Method, Apparatus And Computer-Readable Recording Medium For Managing Fertilizer Spreading History Using Incremental Synchronization Based On Rtk Quality

Abstract

The present invention comprises a method, apparatus, and computer-readable fertilizer spraying history management method using RTK quality-based incremental synchronization, which prevents the omission of fertilizer spraying records even in plantation environments with frequent LoRa communication blind spots and improves the accuracy and audit traceability of GIS spraying history through record confirmation based on RTK quality, by including: a work event generation step in which a terminal collects location information and RTK quality indicators from an RTK / GNSS position calculation module and fertilizer spraying work data from a work data collection module to generate a work event including said RTK quality indicators; a local storage step in which the terminal evaluates LoRa link indicators to determine whether transmission is possible and, if transmission is determined impossible, assigns a sequence number to said work event and stores it locally; an incremental synchronization step in which, when the terminal enters a transmission window defined by a geofence or the LoRa link is restored, the terminal queries a server for the last synchronization status and uploads only the data after the last confirmed sequence verified by the server using an incremental synchronization method; and a work data storage step in which the server separates and stores records into a confirmed layer or a temporary layer based on the RTK quality indicators of the received work event and performs GIS alignment. It is about recording media.

Description

Technology Field

[0001] The present invention relates to a technology for managing the work history of implements such as fertilizer spreaders and tractors operated in large-scale agricultural environments such as plantations. More specifically, it relates to a technology for determining whether to confirm or withhold work records based on RTK quality indicators in an environment where LoRa communication blind spots frequently occur, and for managing fertilizer spreading history on a GIS by uploading data in an incremental synchronization manner through a geofence-based transmission window. Background Technology

[0002] In plantation operations, there is an increasing demand to collect, record, and analyze data such as work routes, application amounts per plot, application times, and equipment status on GIS to optimize costs and ensure work quality for fertilizer application. However, plantations are characterized by dense tree cover, which causes significant signal attenuation due to canopies and tree trunks, and LoRa communication dead zones can frequently occur within work plots. Consequently, data generated during fertilizer application cannot be transmitted to the gateway in real time; repeated retransmissions following transmission failures lead to increased battery consumption and network congestion, while data omissions or duplications can degrade the reliability of GIS records.

[0003] Meanwhile, Korean Patent Publication No. 10-2022-0107428 discloses a precision agriculture management system that receives weather data, soil environment data, cultivation-related event data, yield data, and image data regarding cultivated land, and models optimal yields by learning from this data using machine learning. While the aforementioned prior art focuses on integrating and analyzing various agricultural data to derive optimal cultivation environments, it fails to provide a concrete solution for reliably collecting and transmitting operational data in environments with frequent communication dead zones, such as plantations.

[0004] Furthermore, plantation work machines frequently move repeatedly between trees within the zone and work paths, general roads, and open areas outside the zone, and the likelihood of receiving communications tends to be relatively higher outside the zone. Nevertheless, existing methods have limitations, such as simple omissions upon communication failure, duplication and sequencing errors caused by random uploads after temporary storage, difficulty in verifying tampering or omission of offline segment records, and inconsistencies in aggregation at the zone, cell, and route levels during map alignment.

[0005] Meanwhile, while RTK-based location can improve the spatial alignment of spraying records, RTK quality in plantations can vary as FIX, FLOAT, or INVALID depending on the location and environment, and if low-quality location data is confirmed and reflected in the GIS at the same level, the accuracy of the records may be degraded. Therefore, an integrated structure is required to collect and store work records without omission even in communication blind spots, upload them without duplication in communication-enabled areas, and perform confirmation, retention, correction, and audit tracking of records based on RTK quality. The problem to be solved

[0006] The present invention was devised to solve the above-mentioned problems, and has the purpose of providing a fertilizer spraying history management technology that stores fertilizer spraying data locally without omission in LoRa communication blind spots, provides an integrity proof structure that allows the server to verify whether the stored data is omitted or tampered with, and defines areas with a high probability of communication, such as roads or open areas, as geofence-based transmission windows, and automatically starts uploading when entering the transmission window or when the link is restored.

[0007] In addition, the present invention has another objective of providing a fertilizer spraying history management technology that reduces redundant transmission and congestion and increases the upload success rate by transmitting only data after the last confirmed point through incremental synchronization between the server and the terminal and performing partial retransmission, and stores RTK location and RTK quality indicators as metadata for work events, and maintains the accuracy of GIS reflection by having the server separate records into confirmed layers or temporary layers according to RTK quality.

[0008] In addition, another objective of the present invention is to provide a fertilizer spraying history management technology that stores and rolls up work data into a GIS alignment-friendly model such as a block ID, polyline path, and grid cell accumulation to consistently generate spraying history maps and reports, and provides a priority-based transmission policy that prioritizes immediate transmission of failure, safety, and abnormal events, and bundles general spraying logs into a transmission window. means of solving the problem

[0009] To achieve the above objectives, a fertilizer spraying history management method using RTK quality-based incremental synchronization according to an embodiment of the present invention comprises: a work event generation step in which a terminal collects location information and RTK quality indicators from an RTK / GNSS position calculation module and collects fertilizer spraying work data from a work data collection module to generate a work event including the RTK quality indicators; a local storage step in which the terminal evaluates a LoRa link indicator to determine whether transmission is possible, and if transmission is determined to be impossible, assigns a sequence number to the work event and stores it locally; an incremental synchronization step in which, when the terminal enters a transmission window defined by a geofence or the LoRa link is restored, the terminal queries a server for the last synchronization status and uploads only the data after the last confirmed sequence confirmed by the server using an incremental synchronization method; and a work data storage step in which the server separates and stores the record into a confirmed layer or a temporary layer based on the RTK quality indicator of the received work event and performs GIS alignment.

[0010] The above local storage step may further include the step of the terminal generating a checkpoint hash for stored events at preset intervals, wherein the hashes of previous checkpoints and subsequent events are chained to form a hash chain; and, prior to the above work data storage step, the server may further include the step of verifying the received checkpoints and hash chains to check for omissions or tampering.

[0011] The above local storage step includes the step of classifying the operation event into high-priority events corresponding to safety, failure, or abnormal events and low-priority events corresponding to general spray logs, and storing them in priority queues; wherein the incremental synchronization step attempts to immediately upload the high-priority events through an available communication path regardless of whether LoRa transmission is possible, and enables the low-priority events to be uploaded in batches from the transmission window.

