Autonomous Root Crop Harvester

Abstract

According to one embodiment of the present invention, an autonomous harvester for automating the harvesting of bulbous crops is provided, and the harvester is configured to perform the functions of driving and transporting harvested crops without mutual interference. To this end, the harvester is equipped with a driving motor on the vehicle body to enable autonomous driving along the ground, and a separate conveyor driving motor is provided to drive a conveyor for transporting harvested crops. Since each of these motors is independently controlled by a main controller, the driving operation of the harvester and the crop transport operation can be performed simultaneously and stably.

Description

Technology Field

[0001] The present invention relates to a bulb harvester, and more specifically, to a harvester for efficiently harvesting bulb crops such as potatoes and onions from the ground. In particular, it relates to an autonomous bulb harvester configured to recognize furrow and ridge terrain using a LiDAR sensor and a horizontal sensor, and to automatically adjust the height of the collector so as to autonomously harvest crops even in various agricultural environments such as slopes and non-linear terrain. Background Technology

[0003] Since bulbous crops such as potatoes and onions must be harvested from bulbs formed below the ground due to their characteristics, it is important to minimize damage to the crops and effectively remove impurities such as soil or stems during the harvesting process. To mechanize the harvesting of these bulbous crops, harvesters have conventionally been widely used in a manner that uses rotating members, such as rotors or pads, to scrape up crops placed on the ground and then transports them to the rear via a conveyor.

[0005] However, most existing bulb harvesters are designed based on flat terrain or simple linear furrows, so stable operation is difficult in sloped areas or fields with irregular furrows, and harvesting performance is also degraded. In particular, the harvester frequently deviates from the furrow or misses the crop, which is a major cause of reduced productivity and crop damage.

[0007] In addition, since the gap between the collector and the ground directly affects the harvest quality of the crop, it is necessary to maintain the collector's height appropriately according to the slope or undulation of the ground. However, conventional devices had the disadvantage that harvest efficiency and quality were heavily dependent on the operator's skill level, as the operator had to visually check the ground conditions and manually operate the lift. This manual method leads to problems such as increased fatigue due to repetitive work and low work efficiency caused by the difficulty of precise operation.

[0009] Furthermore, in the agricultural sector, there is a growing demand to apply autonomous driving technology to agricultural machinery due to labor shortages and an aging population; however, conventional bulb harvesters have not sufficiently incorporated sensor-based automation technology capable of recognizing crop locations and furrow shapes, or autonomously adjusting driving paths.

[0011] Accordingly, there is a need for the development of a bulb harvester that can stably perform autonomous operations in various agricultural environments and simultaneously improve harvest quality and work efficiency. Prior art literature

[0013] Republic of Korea Published Patent 2025-0073929 (May 27, 2025) The problem to be solved

[0014] The present invention aims to solve the problems of the aforementioned prior art by providing a bulb harvester capable of harvesting bulb crops while driving stably even on complex terrain with slopes or curved furrows.

[0016] In addition, the purpose is to provide a bulb harvester that can prevent crop damage and always perform harvesting operations with consistent quality by automatically adjusting the height of the collector according to the slope of the harvester body or the curvature of the ground.

[0018] In addition, the purpose is to provide an autonomous bulb harvester capable of efficiently performing harvesting operations without operator intervention by utilizing a LiDAR sensor to recognize furrows and ridges and setting an autonomous driving path based on this.

[0020] In addition, the conveyor angle and structure are optimized to suit the shape of the crop and soil removal conditions, with the aim of facilitating the removal of stems and soil simultaneously with harvesting. means of solving the problem

[0022] To achieve the aforementioned objective, according to one embodiment of the present invention, an autonomous harvester for automating the harvesting of bulbous crops is provided, and the harvester is configured to perform the functions of driving and transporting harvested crops without mutual interference. To this end, the harvester is equipped with a driving motor on the vehicle body to enable autonomous driving along the ground, and a separate conveyor driving motor is provided to drive a conveyor for transporting harvested crops. Since each of these motors is independently controlled by a main controller, the driving operation of the harvester and the crop transport operation can be performed simultaneously and stably.

[0024] In addition, in the aforementioned embodiment, the conveyor is composed of a primary conveyor that transports crops harvested through a collector and a secondary conveyor that transports crops transported from the primary conveyor to a loading point, thereby ensuring that the entire flow of transporting harvested crops is maintained smoothly.

