB module 130 in order to maintain the distance from the tracked object, and based on the result, the motor unit 150 can perform a straight-line movement or a rotational movement. At this time, the UWB values ​​may include a first UWB value and a second UWB value.

[0043] Thus, the UWB-based autonomous mobile work robot 10 for agricultural work uses the difference in UWB signals recognized on both sides of the front of the robot body 100 to determine the distance to the object being followed. By recognizing not only the distance but also the direction of the object, it can follow with greater accuracy, thereby reducing the manpower required for transportation in agricultural production environments and improving productivity.

[0044] The obstacle detection unit 164 analyzes the ultrasonic values ​​received from the ultrasonic module 140 to determine obstacles around the robot body 100. The obstacle detection unit 164 analyzes the ultrasonic sensor values ​​received from the ultrasonic module 140 and the distance and direction of the robot body 100 to determine the location of the obstacle, and based on the result, can control the robot body 100 to make an emergency stop or rotate. At this time, the ultrasonic values ​​received from the ultrasonic module 140 may include a first ultrasonic value and a second ultrasonic value.

[0045] The deceleration calculation unit 166 can calculate the deceleration ratio of the left motor 152 and the right motor 154 of the motor unit 150 so that the robot body 100 can avoid the obstacle, based on the position of the obstacle determined by the obstacle detection unit 164. At this time, the deceleration calculation unit 166 can calculate the deceleration ratio based on the first ultrasonic value and the second ultrasonic value received from the ultrasonic module 140. Therefore, if the motor corresponding to the opposite direction of the obstacle is decelerated using the deceleration ratio calculated by the deceleration calculation unit 166, the robot body 100 can avoid the obstacle.

[0046] Figure 3 is a block diagram of a UWB remote control 200 for an autonomous mobile work robot 10 for agricultural work based on UWB, according to one embodiment of the present invention.

[0047] Referring to Figure 3, the UWB remote control 200 may include an input unit 210, a control unit 230, and a UWB transmission unit 220.

[0048] The input unit 210 can receive information as input when the user presses a button corresponding to the desired task using the UWB remote control 200. In particular, in manual mode, the user can select the direction of movement of the robot body 100 by pressing a button on the UWB remote control 200, allowing the robot body 100 to travel in environments with various paths and terrains.

[0049] The details of the input unit 210 will be explained below based on Figure 4.

[0050] Figure 4 shows an example of buttons included in the UWB remote control 200 of an autonomous mobile work robot 10 for agricultural work based on UWB according to one embodiment of the present invention.

[0051] Referring to Figure 4, the input section 210 of the UWB remote control 200 may include a forward button 211, a reverse button 212, a left turn button 213, a right turn button 214, a manual button 215, an automatic button 216, an emergency ON button 217, and an emergency OFF button 218.

[0052] First, the straight-ahead button 211 is a button used to input a command to move in a straight direction when the user has selected manual movement, taking into account the path of the robot body 100 and the terrain.

[0053] At this time, if no further input is received after pressing the straight button 211, the robot body 100 will move straight and the indicator lights 110 for both directions will light up. If the reverse button 212 is pressed, the robot will not move and the indicator lights 110 for both directions will light up.

[0054] Furthermore, pressing the left turn button 213 after pressing the straight-ahead button 211 will cause the robot to rotate left while moving straight, and pressing the right turn button 214 will cause the robot to rotate left while moving straight. At this time, the direction indicator lamp 110 for that direction will flash, and the robot body 100 will move in the input direction and then return to a manual input waiting state.

[0055] Next, the reverse button 212 is a button for inputting a command to move in the reverse direction when the user has selected manual movement considering the path of the robot body 100 and its terrain.

[0056] If the reverse button 212 is pressed, a warning buzzer will be emitted from the speaker 120, and if there is no further input, the robot body 100 will move in reverse and the indicator lights 110 on both sides will flash.

[0057] Furthermore, if the reverse button 212 is pressed and then the left turn button 213 is pressed, the robot body 100 will rotate to the left while moving backward, and if the right turn button 214 is pressed, it will rotate to the left while moving backward. At this time, the direction indicator lamp 110 for that direction can flash, and after the robot body 100 moves in the input direction, it can return to the manual input waiting state.