[0012] After the above local storage step, the method further includes a step of generating summary data by rolling up the stored work events in units of polyline paths or grid cell cumulative spraying amounts, wherein the incremental synchronization step may first upload the summary data to the server.

[0013] It is possible to further include the step of the terminal or the server accumulating transmission success and failure history by coordinate to generate a radio wave map; and the step of the server updating the boundary of the geofence or the upload priority section based on the radio wave map.

[0014] In the above incremental synchronization step, if an upload failure to the server occurs, the terminal can perform partial retransmission in segment units.

[0015] The above-mentioned work data storage step allows the server to store records in which the RTK quality indicator is in the FIX state in the confirmed layer and records in which the RTK quality indicator is in the FLOAT or INVALID state in the temporary layer, and the records stored in the temporary layer can subsequently be transferred to the confirmed layer upon receiving quality improvement data or according to preset correction rules.

[0016] The above incremental synchronization step makes it possible to immediately start uploading when the LoRa link indicator is recovered, even outside the geofence, when the backlog of untransmitted data stored in the terminal exceeds a preset threshold.

[0017] Meanwhile, a fertilizer spraying history management device using RTK quality-based incremental synchronization according to one embodiment of the present invention comprises: a work event generation unit that collects location information and RTK quality indicators from an RTK / GNSS position calculation module and collects fertilizer spraying work data from a work data collection module to generate a work event including the RTK quality indicators; a local storage unit that evaluates LoRa link indicators to determine whether transmission is possible and, if transmission is determined impossible, assigns a sequence number to the work event and stores it; an incremental synchronization unit that queries the server for the last synchronization status when entering a transmission window defined by a geofence or when the LoRa link is restored, and uploads only the data after the last confirmed sequence confirmed by the server using an incremental synchronization method; and a buffer management unit that receives confirmed sequence information from the server and organizes local data within the corresponding range; wherein the server separates and stores the record into a confirmed layer or a temporary layer based on the RTK quality indicator of the received work event and performs GIS alignment. Effects of the invention

[0018] According to the present invention, even in plantation environments where LoRa communication blind spots are frequent, the omission of fertilizer spraying records can be prevented, and incremental synchronization can be performed in a geofence-based transmission window to alleviate redundant transmission and network congestion. In addition, through a role separation structure in which LoRa link indicators are utilized for determining transmission feasibility and retransmission control, and RTK quality indicators are utilized for record reliability tagging and GIS confirmation logic, reliable work history management can be provided in real-world usage environments without requiring a correlation between communication quality and location quality as a prerequisite.

[0019] In addition, according to the present invention, the accuracy and audit traceability of GIS deployment history can be improved through RTK quality-based record confirmation and retention logic and integrity verification using a hash chain. By storing records with RTK quality in the FIX state in the confirmation layer and records in the FLOAT or INVALID state in the temporary layer for separate management, the server can confirm and reflect only data with guaranteed positional accuracy in the GIS, and process low-quality data according to subsequent correction rules.

[0020] In addition, according to the present invention, system efficiency can be further improved by optimizing the upload point through learning a propagation map that accumulates transmission success rates by coordinate according to the operating environment, and simultaneously achieving rapid delivery of emergency events related to safety and failure and efficient bundled transmission of general work logs by applying a priority-based transmission policy. Brief explanation of the drawing

[0021] FIG. 1 is a flowchart showing the overall flow of a fertilizer spraying history management method using RTK quality-based incremental synchronization according to an embodiment of the present invention. FIG. 2 is a block diagram showing the terminal configuration of a fertilizer spraying history management device according to one embodiment of the present invention. FIG. 3 is a conceptual diagram showing the overall configuration of a fertilizer spraying history management system according to one embodiment of the present invention. FIG. 4 is a block diagram showing the detailed configuration of a work event generation unit according to an embodiment of the present invention. FIG. 5 is a conceptual diagram showing the hash chain structure of a local storage unit according to one embodiment of the present invention. FIG. 6 is a diagram illustrating the concept of a geofence-based transmission window according to one embodiment of the present invention. FIG. 7 is a sequence diagram showing an incremental synchronization flow between a terminal and a server according to an embodiment of the present invention. FIG. 8 is a block diagram showing an RTK quality-based layer separation structure of a server according to an embodiment of the present invention. FIG. 9 is a conceptual diagram showing a GIS alignment and visualization structure according to an embodiment of the present invention. Specific details for implementing the invention

[0022] Hereinafter, various embodiments and / or aspects are disclosed with reference to the drawings. For illustrative purposes, numerous specific details are disclosed in the following description to aid in a general understanding of one or more aspects. However, it will also be recognized by those skilled in the art that these aspects may be practiced without such specific details. The following description and the accompanying drawings describe specific exemplary aspects of one or more aspects in detail. However, these aspects are exemplary, and some of the various methods in the principles of the various aspects may be used, and the description is intended to include all such aspects and their equivalents.

[0023] As used herein, terms such as "examples," "examples," "aspects," "examples," etc., may not be interpreted as implying that any aspect or design described is better or more advantageous than other aspects or designs.

[0024] Additionally, the terms “comprising” and / or “comprising” should be understood to mean that the relevant feature and / or component is present, but not to exclude the presence or addition of one or more other features, components and / or groups thereof.

[0025] Additionally, terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. Such terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and / or" includes a combination of a plurality of related described items or any of a plurality of related described items.

[0026] Furthermore, in the embodiments of the present invention, all terms used herein, including technical or scientific terms, unless otherwise defined, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in the embodiments of the present invention.

[0027] FIG. 1 is a flowchart showing the overall flow of a fertilizer spraying history management method using RTK quality-based incremental synchronization according to an embodiment of the present invention; FIG. 2 is a block diagram showing the terminal configuration of a fertilizer spraying history management device according to an embodiment of the present invention; FIG. 3 is a conceptual diagram showing the overall configuration of a fertilizer spraying history management system according to an embodiment of the present invention; FIG. 4 is a block diagram showing the detailed configuration of a work event generation unit according to an embodiment of the present invention; FIG. 5 is a conceptual diagram showing the hash chain structure of a local storage unit according to an embodiment of the present invention; FIG. 6 is a diagram showing the concept of a geofence-based transmission window according to an embodiment of the present invention; FIG. 7 is a sequence diagram showing the incremental synchronization flow between a terminal and a server according to an embodiment of the present invention; FIG. 8 is a block diagram showing the RTK quality-based layer separation structure of a server according to an embodiment of the present invention; FIG. 9 is a conceptual diagram showing the GIS alignment and visualization structure according to an embodiment of the present invention.