[0026] In addition, in any one of the aforementioned embodiments, the collector is connected to a collector support member that is rotatably supported at both ends of the collector, and the collector support member is equipped with a hydraulic lift so that the collector can move up and down in correspondence with the height of the crop on the ground. This allows a constant harvesting depth to be maintained even under various terrain conditions.

[0028] In addition, in any one of the aforementioned embodiments, the harvester is further provided with a horizontal sensor that detects the slope of the ground, and the main controller controls the hydraulic lift based on the ground slope information detected by the sensor so that the height of the collector can be automatically adjusted to always be maintained constant relative to the ground.

[0030] In addition, in any one of the aforementioned embodiments, the harvester according to the present invention is equipped with a lidar sensor to recognize the contour of the ground and the driving path, and the main controller autonomously controls the driving of the harvester based on terrain information and path information obtained from the lidar sensor, thereby enabling precise autonomous harvesting operations to be performed without user intervention. Effects of the invention

[0032] According to the present invention described above, by adopting a tracked driving unit, the bulb harvester has the effect of being able to drive stably even in various agricultural land conditions, such as slopes or undulating terrain.

[0034] In addition, by recognizing furrows and ridges using a LiDAR sensor and detecting the tilt of the harvester body using a horizontal sensor or a gyroscope sensor, the height of the collector can be automatically adjusted. This allows the operator to perform harvesting operations while maintaining a constant distance from the ground without the need for manual height adjustment. Consequently, damage to bulbous crops such as potatoes and onions can be minimized, and consistent harvest quality can be maintained.

[0036] In addition, the primary and secondary conveyors that transport the collected crops are designed with chain and sprocket structures, a soil-removing shaft, and optimal angle maintenance, which allows for the effective removal of soil or stems during the harvesting process and enables smooth transport to loading containers such as ton bags.

[0038] In addition, since components such as LiDAR, sensors, drive motors, and conveyor motors are integrally controlled through a control box that manages the entire device, it offers the advantages of high operational efficiency, easy maintenance, and the ability to expand into an autonomous or remote-controlled unmanned harvesting system. Brief explanation of the drawing

[0040] FIG. 1 is a perspective view showing the overall external configuration of the bulb harvester of the present invention. FIG. 2 is a front view of the harvester of the present invention. FIG. 3 is a perspective view showing the overall external configuration of the bulb harvester of the present invention from the opposite side of FIG. 1. Figure 4 is a drawing showing the primary conveyor of the bulb harvester of the present invention. Figure 5 is a system block diagram illustrating the overall functional block configuration of the harvester. Figure 6 is a flowchart illustrating the control flow of a bulb harvester. Figure 7 is a diagram showing the detailed flow of the initial setup and booting steps of Figure 6. Figure 8 is a diagram showing the detailed flow of the pre-work verification step of Figure 6. Figure 9 is a diagram showing the detailed flow of the autonomous driving and harvesting stages of Figure 6. Figure 10 is a diagram showing the detailed flow of real-time control and exception handling during the operation of Figure 6. Figure 11 is a diagram showing the detailed flow of the user intervention or manual switching judgment step of Figure 6. Figure 12 is a diagram showing the detailed flow of the task termination and return steps of Figure 6. Specific details for implementing the invention

[0041] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms.

[0043] The embodiments described herein are provided to ensure that the disclosure of the invention is complete and to fully inform those skilled in the art of the scope of the invention. The invention is defined only by the scope of the claims. Accordingly, in some embodiments, well-known components, well-known operations, and well-known techniques are not specifically described to avoid the invention being interpreted ambiguously.

[0045] Throughout the specification, the same reference numerals refer to the same components. Furthermore, the terms used (mentioned) in this specification are for describing the embodiments and are not intended to limit the invention. In this specification, the singular form includes the plural form unless specifically stated otherwise in the text. Additionally, components and operations referred to as "comprising (or comprising)" do not exclude the presence or addition of one or more other components and operations.

[0047] Unless otherwise defined, all terms used in this specification (including technical and scientific terms) may be used in a meaning commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless otherwise defined.

[0049] A bulb harvester according to one embodiment of the present invention is a mechanical device for harvesting bulb crops such as potatoes or onions located on the ground, and includes a driving body, a collector (100), a primary conveyor (200), a secondary conveyor (300), a driving motor (510), a conveyor motor (520), a hydraulic lift (430), and a control box (600).