[0058] Next, the leftward rotation button 213 is a button for inputting a command to move to the left when the user has selected manual movement considering the path and terrain of the robot body 100.

[0059] If no further input is received after pressing the left turn button 213, the robot body 100 will rotate to the left. If the straight button 211 is pressed, it will rotate to the left while moving straight. If the reverse button 212 is pressed, it will rotate to the left while moving backward, although a warning buzzer may be emitted when moving backward.

[0060] Furthermore, if the left rotation button 213 is pressed and then the right rotation button is pressed, the robot body 100 will not move, and the indicator lamps 110 for both directions will light up. In other words, when the robot body 100 rotates to the left, the left-side indicator lamp 110 will blink, and after movement, it will return to a state waiting for manual input.

[0061] Next, the rightward rotation button 214 is a button for inputting a command to move to the right when the user has selected manual movement considering the path and terrain of the robot body 100.

[0062] If no further input is received after pressing the right-turn button 214, the robot body 100 will rotate to the left. If the straight-ahead button 211 is pressed, it will rotate to the left while moving straight. If the reverse button 212 is pressed, it will rotate to the left while moving backward. In these cases, a warning buzzer may be emitted.

[0063] Furthermore, if the left rotation button 213 is pressed after the right rotation button 214 is pressed, the robot body 100 will not move, and the indicator lamps 110 for both directions will light up. In other words, when the robot body 100 rotates to the left, the indicator lamp 110 for the right direction will blink, and after movement, it will return to a state waiting for manual input.

[0064] Next, the manual button 215 is a button that the user presses when manually controlling the robot body 100's movement, taking into account the path and terrain. By pressing the manual button 215, the user can manually control the direction of the robot body 100.

[0065] Next, the automatic button 216 is a button that the user presses when they want the robot body 100 to automatically move, taking into account the path and terrain. In other words, when the automatic button is pressed, the robot body 100 can follow the object being followed while autonomously moving.

[0066] Next, the emergency ON button 217 is used when the UWB remote control 200 is in a waiting state and does not function properly. At this time, the user can press the emergency ON button 217 to activate the UWB remote control 200.

[0067] Next, if the UWB remote control does not function properly even after pressing the emergency ON button 217, the user can press the emergency OFF button 218.

[0068] Next, the emergency OFF button 218 is used when the UWB remote control 200 is waiting for operation and no input is received from the UWB remote control. In this case, the user can press the emergency OFF button 218 to turn off the power of the UWB remote control.

[0069] Furthermore, the user can repeatedly press the emergency ON button 217 and the emergency OFF button 218 until the UWB remote control 200 functions normally. If the UWB remote control 200 still does not function properly after pressing the emergency OFF button 218, the user can charge the battery of the UWB remote control 200.

[0070] Returning to Figure 3, the UWB transmitter 220 transmits the UWB value recognized by the robot body 100 and the operation signal input by the user to the UWB module.

[0071] Here, because UWB uses frequencies in the 3.1GHz to 10.6GHz band, and employs low spectral density and short pulse width, it is fast and experiences little interference, enabling the rapid and accurate transfer of UWB sensor values ​​between the robot body 100 and the UWB remote control 200.

[0072] Next, the system analyzes the information entered by the user and transmits a signal corresponding to that information to the robot body 100 via the UWB transmission unit 220.

[0073] Figure 5 is a process diagram showing the work mode 20 of an autonomous mobile work robot 10 for agricultural work based on a UWB according to one embodiment of the present invention.

[0074] Referring to Figure 5, the work mode 20 of the UWB-based autonomous mobile work robot 10 for agricultural work includes a step of confirming the work mode (S21), a step of confirming the range of UWB values ​​(S22), a step of confirming whether the first UWB value and the second UWB value match (S23), a first rotation mode (S24), and a first straight-line mode (S25).

[0075] First, the robot body 100 determines whether or not it is in work mode based on the distance value from the UWB remote control 200 to the robot body 100 (step S21), and if it is not in work mode, it can switch to follow mode 30.

[0076] If, as a result of the determination in step S21, the robot body 100 is in working mode, it determines whether the UWB value received from the UWB remote control 200 is between 1m and 5m (step S22). If it is not within that range, it can wait for an input of a UWB value within 1m to 5m. At this time, the robot body 100 can stop and maintain the state in which the direction indicator lamp is flashing.