[0028] Meanwhile, in the following description, some components described in the drawings may be omitted or excessively enlarged or reduced in order to explain the function of each component of the present invention, but it will be understood that such illustrated components do not limit the technical features and scope of rights of the present invention.

[0029] In addition, in the following description, multiple drawings will be referred to simultaneously to explain a single technical feature or a component constituting the invention.

[0030] FIG. 1 is a flowchart illustrating the overall flow of a fertilizer spraying history management method using RTK quality-based incremental synchronization according to an embodiment of the present invention. The fertilizer spraying history management method according to the present invention comprises a work event generation step (S100), a local storage step (S200), an incremental synchronization step (S300 to S400), and a work data storage step (S500). Each step is described in detail below.

[0031] First, in the operation event generation step (S100), the terminal (operation event generation unit (110)) collects location information and RTK quality indicators from the RTK / GNSS location calculation module and collects fertilizer spraying operation data from the operation data collection module to generate an operation event including the RTK quality indicators. In this step, the terminal (100) collects location information and RTK quality indicators from the RTK / GNSS location calculation module (111) and collects fertilizer spraying operation data from the operation data collection module (112) to generate an operation event including the RTK quality indicators.

[0032] RTK stands for Real Time Kinematic, referring to real-time mobile positioning technology. It is a positioning technique capable of calculating the location of a mobile station with centimeter-level precision using correction data transmitted from a reference station. The RTK positioning method calculates the location using the carrier phase difference between the reference station and the mobile station, and corrects the mobile station's position error by receiving correction data from the reference station in real time. RTK quality indicators represent the reliability of positioning results and can be classified into states such as FIX, FLOAT, and INVALID. The FIX state indicates that the integer ambiguity of the carrier phase is fully determined, generally providing precision within 2 cm; the FLOAT state indicates that the integer ambiguity is not fully determined, providing precision ranging from tens of centimeters to several meters; and the INVALID state signifies a condition where positioning is impossible or unreliable.

[0033] GNSS stands for Global Navigation Satellite System and refers to a global satellite navigation system; examples include the US GPS, Russia's GLONASS, the European Union's Galileo, and China's BeiDou. In the present invention, the RTK / GNSS position calculation module (111) can calculate a position by receiving signals from multiple satellite navigation systems, and since more satellites can be utilized than when using only a single system, positioning accuracy and availability are improved. The RTK / GNSS position calculation module (111) calculates absolute coordinate information such as latitude, longitude, and altitude, as well as time information, and can output additional information such as the number of satellites, DOP (Dilution of Precision), and correction data reception status in addition to the RTK quality status. DOP refers to a positioning precision degradation coefficient according to the satellite deployment status and can be subdivided into PDOP (Position DOP), HDOP (Horizontal DOP), VDOP (Vertical DOP), etc. Generally, a good positioning environment can be determined when PDOP is 2.0 or lower and the number of visible satellites is 8 or more, and positioning quality may deteriorate when PDOP exceeds 6.0 or the number of visible satellites is less than 4.

[0034] The work data collection module (112) collects information such as the flow rate of the fertilizer spreader, the spraying ON / OFF status, the valve opening, the spraying width, the device status, error codes, and the work mode. The flow sensor measures the amount of fertilizer sprayed per unit time, and various methods such as electromagnetic flow meters, ultrasonic flow meters, differential pressure flow meters, and Coriolis flow meters can be applied. Electromagnetic flow meters measure the flow rate of conductive fluids using Faraday's law of electromagnetic induction, and have the advantage of excellent durability and low pressure loss as they have no moving parts. Ultrasonic flow meters measure the flow rate using the difference in propagation time of ultrasound or the Doppler effect, and have the advantage of being easy to install as they are non-contact. The valve opening sensor measures the degree of opening of the fertilizer spraying valve, and methods such as potentiometers, LVDTs, and rotary encoders can be applied. The spraying width refers to the left-right range over which fertilizer is sprayed. In the case of a disc sprayer, it can be adjusted according to the disc rotation speed and blade angle, and in the case of a boom sprayer, it is determined by the boom length and nozzle arrangement.

[0035] The operation event generation unit (110) generates an operation event by combining location information and RTK quality indicators collected from the RTK / GNSS position calculation module (111) with fertilizer spraying operation data collected from the operation data collection module (112). The operation event may be composed of a data structure containing information such as timestamp, latitude, longitude, altitude, RTK quality indicator, number of satellites, DOP, flow rate, spraying status, valve opening, and device status. The operation event generation cycle may be set based on time or distance, and, for example, operation events may be generated at intervals of 1 second or 1 meter. Although the resolution of the operation history increases as the operation event generation cycle is shorter, the data storage capacity and transmission load increase; therefore, it is desirable to set an appropriate cycle according to the operation environment and required precision.

[0036] Next, in the local storage step (S200), the terminal (local storage unit (120)) evaluates the LoRa link indicator to determine whether transmission is possible, and if it is determined that transmission is not possible, performs the step of assigning a sequence number to the above-mentioned operation event and storing it locally. Referring to FIG. 1, the local storage step (S200) includes the LoRa link indicator evaluation step (S200) and branching based on whether transmission is possible; if it is determined that transmission is possible, transmission (S210) is performed immediately, and if it is determined that transmission is not possible, local storage (S220) is performed.

[0037] LoRa stands for Long Range and refers to a low-power, long-distance wireless communication technology. It utilizes the unlicensed sub-gigahertz frequency band (920 to 923 MHz in Korea) to provide communication distances ranging from several kilometers to tens of kilometers. The LoRa modulation method is based on Chirp Spread Spectrum (CSS) technology, and the trade-off between communication distance and data transmission rate can be adjusted by controlling the Spreading Factor (SF). A higher Spreading Factor improves reception sensitivity and increases communication distance but decreases the data transmission rate, while a lower Spreading Factor increases the data transmission rate but decreases the communication distance. Due to its low-power characteristics, LoRa communication is suitable for battery-powered agricultural sensors and terminals, and offers the advantage of reducing gateway installation costs even in large agricultural environments such as plantations.

[0038] LoRa link metrics are indicators representing communication quality and include the Received Signal Strength Indicator (RSSI), Signal to Noise Ratio (SNR), Acknowledgement (ACK) reception, and transmission success rate. RSSI represents the received signal strength in decibel-milliwatts (dBm); generally, in LoRa communication, an RSSI of -120 dBm or higher can be considered a good reception condition. SNR represents the signal-to-noise ratio in decibels (dB); since LoRa's CSS modulation method has the characteristic of enabling communication even in negative SNR environments, communication is generally possible when the SNR is -7.5 dB or higher; however, for stable communication, an SNR of 7 dB or higher is desirable. The transmission success rate can be calculated as the ratio of ACKs received among a certain number of recent transmission attempts; for example, if ACKs are received 7 or more times out of the last 10 transmission attempts, it can be determined that the system is in a transmission-ready state.