[0051] The main body of the driving unit is configured as an endless track to enable stable driving on various agricultural terrains, such as slopes and non-linear terrain. The track is formed with, for example, a width of 150 mm and a length of approximately 3000 mm, and the track tension can be adjusted through a take-up device. The take-up device consists of a sliding plate and a screw-type tensioner, and a detection window is formed on the frame to allow checking and maintenance of chain tension through an external inspection window.

[0053] The driving motor (510) is driven by a 48V AC voltage and is designed to enable stable low-speed driving even under heavy loads by including a 50:1 reduction gear. In addition, the motor mounting section is configured with a mount structure that includes a built-in anti-vibration rubber pad to protect the motor from vibration and shock environments. Inside the main body, the main battery mounting section and the motor mount frame are integrally formed.

[0055] The collector (100), which is the main harvesting device of the present invention, is a rotating body structure that lifts crops from the ground, and a rotor with four blades mounted at each end is attached to a cylindrical housing that rotates about a central axis. Twelve pads are fixed to each rotor along the radius of rotation, and these pads are made of a multi-layered rubber material to prevent damage to crops, and a pattern is formed at the end portion to improve friction.

[0057] An additional rotor that induces eccentric rotation may be configured at the right end, ensuring that the pad remains perpendicular to the ground during rotation to maximize crop scraping. The rotor is designed with a modular block structure that ensures rotational stability through three bearings and allows for replacement upon wear.

[0059] The collector is connected to the drive shaft of the primary conveyor (200), and power is configured to be transmitted through a chain and a sprocket. At this time, the ratio of the teeth of the sprocket is set to, for example, 1:2.2, so that the collector rotates slower than the conveyor and can collect crops smoothly.

[0061] The first conveyor (200) serves to transport crops collected from the collector in a horizontal or inclined direction, and the frame is fixed to the main body of the driving unit by a bolt connection, and the upper part can be angle-adjusted through a hydraulic lift (430).

[0063] This conveyor operates as a chain conveyor and is configured so that sprocket attachments, spaced at regular intervals (50mm), support and move the crops. Each attachment features a curved inclined surface structure to allow stems or soil to naturally detach, and a hollow pipe shaft with a soil-removing function is inserted into the rotating axis to enhance soil separation efficiency. The chain tension can also be adjusted via a separate take-up device.

[0065] In addition, both sides of the primary conveyor are formed with an openable protective cover structure, allowing access without tools during maintenance and making it easy to replace the chain and remove contaminants.

[0067] The secondary conveyor (300) is structured to transport crops transported from the primary conveyor to a final loading point, such as a ton bag, and is fixedly installed at the rear of the main body. The secondary conveyor is formed with an inclined structure, and a flexible hopper or a rotary drop guide is attached to the upper drop section to guide the crops to fall accurately into the center of the ton bag. Additionally, to respond to changes in the loading position of the ton bag, a telescopic guide rail that can be extended or an adjustable exit flap may be included.

[0069] The conveyor motor (520) serves to transmit power to both the primary and secondary conveyors and transmits rotation to each drive shaft through a chain and sprocket. This motor is also mounted in a case with a waterproof and dustproof design and is controlled integrally through a control box (600).

[0071] Finally, the entire harvester system is integratedly controlled through a control box (600) and configured to efficiently control each motor, hydraulic cylinder, battery, sensor (if applied later), etc. The control box is designed to meet a waterproof and dustproof rating (IP65 or higher) and may include an electrostatic protection circuit and an overcurrent cutoff function inside.

[0073] FIG. 5 is a diagram illustrating the configuration of a control circuit of an autonomous bulb harvester according to an embodiment of the present invention, wherein the control circuit includes a sensor input module (610), a terrain and path recognition module (620), a control module (630), a driving and actuator module (640), and a user interface module (650) connected around a main controller (600).

[0075] The sensor input module (610) collects external terrain and attitude information including a LiDAR sensor (410) and a gyro sensor (420), and the terrain and path recognition module (620) performs real-time path recognition and judgment based on the collected data, including a ridge and furrow detection unit (621), a driving path generation unit (622), and a slope estimation unit (623).