[0077] Next, the robot body 100 determines whether the distances between the left and right UWBs are different (step S23). That is, the robot body 100 can determine whether the first UWB value located on the left side matches the second UWB value located on the right side.

[0078] If, as a result of the determination in step S23, the distance between the left and right UWBs is different, the robot body 100 will operate in the first rotation mode if the difference in the distance between the left and right UWBs is 45 cm or more (step S24). At this time, the robot body 100 can flash the direction indicator lamp 110 while rotating to the left.

[0079] Next, the robot body 100 returns to step S21 and can determine whether or not to enter work mode.

[0080] If, as a result of the determination in step S23, the distance between the left and right UWBs is the same, the robot body 100 operates in the first straight-line mode (S25). At this time, the robot body 100 can move in a straight line if the difference between the first UWB value on the left and the second UWB value on the right is less than 40 cm. Simultaneously, the robot body 100 can illuminate the direction indicator lamps 110 on both sides.

[0081] Next, the robot body 100 returns to step S21 and can determine whether or not to enter work mode.

[0082] Thus, the autonomous mobile agricultural work robot 10 based on UWB according to one embodiment of the present invention flashes its direction indicator lamps in response to movement and sudden stops, allowing the user to anticipate actions requiring attention, such as the robot reversing or avoiding obstacles. It can also respond immediately to emergency situations such as sudden stops and deviations from the communication range, enabling it to continue working.

[0083] Figure 6 is a process diagram relating to the operation of the follow mode 30 of an autonomous mobile work robot 10 for agricultural work based on a UWB according to one embodiment of the present invention.

[0084] Referring to Figure 6, the follow mode 30 of the UWB-based autonomous mobile work robot 10 for agricultural work includes the steps of: determining whether an obstacle is located outside a certain distance from the front or side (step S31); determining whether the obstacle is located within 40 cm to 1.2 m from the front, or more than 1.2 m from the front and within 70 cm to the left or right (step S32); and determining whether either the first UWB receiver or the second UWB receiver has detected an obstacle (step S3 3) The system includes an emergency stop mode (S34), a follow / avoidance mode (S35), a step (S36) to determine whether the distances between the first UWB receiver and the second UWB receiver and the UWB remote control 200 are different, a second rotation mode (S37), a step (S38) to determine whether an obstacle is located within 2m from the front or more than 2m from the front and within 1.3m from the side, an avoidance mode (S39), and a second straight-ahead mode (S39a).

[0085] First, the robot body 100 uses ultrasonic sensor values ​​to determine the position and distance of the obstacle (step S31). At this time, the robot body 100 determines whether the obstacle is recognized within 50 cm of the center in front, or within 40 cm of either the left or right side in front.

[0086] As a result of the determination in step S31, the robot body 100 can execute the emergency stop mode if an obstacle is detected within 50 cm of the center in front, or within 40 cm of either the left or right side in front (step S34).

[0087] Based on the results of the determination in step S31, the robot body 100 determines whether the obstacle is located within 40cm to 1.2m from the front, or more than 1.2m from the front and within 70cm to the left or right, if the obstacle is not recognized within 50cm from the center in front or within 40cm from either the left or right side (step S32).

[0088] As a result of the determination in step S32, the robot body 100 determines whether or not to detect the UWB remote control 200 with either the first UWB receiver or the second UWB receiver if the obstacle is within 50 cm of the center in front or within 40 cm of either the left or right side in front (step S33).

[0089] As a result of the determination in step S33, the robot body 100 operates in follow and avoidance mode if it detects the UWB remote control 200 with either the first UWB receiver or the second UWB receiver (step S35). In this follow and avoidance mode, the robot body 100 can rotate and move in the direction where the UWB remote control 200 is located.

[0090] On the other hand, when the robot body 100 is at its maximum speed, if the ultrasonic distance comes within 2m, it can follow while decelerating to within 1m.

[0091] As a result of the determination in step S33, if the robot body 100 does not detect the UWB remote control 200 in either the first UWB receiver or the second UWB receiver, it executes an emergency stop mode (step S34).

[0092] As a result of the determination in step S32, the robot body 100 determines whether the distances between the first UWB receiver and the second UWB receiver and the UWB remote control 200 are different if the obstacle is not within 50 cm of the center in front or within 40 cm of either the left or right side in front (step S36).