[0039] The local storage unit (120) assigns a sequence number to a work event and stores it locally when it is determined that transmission is impossible. The sequence number is a serial number indicating the order of creation of work events, and is used to identify missing events and prevent duplicate transmission during incremental synchronization with the server. The sequence number can be implemented as a monotonically increasing integer within the terminal, and can be used in combination with a cyclic sequence number or a timestamp-based unique identifier to prevent overflow. The local storage unit (120) may include a non-volatile storage medium such as flash memory, EEPROM, or SD card, and is configured to maintain stored data even when the power is cut off. The storage capacity is determined by considering the work environment and offline work time; for example, if a work event of size 100 bytes is generated at 1-second intervals, approximately 2.88 MB of storage capacity is required based on 8 hours of work, so it is desirable to secure a storage capacity of at least 16 MB to allow for margin.

[0040] The above local storage step includes the step of the terminal generating a checkpoint hash for stored events at preset intervals, wherein the hashes of previous checkpoints and subsequent events are chained to form a hash chain, and further includes, prior to the above work data storage step, the step of the server verifying the received checkpoints and hash chain to check for omissions or tampering.

[0041] FIG. 5 is a conceptual diagram showing the hash chain structure of a local storage unit (120) according to an embodiment of the present invention. The hash chain is an integrity verification structure that can detect when an event is omitted or tampered with in the middle by calculating the hash value of each event in a chain with the hash value of the previous event.

[0042] A hash function is a one-way function that converts input data of arbitrary length into a fixed-length hash value, and cryptographic hash functions such as SHA-256, SHA-3, and BLAKE2 can be used. SHA-256 outputs a hash value of 256 bits (32 bytes) in length and is widely used for verifying data integrity due to its excellent collision resistance and preimage resistance. In a hash chain, the hash value H(n+1) of each event is calculated using the hash value H(n) of the previous event, the payload of the current event, timestamp, RTK coordinates, RTK quality metric, etc., as input. Due to this chain structure, if any intermediate event is tampered with, all hash values ​​following that event are changed; therefore, data integrity can be verified by the server verifying the hash chain.

[0043] A checkpoint is a snapshot of a hash chain generated at regular intervals, and the checkpoint hash contains the cumulative hash value for all events up to that point in time. The checkpoint generation cycle can be set based on the number of events or time, for example, a checkpoint can be generated every 10 events or every 30 seconds. A shorter checkpoint cycle allows for more granular integrity verification but increases storage capacity and transmission overhead, while a longer checkpoint cycle improves efficiency but increases the amount of data that must be retransmitted in the event of an integrity verification failure. The server (300) verifies the received checkpoint and hash chain to check for omissions or tampering, and in the event of a verification failure, may request retransmission of the corresponding segment or hold the data.

[0044] The local storage step includes classifying the above-mentioned operation events into high-priority events corresponding to safety, failure, or abnormal events and low-priority events corresponding to general spray logs, and storing them in priority queues, and the incremental synchronization step described later attempts to immediately upload the high-priority events through available communication paths regardless of whether LoRa transmission is possible, and allows the low-priority events to be uploaded in batches from the transmission window.

[0045] High-priority events include those requiring an urgent response, such as safety warnings for implements, equipment failure notifications, and abnormal operation detections. These events are immediately transmitted via all available communication paths, including cellular communication, short-range relay communication, and satellite communication, in addition to LoRa communication. Low-priority events are general fertilizer spreading operation logs; to improve communication efficiency, multiple events are grouped together in a transmission window and sent in batches. Queues are managed separately as high-priority and low-priority queues, and each queue can be operated in a First-In-First-Out (FIFO) manner.

[0046] After the local storage step, the method may further include a step of generating summary data by rolling up the stored work events in units of polyline paths or grid cell cumulative spraying amounts. In this case, the aforementioned incremental synchronization step may first upload the summary data to the server.

[0047] Roll-up is a process of aggregating multiple raw events to generate summary data, which is effective in reducing the amount of transmitted data and lowering GIS alignment costs. Polyline path-unit roll-up represents the movement path of a work machine as a continuous sequence of coordinates; for example, by dividing the path into 10-meter segments or 1-minute time intervals, the start point, end point, average spray volume, and total spray volume for each segment can be summarized. Grid cell-unit roll-up divides the work area into a grid of a fixed size and aggregates the cumulative spray volume for each grid cell; for example, a 5-meter x 5-meter grid cell can be defined to summarize the total spray volume, number of sprays, and average spray rate within that cell. Since the size of the rolled-up summary data is significantly reduced compared to the raw event data, transmission efficiency is improved, and the server can request additional raw event data as needed after receiving the summary data.

[0048] Next, as a transmission window entry and link recovery determination step (S300) and an incremental synchronization step (S400), when the terminal (i.e., the incremental synchronization unit (130)) enters a transmission window defined by a geofence or the LoRa link is recovered, the terminal queries the server for the last synchronization status and performs a step of uploading only the data after the last confirmed sequence confirmed by the server using an incremental synchronization method. FIG. 6 is a diagram showing the concept of a geofence-based transmission window according to an embodiment of the present invention, and FIG. 7 is a sequence diagram showing the incremental synchronization flow between the terminal and the server according to an embodiment of the present invention.

[0049] A geofence is a virtual boundary defining a geographical area and can be defined as a polygon, a circle, or a composite shape. In the present invention, a transmission window is defined as a geofence in a section with a high probability of successful communication, and roads, open areas, and sections near gateways can be set as transmission windows. Referring to FIG. 6, within the plantation area, a communication dead zone is formed in the tree zone due to signal attenuation caused by canopies and stems, while roads and open areas are sections with relatively good communication quality. Since the transmission window (G1) in the road section passes through the tree zone, a dead zone occurs intermittently and a transmission window is formed only in some sections where the dead zone is resolved, whereas the transmission window (G2) in the open area functions as a transmission window for the entire area because there are no trees and communication is normal. Work events generated while the worker is working in the dead zone are stored locally, and when the worker enters the transmission window (G1 or G2), the uploading of the stored data begins.