[0077] The control module (630) controls the drive devices according to the judgment of the main controller, including a driving control unit (631), a collector height control unit (632), and a conveyor drive control unit (633), and the drive and actuator module (640) performs the operation of the actual harvester, including a track drive motor (641), a conveyor drive motor (642), and a hydraulic lift actuator (643).

[0079] The user interface module (650) includes a touch panel or app (651), a manual and automatic mode setting unit (652), a status monitoring unit (653), a device setting unit (654), etc., and is configured so that an operator can set the device or check the real-time status.

[0081] Specifically, the main controller (600) is a central control unit that oversees the operation of the entire harvester. It receives data input from each sensor and module in real time and performs the function of outputting control signals to each actuator and control unit based on the processed results. This controller comprehensively coordinates core operations such as autonomous driving of the harvester, collector height adjustment, and conveyor driving, and is responsible for computational processing of sensor data, execution of path generation algorithms, and distribution of control commands.

[0083] The sensor input module (610) performs the role of collecting sensor information to recognize the external environment. Typically, it detects terrain such as ridges, furrows, and obstacles in front of the harvester through the LiDAR sensor (410), and measures changes in the attitude and inclination state of the harvester through the gyro sensor (420). This module transmits data to the main controller (600) in real time so that it can be used for subsequent judgment and control.

[0085] The terrain and path recognition module (620) performs the function of analyzing and generating a driving path for the harvester based on terrain data received from the sensor input module. The terrain and path recognition module (620) detects the shape of ridges and furrows, extracts the center of the furrow through this, generates a real-time driving path, and calculates slope information to contribute to improving driving stability and harvesting efficiency. The generated path information is utilized for driving and collector control through the control module.

[0087] The control module (630) is a sub-control unit that outputs direct control commands to the drive module based on the judgment of the main controller. It is composed of control units for each function, such as driving control, collector height control, and conveyor speed control, and outputs precise control signals to achieve furrow centerline following, maintaining the ground spacing of the collector, and crop transport optimization. Each control signal is transmitted to the drive and actuator module (640) and acts as an actual actuator.

[0089] The drive and actuator module (640) is a module that performs actual mechanical operations according to a control signal. This module includes a track drive motor (641), a conveyor drive motor (642), a hydraulic lift actuator (643), etc., and physically performs forward and backward movement of the harvester, crop transport, and height adjustment of the collector. The response performance and accuracy of the actuator have a significant impact on the overall work quality of the harvester.

[0091] The user interface module (650) is an interface configuration that allows an operator to operate the harvester and check its status, and is provided via a touch panel or mobile app. This module includes manual / automatic mode switching (652), a status monitoring function (653), a device setting function (654), etc., through which the operator can set working conditions or check the status of the harvester in real time. User commands are transmitted to the main controller and reflected in actual operation.

[0093] More specifically, the sensor input module (610) performs the function of collecting information about external terrain and equipment attitude in real time to improve driving stability and crop harvesting efficiency of the autonomous bulb harvester. The sensor input module (610) is configured to include a LiDAR sensor (410) and a gyro sensor (420).

[0095] The LiDAR sensor (410) is a sensor for detecting terrain information in front of the harvester, and can precisely recognize the contours of ridges, furrows, and obstacles by irradiating lasers in multiple directions and receiving reflected signals. Distance data obtained through the LiDAR sensor (410) forms the terrain shape in front of the harvester in the form of a point cloud, thereby enabling the extraction of furrow centerlines, determination of driving paths, and avoidance of obstacles. The LiDAR sensor (410) is generally fixedly installed on the upper part of the collector or on the front frame to secure a forward view of the direction of travel of the harvester.

[0097] The gyro sensor (420) is a sensor for determining the attitude information of the harvester and can detect the tilt and direction changes of the equipment. In particular, the gyro sensor (420) measures values ​​such as Roll (left-right tilt) and Pitch (forward-backward tilt) that occur when the harvester passes over sloped terrain or uneven sections, and enables the height of the collector to be automatically adjusted based on the information. The gyro sensor (420) is installed on the lower part or the center frame of the harvester body and provides reference information representing the overall attitude.

[0099] Data received through the sensor input module (610) is transmitted in real time to the main controller (600), and is subsequently transferred by the main controller (600) to the terrain and path recognition module (620) and the control module (630) to be used for performing functions such as autonomous driving and collector position control.