[0093] As a result of the determination in step S36, the robot body 100 executes the second rotation mode if the distances between the first UWB receiver, the second UWB receiver, and the UWB remote control 200 are different (step S37).

[0094] In this second rotation mode, the robot body 100 compares the UWB values ​​of the first UWB receiver and the second UWB receiver to determine the position of the UWB remote control 200, and can rotate counterclockwise or clockwise based on the difference in those values.

[0095] More specifically, if the second UWB receiver value is even greater than the first UWB receiver value, the robot body 100 can determine that the UWB remote control 200 is located on the left side and rotate to the left. At this time, the indicator lamp for the left direction can flash.

[0096] Here, if the difference between the two values ​​is 45 cm or more, the robot body 100 rotates to the left in place, and if the difference between the two values ​​is in the range of 45 cm to 32 cm, the robot body 100 can rotate to the left while moving in a straight line.

[0097] Furthermore, if the value of the second UWB receiver is even smaller than the value of the first UWB receiver, the robot body 100 can determine that the UWB remote control 200 is positioned to the right and rotate to the right. At this time, the indicator lamp for the right direction can flash.

[0098] Here, if the difference between the two values ​​is 45 cm or more, the robot body 100 rotates to the right in place, and if the difference between the two values ​​is within the range of 45 cm to 32 cm, the robot body 100 can rotate to the right while moving in a straight line.

[0099] As a result of the determination in step S36, the robot body 100 determines whether the obstacle is within 2m from the front, or more than 2m from the front and within 1.3m from the side, when the distances between the first UWB receiver, the second UWB receiver, and the UWB remote control 200 are the same (step S38).

[0100] If, as a result of the determination in step S38, an obstacle is located less than 2m from the front, or more than 2m from the front and within 1.3m from the side, the robot body 100 will execute the avoidance mode (step S39).

[0101] If, as a result of the determination in step S38, an obstacle is found to be within 2m of the front, or not within 2m of the front and 1.3m of the side, the robot body 100 will execute the second straight-line mode (step S39a).

[0102] Next, once all steps are completed, the robot body 100 returns to the step of checking the work mode (S21).

[0103] Figure 7 is a process diagram showing the avoidance mode 40 of an autonomous mobile work robot 10 for agricultural work based on a UWB according to one embodiment of the present invention.

[0104] Referring to Figure 7, the avoidance mode 40 of the UWB-based autonomous mobile work robot 10 for agricultural work includes the steps of: determining whether an obstacle on the right side is closer than an obstacle on the left side (S41); decelerating the left motor by an amount corresponding to a predetermined reduction ratio (S42); decelerating the right motor by an amount corresponding to a predetermined reduction ratio (S43); and flashing the turn signal lamps on both sides (S44).

[0105] First, the robot body 100 determines whether the obstacle on the right side is closer than the obstacle on the left side (step S41). More specifically, the robot body 100 can determine that the obstacle on the right side is closer than the obstacle on the left side if the absolute value of the sum of the left side front ultrasonic sensors is greater than the absolute value of the sum of the right side side ultrasonic sensors.

[0106] If, as a result of the determination in step S41, the obstacle on the right is closer than the obstacle on the left, the robot body 100 will decelerate the left motor and rotate to the left in order to avoid the obstacle (step S42). At this time, the robot body 100 can perform leftward avoidance by comparing the value of the first ultrasonic transceiver located on the left with the value of the second ultrasonic transceiver located on the right, and using a reduction ratio that is 10 times the difference between the two values ​​to decelerate.

[0107] If, as a result of the determination in step S41, the obstacle on the right is further away than the obstacle on the left, the robot body 100 will decelerate the right motor and rotate to the left in order to avoid the obstacle (step S43). At this time, the robot body 100 can compare the value of the first ultrasonic transmitting / receiving unit with the value of the second ultrasonic transmitting / receiving unit and decelerate to the right using a reduction ratio that is 10 times the difference between the two values.

[0108] Here, obstacle avoidance can be performed when the motor speed is fixed at the lowest RPM.

[0109] Next, the robot body 100 can flash the direction indicator lamps on both sides (step S44). Then, once all steps are completed, the robot body 100 can return to the step of checking the work mode (S21).