[0050] The incremental synchronization unit (130) determines the conditions for starting an upload by comprehensively determining whether the geofence has been entered, whether the LoRa link has been restored, whether the backlog threshold has been exceeded, and whether the schedule conditions have been satisfied. Whether the geofence has been entered is determined by whether the current RTK / GNSS coordinates are located inside the geofence defined as the transmission window, and can be calculated using a point-in-polygon algorithm. Whether the LoRa link has been restored is determined by whether link indicators such as RSSI, SNR, and ACK reception have improved above a preset threshold, for example, if the RSSI is -110dBm or higher and the SNR is 5dB or higher is maintained for three consecutive times, it can be determined as a link restoration. When the conditions for starting an upload are satisfied, the terminal (100) queries the server (300) for the last synchronization status, and the server (300) responds with the last confirmed sequence number or checkpoint identifier.

[0051] Incremental synchronization is a method of transmitting only the changed data after the last confirmed point, rather than the entire data, which has the effect of preventing duplicate transmission and improving transmission efficiency. Referring to FIG. 7, the incremental synchronization flow proceeds in the order of a synchronization status query, a response to the last confirmed sequence, transmission of data after the confirmed sequence, a request for acknowledgment of receipt or partial retransmission, retransmission of failed segments, and a response to the final confirmed sequence. The terminal (100) uploads only the data after the last confirmed sequence (N) responded to by the server (300), that is, events with a sequence number of N+1 or higher, and the server (300) verifies the integrity of the received data and responds with an ACK, or requests retransmission of the corresponding segment if verification fails.

[0052] In the incremental synchronization step, if an upload failure occurs to the server, the terminal may perform partial retransmission in segment units. A segment is a transmission unit that groups a plurality of consecutive events, and partial retransmission in segment units is more efficient than retransmitting the entire data. For example, 100 events from sequence number 101 to 200 are divided into 10 segments and transmitted, and if the transmission of segment 5 (sequences 141 to 150) fails, the terminal (100) retransmits only segment 5 and does not retransmit the remaining segments. The number of retransmission attempts may be limited, and if retransmission fails more than a preset number of times (e.g., 3 times), the corresponding segment may be marked as a failure and retry in the next transmission window or an alternative communication path may be used.

[0053] In the incremental synchronization phase, if the backlog of untransmitted data stored in the terminal exceeds a preset threshold, uploading can be initiated immediately upon the recovery of the LoRa link indicator even outside the geofence. The backlog refers to the amount of untransmitted data stored locally but not yet transmitted to the server, and can be measured by the number of events or storage capacity. The backlog threshold can be set, for example, to 100 events or 80% of the storage capacity; since the risk of data loss increases when the backlog exceeds the threshold, uploading is initiated immediately upon the recovery of the link indicator even outside the geofence. This adaptive upload policy has the effect of preventing data loss while minimizing power consumption and network congestion by uploading only within the transmission window during normal operation.

[0054] Next, as a work data storage step (S500), the server (300) separates and stores the record into a confirmed layer or a temporary layer based on the RTK quality indicator of the received work event, and performs a step of performing GIS alignment. FIG. 8 is a block diagram showing an RTK quality-based layer separation structure of a server (300) according to an embodiment of the present invention, and FIG. 9 is a conceptual diagram showing a GIS alignment and visualization structure according to an embodiment of the present invention.

[0055] In the task data storage step, the server (300) checks the RTK quality indicator of the received task event and separates the record into a confirmed layer (320) or a temporary layer (330) for storage. At this time, in performing the task data storage step, the server stores the record in which the RTK quality indicator is in the FIX state in the confirmed layer, and stores the record in which the RTK quality indicator is in the FLOAT or INVALID state in the temporary layer. The record stored in the temporary layer is subsequently converted to the confirmed layer according to the reception of quality improvement data or a preset correction rule. Since the record in the FIX state guarantees centimeter-level positional accuracy, it is immediately reflected as confirmed in the GIS, while the record in the FLOAT or INVALID state has low positional accuracy, so it is stored separately in the temporary layer and corrected later.

[0056] Correction methods for records stored in the temporary layer can be implemented in various ways. The first method is post-processing correction, which involves recalculating the position offline using reference station data after the task is completed. The second method is interpolation correction using adjacent FIX data, which estimates the position through linear or spline interpolation when records in the FIX state exist before or after records in the FLOAT or INVALID state. The third method is correction using Inertial Navigation System (INS) data, which estimates the position using acceleration and angular velocity data from IMU (Inertial Measurement Unit) sensors in sections where RTK quality is degraded. If the corrected record satisfies a preset accuracy criterion, it is converted from the temporary layer to the final layer; records that cannot be corrected may be retained in the temporary layer or deleted.

[0057] The GIS alignment module (310) integrates the received work events into a geographic information system to generate a spraying history map. Referring to FIG. 9, the GIS alignment process includes assigning a block ID, accumulating a polyline path, accumulating a grid cell spraying amount, and generating a history report. Assigning a block ID is a process of classifying work events by block or block unit of a plantation, determining which block the coordinates of the work event are located within and assigning an identifier for the corresponding block. Accumulating a polyline path is a process of representing the movement path of a work machine as a continuous linear object, and is stored along with attribute information such as the work date, worker, and work machine identifier. Accumulating a grid cell spraying amount is a process of dividing the work area into a grid and aggregating the spraying amount for each cell, which can visually distinguish and display areas where spraying is completed, areas where spraying is not done, areas where spraying is duplicated, etc.

[0058] The GIS alignment module (310) may include duplicate spraying and omission detection functions. Duplicate spraying detection detects cases where fertilizer exceeding a preset threshold (e.g., 150% of the standard spraying amount) is sprayed in the same grid cell and is used to prevent environmental pollution and waste of costs caused by overspraying. Omission detection detects grid cells where no spraying record exists within the work plan area and is used to establish a supplementary work plan for the unsprayed area after the work is completed. The history report generation function aggregates spraying history by work date, section, and worker and outputs it in the form of a report, and may include information such as fertilizer usage statistics, work time statistics, and work efficiency analysis.

[0059] Meanwhile, the method further includes the step of generating a radio wave map by accumulating transmission success and failure history by coordinates for the terminal or the server, and the step of the server updating the boundary of the geofence or the upload priority section based on the radio wave map. The radio wave map is a map that visualizes the LoRa communication quality at each coordinate within the plantation area, and can express information such as transmission success rate, average RSSI, and average SNR in the form of a heatmap. The terminal (100) records the current coordinate and transmission success status at each transmission attempt and transmits these records to the server (300) to update the radio wave map. The server (300) analyzes the accumulated radio wave map data to identify areas with good and poor communication quality, and based on this, adjusts the boundary of the geofence or updates the upload priority section. For example, an area that was not previously defined as a transmission window but is confirmed to have good actual communication quality may be added as a new transmission window, or a section within an existing transmission window with particularly excellent communication quality may be designated as an upload priority section to perform uploads preferentially in that section. Since radio wave maps can change depending on the season, weather, and tree growth conditions, it is advisable to continuously update them to reflect the latest communication environment.