[0101] The terrain and path recognition module (620) performs the role of improving the stability and precision of the entire harvesting operation by generating a driving path for autonomous driving of the harvester based on data received from the sensor input module (610) and estimating the slope state of the equipment. The terrain and path recognition module (620) is configured to include a ridge and furrow detection unit (621), a driving path generation unit (622), and a slope estimation unit (623).

[0103] The ridge and furrow detection unit (621) performs the function of extracting the shape, width, depth, and centerline of the furrow by analyzing distance data input from the lidar sensor (410). In particular, it recognizes the contour of the ridge formed on the ground based on 2D or 3D point cloud data obtained from the lidar sensor and calculates the centerline of the furrow existing in front of the harvester to set the driving reference line of the harvester.

[0105] The driving path generation unit (622) performs the function of automatically generating a driving path for the harvester based on the furrow centerline information derived from the furrow and ridge detection unit (621). The generated path is updated in real time in conjunction with the current location and direction of travel of the harvester, and is configured to derive an optimal path by considering the curvature, slope, and presence or absence of obstacles of the harvesting target area. The path information is provided to the driving control unit (631), enabling steering control through the difference in rotational speed between the left and right tracks.

[0107] The slope estimation unit (623) performs the function of estimating the front-rear and left-right inclinations of the harvester by analyzing Roll and Pitch data input from the gyro sensor (420). This ensures driving stability of the harvester and provides the necessary reference information to the collector height control unit (632) so that the collector can maintain parallelism with the ground at a certain height. The slope information also plays an important role in preventing malfunction of the collector or loss of harvest when working on the sloped terrain of the furrow.

[0109] Accordingly, the terrain and path recognition module (620) recognizes the working environment of the harvesting season through sensor-based data interpretation and provides basic information for autonomous driving and automatic control.

[0111] The control module (630) performs the function of precisely controlling the operation of each actuator based on driving path and inclination information derived from the terrain and path recognition module (620) to realize autonomous driving and automatic control of the harvester. The control module (630) is configured to include a driving control unit (631), a collector height control unit (632), and a conveyor drive control unit (633).

[0113] The driving control unit (631) is a core control component for realizing furrow centerline following driving of an autonomous bulb harvester, and operates based on an endless track driving system capable of independent left and right driving.

[0114] The control unit outputs individual rotation speed control commands to the left and right track motors based on furrow centerline information and current location information input from the terrain and path recognition module (620), thereby enabling the harvester to drive precisely along the center of the furrow.

[0116] Specifically, the driving control unit (631) calculates the left-right error (deviation) between the center coordinates of the harvester and the furrow centerline in real time, and applies a proportional control (P control) or PID control algorithm to minimize the error and correct the speed difference between the left and right tracks. As a result, the harvester can follow a stable path without deviation even on terrain with non-linear furrows or curvature.

[0118] Furthermore, this control unit includes an autonomous rotation control function that applies differential rotation to the left and right tracks according to the curvature of the furrow. Through this function, it can flexibly perform rotation in place, turning, and switching between forward and backward. Unlike conventional manual operation methods, this control method has the advantage of enabling path maintenance based on the furrow center without operator intervention.

[0120] The collector height control unit (632) is configured to automatically control the height of the collector so that the collector of the bulb harvester can stably collect crops while maintaining a constant distance from the ground, and operates based on the output of the gyro sensor (420).

[0122] The collector height control unit (632) analyzes the front-to-back (Pitch) and left-to-right (Roll) tilt values ​​of the harvester received from the gyro sensor in real time and generates a raising or lowering control signal for the hydraulic lift actuator (643). For example, when the equipment enters a forward slope and the front becomes lower, a reaction control is performed to raise the collector to a predetermined height to prevent the collector from coming into excessive contact with the ground. Conversely, when the ground rises and the collector is lifted, a lowering control is automatically performed to maintain a certain distance.

[0124] In particular, the collector height control unit (632) can be configured to operate only when it exceeds a preset reference slope range, thereby preventing unnecessary lift operation and improving energy efficiency. Additionally, to minimize the response delay of the collector, it can be configured to prevent over-reaction or vibration phenomena by applying a non-linear function-based control logic or a hysteresis method.

[0126] The collector height control function automatically maintains the distance between the harvester and the ground, especially on sloping terrain or uneven paved fields, thereby preventing crop damage, preventing missed harvests, and reducing worker fatigue.