[0110] Figure 8 is a process diagram showing the straight-line mode 50 of an autonomous mobile work robot 10 for agricultural work based on a UWB according to one embodiment of the present invention.

[0111] Referring to Figure 8, the straight-line mode 50 of the UWB-based autonomous mobile work robot 10 for agricultural work includes the steps of: determining whether the UWB remote control 200 is within a certain distance to the right (S51); decelerating the right motor using a predetermined reduction ratio (S52); illuminating the turn signal lamps on both sides (S53); determining whether the UWB remote control is within a certain distance to the left (S54); decelerating the left motor using a predetermined reduction ratio (S55); and moving in a straight line with the left and right motor speeds being the same (S56).

[0112] First, the robot body 100 uses the UWB value to determine whether the UWB remote control 200 is located to the right within a first distance (step S51).

[0113] As a result of the determination in step S51, the robot body 100 decelerates the right motor using a predetermined reduction ratio if the UWB remote control 200 is located within a first distance to the right (step S52). At this time, the robot body 100 can gradually move forward to the right by decelerating using a reduction ratio that is the square of the difference between the value of the first UWB receiver and the value of the second UWB receiver that exceeds a threshold value.

[0114] Based on the result of the determination in step S51, the robot body 100 determines whether or not the UWB remote control 200 is located within a first distance to the left (step S54).

[0115] As a result of the determination in step S54, the robot body 100 decelerates the left motor using a predetermined reduction ratio if the UWB remote control 200 is located within a first distance to the left (step S55). At this time, the robot body 100 can gradually move forward to the left by decelerating using a reduction ratio that is the square of the value that exceeds the threshold when the difference between the value of the first UWB receiver and the value of the second UWB receiver is.

[0116] On the other hand, when the distance to the obstacle is short, the robot body 100 can either decelerate the motor speed and gradually move away from the side obstacle until the distance to the obstacle detected by the ultrasonic sensors on the left and right sides increases (the reduction mechanism for one of the motors remains the same), or it can avoid the obstacle in front while it is at a short distance, then avoid it to the side before moving straight.

[0117] As a result of the determination in step S54, the robot body 100 sets the speeds of the right motor and the left motor to be the same if the UWB remote control 200 is not within a first distance from both the left and right sides (step S56).

[0118] Next, when the robot body 100 moves in straight-line mode 50, it lights up the turn indicator lamps on both sides (step S53).

[0119] Next, once all steps are completed, the robot body 100 can return to the step of checking the work mode (S21).

[0120] Thus, the autonomous mobile work robot 10 for agricultural work based on UWB can improve its recognition rate of the object being followed by using UWB signals and ultrasonic sensors in combination, thereby increasing the work efficiency required by the user.

[0121] The above method can be implemented by an autonomous mobile agricultural robot 10 based on UWB, as shown in Figure 1, and in particular by a software program that performs these steps. In this case, the program may be stored on a computer-readable recording medium, or it may be transmitted by computer data signals coupled with a carrier wave in a transmission medium or communication network.

[0122] In this context, the computer-readable recording medium encompasses all types of recording devices that store data readable by a computer system, and may include, for example, read-only memory (ROM), random access memory (RAM), CD-ROM, DVD-ROM, DVD-RAM, magnetic tape, floppy disk, hard disk, optical data storage device, and the like.

[0123] Although one embodiment of the present invention has been described above, the concept of the present invention is not limited in any way to the embodiments disclosed herein. Those skilled in the art who understand the concept of the present invention should be able to easily propose other embodiments within the same concept by adding, changing, deleting, or adding components, and these can also be said to fall within the scope of the concept of the present invention. [Explanation of symbols]

[0124] 10: Autonomous mobile work robot for agricultural use based on UWB 100: Robot body 110: Turn signal lamp 130: UWB module 140: Ultrasonic module 150: Motor section 152: Left motor 154: Right-side motor 160: Control Unit 162: Followed object judgment unit 164: Obstacle detection unit 166: Deceleration calculation section 200: UWB Remote Control