[0060] FIG. 2 is a block diagram showing the configuration of a terminal (100) of a fertilizer spraying history management device according to one embodiment of the present invention, and FIG. 3 is a conceptual diagram showing the overall configuration of a fertilizer spraying history management system according to one embodiment of the present invention. As for all functions of the terminal (100), the parts of the description of the fertilizer spraying history management device using RTK quality-based incremental synchronization according to one embodiment of the present invention that overlap with the description of the fertilizer spraying history management method using RTK quality-based incremental synchronization according to one embodiment of the present invention will be omitted.

[0061] That is, the fertilizer spraying history management device using RTK quality-based incremental synchronization according to the present invention includes: a work event generation unit (110) that collects location information and RTK quality indicators from an RTK / GNSS position calculation module and collects fertilizer spraying work data from a work data collection module to generate a work event including the RTK quality indicators; a local storage unit (120) that evaluates LoRa link indicators to determine whether transmission is possible and, if transmission is not possible, assigns a sequence number to the work event and stores it; an incremental synchronization unit (130) that queries the server for the last synchronization status when entering a transmission window defined by a geofence or when the LoRa link is restored, and uploads only the data after the last confirmed sequence confirmed by the server using an incremental synchronization method; and a buffer management unit (140) that receives confirmed sequence information from the server and organizes local data within the corresponding range, wherein the server separates and stores the record into a confirmed layer or a temporary layer based on the RTK quality indicator of the received work event and performs GIS alignment.

[0062] Referring to FIG. 2, the terminal (100) is configured to include a work event generation unit (110), a local storage unit (120), an incremental synchronization unit (130), and a buffer management unit (140). The work event generation unit (110) includes an RTK / GNSS position calculation module (111) and a work data collection module (112), and generates a work event by combining location information, RTK quality indicators, and fertilizer spraying work data as described above. The local storage unit (120) includes a link evaluation unit (121), a sequence assignment unit (122), and a priority queue (123), evaluates LoRa link indicators to determine whether transmission is possible, and if transmission is not possible, assigns a sequence number to the work event and stores it in a priority queue. The incremental synchronization unit (130) includes a transmission window determination unit (131), a synchronization query unit (132), and a partial retransmission unit (133), and performs incremental synchronization with the server upon entry into the transmission window or link recovery. The buffer management unit (140) receives confirmed sequence information from the server and deletes or archives local data within the corresponding range to secure storage space.

[0063] Referring to FIG. 3, the fertilizer spraying history management system according to the present invention comprises a terminal (100) mounted on a working machine (10), a LoRa gateway (200), and a server (300). The working machine (10) refers to a machine that performs fertilizer spraying operations in a plantation, such as a fertilizer sprayer, a tractor, or an autonomous agricultural robot, and may be equipped with various types of spraying equipment, such as a disc sprayer, a boom sprayer, or a drop sprayer. The LoRa gateway (200) is a relay device that receives a LoRa wireless signal from the terminal (100) and transmits it to the server (300) via a wired or wireless network based on the Internet Protocol. The LoRa gateway (200) is installed at an appropriate location considering the communication coverage within the plantation, and multiple gateways may be deployed to expand coverage. The server (300) includes a GIS alignment module (310), a confirmed layer (320), and a temporary layer (330), and performs functions such as verifying the integrity of received work events, RTK quality-based layer separation, GIS alignment and visualization, and generating history reports. The server (300) can be implemented as an on-premises server, a cloud server, or a hybrid configuration, and may include software components such as a database management system, GIS software, and a web application server.

[0064] FIG. 4 is a block diagram showing the detailed configuration of a task event generation unit (110) according to an embodiment of the present invention. The RTK / GNSS position calculation module (111) of the task event generation unit (110) may include a GNSS antenna, a GNSS receiver, and an RTK processing module. The GNSS antenna receives satellite signals, and a survey-grade antenna, a multi-frequency antenna, a multi-constellation antenna, etc., may be used. The multi-frequency antenna can receive signals in multiple frequency bands such as L1, L2, L5, etc., to correct ionospheric delay errors, and the multi-constellation antenna can simultaneously receive signals from multiple satellite navigation systems such as GPS, GLONASS, Galileo, and BeiDou to increase the number of visible satellites. The GNSS receiver processes the signal received from the antenna to output pseudorange and carrier phase measurements, and the RTK processing module calculates a high-precision position using correction data received from a reference station and measurements from a mobile station. RTK correction data can be received over the Internet via the NTRIP (Networked Transport of RTCM via Internet Protocol) protocol, or received from a self-contained reference station via UHF radio or LoRa radio.

[0065] The work data collection module (112) may include a flow sensor, a valve opening sensor, a spraying status sensor, and a device status monitoring module. The flow sensor measures the amount of fertilizer sprayed per unit time; for liquid fertilizer, an electromagnetic flow meter or an ultrasonic flow meter may be used, and for solid fertilizer (granules, pellets, etc.), a load cell-based gravimetric flow meter or an optical particle count sensor may be used. The valve opening sensor measures the degree of opening of the spraying valve; for a proportional control valve, it outputs a continuous opening value in the range of 0 to 100%, and for an on / off valve, it outputs a discrete state value of open or closed. The spraying status sensor detects whether the fertilizer is actually being sprayed, and may use an optical sensor, an ultrasonic sensor, a pressure sensor, etc. The device status monitoring module measures the power voltage, motor current, temperature, vibration, etc. of the sprayer to detect equipment failure early. The operation event is generated by combining data collected from these sensors with location information and RTK quality indicators collected from the RTK / GNSS position calculation module (111), and can be encoded in a serialization format such as JSON, Protocol Buffers, MessagePack, etc.

[0066] Meanwhile, the buffer management unit (140) receives confirmed sequence information from the server (300) and performs the function of organizing local data within the corresponding range, and is a key component for efficiently managing the limited storage space of the terminal (100). The buffer management unit (140) may be configured to include a confirmed response processing module, a data organization module, a storage space monitoring module, and an archive management module.