[0128] The conveyor drive control unit (633) is configured to control the rotational speed and operating status of the primary conveyor and secondary conveyor in real time to stably transport bulbous crops collected within the harvesting period. This control unit operates by reflecting various control conditions, particularly to ensure interoperability between the collector and the conveyor and to maintain the quality of crop transport according to changes in ground conditions.

[0130] The conveyor drive control unit (633) performs the function of automatically adjusting the rotational speed of the conveyor based on the rotational speed of the collector and the tilt of the harvester received from the main controller (600). For example, if the rotational speed of the collector increases and the amount of crops flowing in increases, the speed of the primary conveyor is increased synchronously to prevent the accumulation or crushing damage of the crops. Conversely, if the rotational speed of the collector decreases, the conveyor also operates at a low speed in proportion to this, thereby reducing unnecessary idle time and saving energy.

[0132] Additionally, the conveyor drive control unit (633) detects the inclination state of the harvester in real time through the gyro sensor (420) and corrects the conveyor speed in response to physical changes in the crop transport path according to changes in terrain. For example, when the harvester enters a forward slope, the crop may move rapidly due to the influence of gravity, so the conveyor speed is relatively reduced to prevent rapid falling or damage to the crop, and on a backward slope, the speed is increased to prevent a decrease in transport.

[0134] The conveyor drive is generally configured to enable precise speed control by applying PWM control or variable voltage methods, and can be designed to switch between automatic and manual control modes within a set reference range as needed. Additionally, to prepare for cases where foreign objects get jammed or crop flow becomes stagnant during conveyor transport, sub-routines capable of performing temporary stop, reverse rotation, or repetitive vibration functions may be included.

[0136] The conveyor drive control unit (633) maintains the entire crop flow of the harvester stably, thereby providing technical effects such as preventing crop damage, ensuring transport quality, and improving harvesting efficiency, and performs an automatic control function that can flexibly respond to various terrains and harvesting conditions.

[0138] In this way, the control module (630) functions to enable autonomous driving and automatic harvesting to be performed precisely and stably by generating and transmitting control commands for each driving element of the harvester.

[0140] Next, the drive and actuator module (640) will be described. The drive and actuator module (640) is a component that performs the actual mechanical operation of the autonomous bulb harvester and plays a role in physically executing functions such as driving, crop transport, and collector height adjustment according to control signals input from the control module (630). This module is configured to include a track drive motor (641), a conveyor drive motor (642), and a hydraulic lift actuator (643).

[0142] The track drive motor (641) is a motor that independently drives the left and right tracks of the harvester, and its rotational speed and direction are individually controlled according to the control command of the driving control unit (631). Through differential speed control of the left and right tracks, the harvester is capable of various modes of movement, including straight driving, curved driving, turning in place, and reverse driving. The track drive motor is generally composed of an AC or DC electric motor with an integrated high-torque reduction gear, and is designed to ensure sufficient traction and stability even on slopes or irregular terrain.

[0144] The conveyor drive motor (642) is a power source that rotates the primary and secondary conveyors for transporting harvested crops, and its speed and direction of rotation are controlled according to the control signal of the conveyor drive control unit (633). The conveyor drive motor (642) is driven by a rotor control method capable of variable speed to respond to changes in load or inclination conditions during crop transport, and is configured to perform reverse rotation or stop state as needed. One motor may drive both conveyors simultaneously, or separate motors may be configured for each conveyor, and this may vary depending on the structure and size of the harvester.

[0146] The hydraulic lift actuator (643) is an actuator that performs the function of adjusting the height of the collector of the harvester and operates in the up and down direction according to the control signal of the collector height control unit (632). The hydraulic lift actuator (643) is installed between the main body of the harvester and the primary conveyor or collector, and is automatically adjusted so that the collector always maintains a constant distance from the ground according to the size of the crop, furrow depth, and ground slope. The lift actuator is generally composed of a single-acting or double-acting hydraulic cylinder and operates by receiving pressure through a hydraulic unit or an electro-hydraulic pump. It is designed to enable real-time responsiveness and fine adjustment, and may also perform shock absorption and vibration prevention functions by adding a rubber damper or suspension structure.

[0148] The user interface module (650) is an input / output function module configured to allow a harvester operator to interact with the system, and functions to perform tasks such as setting work conditions, real-time monitoring, and mode switching intuitively and efficiently.