Claims

1. A user-carried ultra-wideband (UWB) wireless communication (UWB) remote control that generates UWB signals and receives user input for operation, A robot body that determines the object to be followed based on the ultra-wideband (UWB) wireless communication (UWB) signal received from the aforementioned ultra-wideband wireless communication (UWB) remote control, determines the presence or absence of surrounding obstacles using an ultrasonic module, and follows the object to be followed while avoiding the obstacles, In an autonomous mobile work robot for agricultural use based on ultra-wideband wireless communication (UWB), In the work mode, the aforementioned work robot It includes a first ultra-wideband (UWB) wireless communication receiver located on the left side and a second ultra-wideband (UWB) wireless communication receiver located on the right side. Based on the ultra-wideband (UWB) wireless communication signal, the distance from the location of the ultra-wideband (UWB) wireless communication (UWB) remote control to the ultra-wideband (UWB) wireless communication (UWB) remote control is determined. An autonomous mobile agricultural robot based on ultra-wideband (UWB) wireless communication, which operates based on the signal of the ultra-wideband (UWB) wireless communication remote control when the distance to the ultra-wideband (UWB) wireless communication remote control is within a certain distance, operates in a first rotation mode when the distances between the first ultra-wideband (UWB) wireless communication receiver and the second ultra-wideband (UWB) wireless communication receiver and the ultra-wideband (UWB) wireless communication remote control are different from each other, and operates in a first straight-line mode when the distances are the same from each other.

2. In the follow-up mode, the aforementioned work robot If an obstacle is present within a certain distance from the front or side, the vehicle will operate in emergency stop mode. When the aforementioned obstacle is located within a range of 40 cm to 1.2 m from the front, or within 1.2 m or more from the front and within 70 cm to the left or right, and is detected by at least one of the first ultra-wideband (UWB) wireless communication receiver and the second ultra-wideband (UWB) wireless communication receiver, the system operates in follow and avoidance mode. If the obstacle is located at a position of 1.2 m or more in front and 70 cm or more to the left or right, and the distances between the first ultra-wideband (UWB) wireless communication receiver and the second ultra-wideband (UWB) wireless communication receiver and the ultra-wideband (UWB) remote control are different, the device operates in the second rotation mode, and if the distances are the same, the distance to the obstacle is re-determined. Based on the aforementioned reassessment, if the obstacle is within 2 meters from the front, or more than 2 meters from the front and within 1.3 meters from the side, the vehicle will operate in avoidance mode. Based on the aforementioned reassessment, if the obstacle is located at a position of 2m or more from the front and 1.3m or more from the side, the vehicle operates in the second straight-ahead mode. In the avoidance mode, the aforementioned work robot If an obstacle on the right is even closer than an obstacle on the left, the left motor is decelerated, and leftward avoidance is performed using a deceleration ratio that is 10 times the difference between the value of the first ultrasonic transceiver located on the left and the value of the second ultrasonic transceiver located on the right. An autonomous working robot for agricultural use based on ultra-wideband wireless communication (UWB) according to claim 1, wherein the right motor is decelerated when an obstacle on the right is further away than an obstacle on the left, and rightward avoidance is performed using a deceleration ratio that is 10 times the difference between the value of the first ultrasonic transmitting / receiving unit and the value of the second ultrasonic transmitting / receiving unit.

3. In the first straight-line mode or the second straight-line mode, the aforementioned work robot When the ultra-wideband (UWB) wireless communication remote control is located to the right within a first distance, the right motor is decelerated, but the motor is gradually advanced to the right using a deceleration ratio such that the difference between the value of the first ultra-wideband (UWB) wireless communication receiver and the value of the second ultra-wideband (UWB) wireless communication receiver is the square of the value that exceeds a threshold. When the ultra-wideband (UWB) wireless communication remote control is located on the left side within the first distance, the left motor is decelerated, but the motor is gradually advanced to the left using a deceleration ratio such that the difference between the value of the first ultra-wideband (UWB) wireless communication receiver and the value of the second ultra-wideband (UWB) wireless communication receiver is the square of the value that exceeds the threshold. If the aforementioned ultra-wideband (UWB) wireless communication remote control is not within a first distance from either the left or right side, the speeds of the right motor and the left motor are set to the same, and the vehicle moves straight ahead. An autonomous working robot for agricultural use based on ultra-wideband wireless communication (UWB) as described in claim 2, wherein the turn signal lamps on both sides are illuminated.

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