[0067] The confirmation response processing module parses a confirmation response message received from the server (300) to extract the last confirmed sequence number or checkpoint identifier. The confirmation response message is transmitted by the server (300) to the terminal (100) after the completion of incremental synchronization, and includes the sequence number of the last event that the server (300) successfully received, passed integrity verification, and stored in the database. The confirmation response processing module stores the received confirmation sequence number in non-volatile memory so that the last confirmation point can be restored even when restarting after power cutoff. The storage of the confirmation sequence number must be performed as an atomic operation, and journaling or a double-write method may be applied to maintain data consistency even if power cutoff occurs during storage.

[0068] The data cleanup module frees up storage space by deleting or archiving local data with a confirmed sequence number or lower. Data cleanup methods can be classified into immediate deletion and deferred deletion. The immediate deletion method deletes data within the specified range immediately upon receiving a confirmation response; while this allows for rapid freeing of storage space, it may cause system load during the deletion process. The deferred deletion method marks confirmed data as targets for deletion and performs actual deletion in batches during idle time or when storage space is insufficient; while this minimizes system load during the operation, it may result in slightly reduced storage space utilization efficiency. Considering the characteristics of flash memory, the data cleanup module performs block-unit deletion and may include a garbage collection function that moves valid data to another block before performing block deletion if the data to be deleted does not occupy the entire block.

[0069] The storage space monitoring module monitors the current usage and remaining capacity of the local storage unit (120) in real time and detects a storage space shortage situation in advance to perform countermeasures. When the storage space monitoring module exceeds a preset warning threshold (e.g., 70%), it switches to a warning state, and when it exceeds a risk threshold (e.g., 90%), it activates an emergency upload mode to attempt to upload data through a communication path available even outside the geofence. When the storage space usage exceeds a maximum threshold (e.g., 95%), it may switch to a Circular Buffer mode, which performs sequential overwriting starting from the oldest unconfirmed data. In this case, the overwritten data is lost, so it is desirable to secure sufficient storage capacity and set an appropriate upload policy to prevent such a situation from occurring. The storage space monitoring module periodically logs the storage capacity status so that the operator can analyze storage capacity trends and determine the need for capacity expansion.

[0070] The archive management module performs the function of storing confirmed data in a separate archive area without immediately deleting it. The archive can be used for recovery in the event of a discrepancy between the data of the server (300) and local data, or for preventing duplicate transmission in the event that the confirmation response of the server (300) was actually transmitted but was not received by the terminal (100) due to a network failure. Storage space can be saved by applying a compression algorithm to the archive data, and compression algorithms such as LZ4, Zstandard, and DEFLATE may be used. LZ4 has a somewhat lower compression ratio but has the characteristic of very fast compression and decompression speeds, making it suitable for environments requiring real-time processing, while Zstandard has an excellent balance of compression ratio and speed, making it suitable for general use. Archive data is automatically deleted after a preset retention period (e.g., 7 days or 30 days) has elapsed, and the retention period can be adjusted according to the working environment and data recovery requirements.

[0071] The buffer management unit (140) may include a wear leveling function to extend the lifespan of the flash memory. Flash memory has a limit on the number of erase operations per block, and if writing and erasing are concentrated on a specific block, that block may wear out prematurely, which can shorten the lifespan of the entire storage medium. Wear leveling is a technique that distributes write and erase operations evenly across all blocks so that all blocks wear out at a similar rate, and is divided into static wear leveling and dynamic wear leveling. Dynamic wear leveling is a method of selecting the block with the fewest erase operations to perform writing when a write operation occurs, and static wear leveling is a method of equalizing the wear of all blocks by periodically rearranging static data that has not changed for a long time in addition to this. The buffer management unit (140) records and manages the number of erase operations of each block, and performs wear leveling when the deviation in the number of erase operations exceeds a preset threshold.

[0072] The buffer management unit (140) may include a data protection function to prepare for power cutoff. Since the working machine (10) is operated in a harsh environment such as vibration, shock, and power instability, unexpected power cutoff may occur. The buffer management unit (140) may apply journaling or copy-on-write techniques to minimize data damage even if power cutoff occurs during a write operation. Journaling is a method in which changes are first recorded in a separate journal area before the data is changed, and the journal is deleted after the actual data change is completed. When restarting after power cutoff, the journal is checked to roll back or complete any unfinished changes. Copy-on-Write is a method in which the changed data is recorded in a new location and the pointer is updated without directly modifying the existing data when data is changed. Since the existing data is preserved when the power is cut off, the risk of data damage is low. The buffer management unit (140) may include a function to monitor the power supply status and, if a voltage drop is detected, quickly complete the write operation currently in progress and switch the system to a safe state.

[0073] The storage medium of the buffer management unit (140) can be implemented as various non-volatile memories such as NOR flash memory, NAND flash memory, SD card, eMMC, and EEPROM. NOR flash memory allows byte-unit random access and has fast read speeds, but has a high price per capacity and slow write speeds, making it suitable for storing firmware or small-capacity configuration data. NAND flash memory has page-unit read / write and block-unit erase characteristics; it has a low price per capacity and fast write speeds, but requires bad block management and wear leveling, so it is managed through a file system or a Flash Translation Layer (FTL). SD cards are removable, making data backup and replacement easy, but there is a risk of contact failure or loss. eMMC has NAND flash and a controller packaged as a single unit, making it highly reliable and advantageous for miniaturization. EEPROM allows byte-unit writing and has a higher erase count limit than flash memory, but has a small capacity and high price, making it suitable for storing small-capacity important configuration data. The buffer management unit (140) can ensure data stability by using a NAND flash-based SD card or eMMC as the main storage medium for work event data and storing important metadata, such as fixed sequence numbers, in duplicate on an EEPROM or NOR flash.

[0074] The fertilizer application history management method and apparatus according to the present invention can be applied to various large-scale agricultural environments in addition to plantations. Plantations are a form of agriculture in which a single crop is cultivated on a large scale in tropical and subtropical regions, and crops such as palm oil, rubber, cocoa, coffee, sugarcane, and banana are grown. Plantations have a vast area ranging from tens of hectares to thousands of hectares and are characterized by frequent communication dead zones due to dense trees. The present invention solves the problem of communication dead zones in such plantation environments and enables accurate management of fertilizer application history. Furthermore, the present invention can be applied to other agricultural environments with similar communication environments, such as orchards, vineyards, and large-scale open-field vegetable farms, and can be extended to the history management of other agricultural operations, such as pesticide application, irrigation, and harvesting, in addition to fertilizer application.