[0150] The user interface module (650) can be provided via a touch panel or a wireless communication-based mobile application (651), and the operator can check the main status of the equipment and perform necessary settings through it.

[0152] The user interface module (650) is configured to include a manual / automatic mode setting unit (652); a status monitoring unit (653) and a device setting unit (654).

[0154] The manual / automatic mode setting unit (652) performs the function of switching the operating mode of the harvester. The operator can select the autonomous driving mode and the manual driving mode via a touchscreen or app screen, and can also manually switch the collector height adjustment or conveyor speed control as needed. Additionally, the autonomous mode can be configured to be automatically activated according to the setting value during initial operation.

[0156] The status monitoring unit (653) provides real-time visualization of the operating status of key components and sensor data during the operation of the harvester. For example, it displays the current driving speed, inclination (Roll / Pitch), collector height, whether the conveyor is operating, battery voltage, sensor signal reception status, etc., in the form of icons or numbers, and if an abnormal condition (e.g., excessive inclination, sensor error, overcurrent, etc.) is detected during operation, it is immediately conveyed to the user through a notification message or warning icon.

[0158] The device setting unit (654) is configured to allow the user to initialize or change the main control values ​​of the harvester. For example, the reference height value between the collector and the ground, the autonomous driving speed limit value, the conveyor rotation basic speed, the hydraulic lift operation range, etc., can be pre-set, and these settings can be adjusted differently depending on the working environment (e.g., slope of the field, crop size, furrow width, etc.). The set values ​​are stored in the main controller (600) and can be continuously applied to the next operation.

[0160] The user interface module (650) simplifies complex autonomous control functions into an intuitive UI / UX, enabling even unskilled workers to easily operate the harvester. Additionally, by allowing real-time monitoring of the operating status and rapid response to abnormal situations, the safety, operability, and user convenience of the entire system can be significantly improved.

[0162] FIG. 6 illustrates the overall flow of operation of the bulb harvester of the present invention. Referring to FIG. 6, the overall flow of operation of the bulb harvester of the present invention includes an initial setup and booting step (S100); a verification step before starting work (S200); an autonomous driving and harvesting step (S300); a real-time control and exception handling step during work (S400); a user intervention or manual switching determination step (S500); and a work termination and return step (S600).

[0164] The initial setup and booting phase (S100) begins with the process (S110) in which the main controller is initialized and the system boots up as power is applied to the bulb harvester, as illustrated in FIG. 7. Subsequently, the operator selects either an automatic or manual operation mode through the user interface module (S120), and the selected mode is reflected throughout the subsequent control process by the main controller. Next, a self-diagnosis is performed on key components, including the LiDAR sensor and gyroscope sensor included in the sensor input module (S130), and the status of the communication line or data bus is checked to verify any abnormalities. Finally, the ground-reference height of the collector is automatically set based on loading the setting values ​​stored in the previous operation or the initial values ​​set by the user, thereby configuring the initial environment for actual operation (S140).

[0166] Referring to FIG. 8, the verification step (S200) before starting the operation begins with recognizing the starting point of a furrow or a crop line located in front of the harvester (S210). This process is performed using a LiDAR sensor and, if necessary, an image camera, etc., to detect the contours of the ground and the furrow, and to extract a centerline based on data such as the depth, width, and ridge position of the furrow (S220). The extracted centerline information and furrow slope (gradient) information are processed by a terrain and path recognition module to serve as a reference for generating a driving path, and lead to a step of automatically adjusting the initial position so that the collector can appropriately respond to the position of the crop (S230). At this time, the operating position of the collector is automatically corrected by reflecting the elevation of the actual ground, so a stable initial operating position is secured even in cases of sloping terrain or inconsistent furrow depth.

[0168] The autonomous driving and harvesting stage (S300) consists of a stage in which the harvester starts driving autonomously by following the centerline of the furrow created, as illustrated in FIG. 9 (S310). During autonomous driving, whether there is a continuous change in slope is determined in real time (S320), and if a change in slope is detected, the height of the collector is automatically corrected so that the distance between the collector and the ground is maintained at a constant level (S330). Conversely, if there is no change in slope, the collector detects the crop and starts operation to separate the crop from the ground (S330), and then transports it to the rear via a conveyor. This process is performed repeatedly along the furrow, and the change in slope and the presence of the crop are repeatedly determined in real time.

[0170] The real-time control and exception handling step (S400) during operation, as illustrated in FIG. 10, monitors the status of the harvester and sensor data in real time during the entire operation (S410) and determines whether there are any signs of anomalies (S420). Signs of anomalies include communication errors of the LiDAR or gyro sensor, situations where the driving inclination range is exceeded, and harvest failures where the collector misses the crop. If an anomaly is detected (S430), an alert is generated and the user is notified immediately (S440), and a warning message or operation recommendation is provided through the user interface. This step is a protection procedure that must be performed to ensure the stability of the equipment and the quality of the operation in real time.

[0172] The user intervention or manual switching judgment step (S500) is a step of determining whether manual intervention is required based on the occurrence of an anomaly or the user's judgment, as illustrated in FIG. 11 (S510). If manual intervention is required, the system immediately switches from automatic mode to manual control mode and enters a state waiting for direct operation by the user (S520). Conversely, if it is determined that intervention is not required, autonomous driving is maintained (S530), and the harvester continues to process the next furrow or path while maintaining a continuous operation state.

[0174] The work termination and return step (S600) begins with a step of determining whether the currently ongoing furrow or work path has been terminated, as illustrated in FIG. 12 (S510). If the furrow has not been terminated, the process returns to the slope detection step (S320) to continue the work. If it is determined that the furrow has been terminated, the operation of the collector and conveyor is stopped (S610), and the work log up to that point is saved while a status report is generated (S620). The generated report is used as a future work record and is output so that it can be viewed through a user interface.

[0176] Although the embodiments have been described above with reference to limited examples and drawings, those skilled in the art can make various modifications and variations from the description above. For example, suitable results can be achieved even if the described techniques are performed in a different order than described, and / or the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents. Explanation of the symbols

[0178] 100: Collector 200: Primary Conveyor 300: Secondary conveyor 410: LiDAR sensor 420: Level sensor (or gyro sensor) 430: Hydraulic lift 510: Driving motor 520: Conveyor motor 600: Control box

Claims

Claim 1 An autonomous harvester for harvesting bulbous crops comprises: a driving drive motor mounted on a vehicle body to enable autonomous driving along the ground; a conveyor drive motor for driving a conveyor for transporting harvested crops; a conveyor driven by the conveyor drive motor and including a primary conveyor for transporting harvested crops through a collector and a secondary conveyor for transporting crops transported from the primary conveyor to a loading point; a collector connected to a collector support member that rotatably supports the collector at both ends of the collector and including a hydraulic lift provided to the collector support member to enable the collector to move up and down in correspondence with the ground height; a horizontal sensor including a gyroscope sensor for detecting the slope of the ground; and a LiDAR sensor for recognizing the contour of the ground and a driving path. An autonomous harvester for harvesting bulbous crops, comprising: a main controller that independently controls the operation of the driving motor and the conveyor driving motor, wherein the main controller autonomously controls the driving of the harvester based on terrain information and path information obtained through the lidar sensor, and simultaneously controls the hydraulic lift based on the slope of the ground detected by the horizontal sensor so that the height of the collector is maintained constant relative to the ground, and controls the driving state of the conveyor driving motor independently of the driving control of the driving motor so that the driving of the harvester and the transport of crops are performed without mutual interference. Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 delete Claim 6 An autonomous harvester for harvesting bulbous crops according to claim 1, wherein the main controller calculates in real time the deviation between the furrow centerline detected through the lidar sensor and the center coordinates of the harvester, and is configured to follow the furrow centerline by differentially controlling the rotational speed of the left and right driving motors based on the deviation, and wherein the differential control is performed using a proportional control or PID control algorithm. Claim 7 An autonomous harvester for harvesting bulbous crops according to claim 1, wherein the main controller is configured to drive the hydraulic lift only when the Pitch and Roll values ​​received from the horizontal sensor exceed a preset reference range, and the driving of the hydraulic lift is performed by hysteresis control or a non-linear correction function to prevent over-correction. Claim 8 An autonomous harvester for harvesting bulbous crops according to claim 1, wherein the main controller is configured to control the driving speeds of the primary conveyor and the secondary conveyor in conjunction with the rotational speed of the collector, and is configured to prevent accumulation and compression of crops by proportionally increasing the conveyor speed as the rotational speed of the collector increases and decreasing the conveyor speed as the rotational speed of the collector decreases.

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