[0075] In one embodiment of the present invention, communication between a terminal (100) and a server (300) may be based on the LoRaWAN protocol. LoRaWAN is a low-power wide-area network (LPWAN) protocol defined by the LoRa Alliance, which defines a Medium Access Control (MAC) layer and a network layer on top of the LoRa physical layer. LoRaWAN supports three operating modes: Class A, Class B, and Class C. Class A has the lowest power consumption but high downlink latency, while Class C has low downlink latency due to constant reception but high power consumption. The terminal (100) of the present invention operates in Class A mode during operation to minimize power consumption, and switches to Class C mode when uploading from the transmission window to quickly receive a response from the server (300). However, the present invention is not limited to LoRaWAN and may use other low-power wide-area networks or cellular networks such as Sigfox, NB-IoT, LTE-M, and 5G NR.

[0076] In another embodiment of the present invention, the terminal (100) may be mounted on an autonomous agricultural robot. The autonomous agricultural robot autonomously navigates within a plantation using sensors such as RTK-GNSS, LiDAR, cameras, and IMUs, and performs fertilizer spraying operations. The autonomous agricultural robot may move along a predefined work path or plan a path in real time and move, and autonomously performs operations such as obstacle avoidance, movement between rows, and headland rotation. The fertilizer spraying history management method according to the present invention can be utilized to accurately record and manage the work history of the autonomous agricultural robot, and in particular, can maintain the accuracy of GIS records by appropriately processing location data in densely treeed areas where RTK quality deteriorates. Since the autonomous agricultural robot is powered by a battery or fuel cell, power efficiency is important, and the incremental synchronization and transmission window-based upload method of the present invention can contribute to extending work time by minimizing power consumed for communication.

[0077] In another embodiment of the present invention, the server (300) may include a machine learning-based analysis function. The server (300) can train a machine learning model by combining accumulated fertilizer application history data, yield data, soil analysis data, weather data, etc., and derive an optimal fertilizer application plan. For example, it can predict the optimal application amount per plot by analyzing the correlation between past application history and yield, or recommend the application timing based on soil conditions and weather conditions. In addition, the server (300) can automatically detect abnormal application patterns, signs of equipment failure, data anomalies, etc., by applying an anomaly detection algorithm, and send notifications to the administrator. This analysis function can contribute to improving fertilizer usage efficiency, reducing environmental pollution, and lowering operating costs.

[0078] FIG. 10 illustrates an example of the internal configuration of a computing device according to an embodiment of the present invention. In the following description, descriptions of unnecessary embodiments that overlap with the descriptions of FIG. 1 to 4 described above will be omitted.

[0079] As illustrated in FIG. 10, the computing device (10000) may include at least one processor (11100), memory (11200), peripheral interface (11300), input / output subsystem (I / O subsystem) (11400), power circuit (11500), and communication circuit (11600). In this case, the computing device (10000) may correspond to a user terminal (A) connected to a haptic interface device or the aforementioned computing device (B).

[0080] The memory (11200) may include, for example, high-speed random access memory, a magnetic disk, SRAM, DRAM, ROM, flash memory, or non-volatile memory. The memory (11200) may include software modules, instruction sets, or various other data required for the operation of the computing device (10000).

[0081] At this time, access to memory (11200) from other components, such as the processor (11100) or peripheral device interface (11300), can be controlled by the processor (11100).

[0082] The peripheral device interface (11300) can connect input and / or output peripheral devices of the computing device (10000) to the processor (11100) and memory (11200). The processor (11100) can perform various functions for the computing device (10000) and process data by executing software modules or instruction sets stored in the memory (11200).

[0083] The input / output subsystem (11400) can connect various input / output peripherals to the peripheral interface (11300). For example, the input / output subsystem (11400) may include a controller for connecting peripherals such as a monitor, keyboard, mouse, printer, or, if necessary, a touchscreen or sensor to the peripheral interface (11300). According to another aspect, input / output peripherals may be connected to the peripheral interface (11300) without passing through the input / output subsystem (11400).

[0084] The power circuit (11500) can supply power to all or part of the components of the terminal. For example, the power circuit (11500) may include one or more power sources such as a power management system, a battery or alternating current (AC), a charging system, a power failure detection circuit, a power converter or inverter, a power status indicator, or any other components for power generation, management, and distribution.

[0085] The communication circuit (11600) can enable communication with another computing device using at least one external port.

[0086] Alternatively, as described above, the communication circuit (11600) may enable communication with other computing devices by including an RF circuit and transmitting and receiving an RF signal, also known as an electromagnetic signal.

[0087] The embodiment of FIG. 10 is merely an example of a computing device (10000), and the computing device (11000) may have some components shown in FIG. 10 omitted, additional components not shown in FIG. 10 added, or a configuration or arrangement that combines two or more components. For example, a computing device for a communication terminal in a mobile environment may include, in addition to the components shown in FIG. 10, a touchscreen or sensor, etc., and the communication circuit (1160) may include a circuit for RF communication of various communication methods (WiFi, 3G, LTE, Bluetooth, NFC, Zigbee, etc.). The components that can be included in the computing device (10000) may be implemented as hardware, software, or a combination of both hardware and software, including one or more integrated circuits specialized for signal processing or applications.

[0088] Methods according to embodiments of the present invention may be implemented in the form of program instructions that can be executed through various computing devices and recorded on a computer-readable medium. In particular, the program according to the present embodiment may be configured as a PC-based program or an application dedicated to a mobile terminal. An application to which the present invention is applied may be installed on a user terminal through a file provided by a file distribution system. For example, the file distribution system may include a file transmission unit (not shown) that transmits the file upon a request from the user terminal.

[0089] The device described above may be implemented as a hardware component, a software component, and / or a combination of a hardware component and a software component. For example, the device and components described in the embodiments may be implemented using one or more general-purpose or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing unit may execute an operating system (OS) and one or more software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit may be described as being used as a single unit, but those skilled in the art will understand that the processing unit may include a plurality of processing elements and / or a plurality of types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are also possible.

[0090] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or command the processing unit independently or collectively. Software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium, or device so as to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed across networked computing devices and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

[0091] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either alone or in combination. The program instructions recorded on the medium may be those specifically designed and configured for the embodiment, or they may be those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

[0092] Although the embodiments have been described above with reference to limited embodiments and drawings, those skilled in the art can make various modifications and variations from the description above. For example, appropriate results may be achieved even if the described techniques are performed in a different order than described, and / or if 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. Therefore, other implementations, other embodiments, and equivalents to the claims below also fall within the scope of the claims.

Claims

Claim 1 A method for managing fertilizer spraying history using RTK quality-based incremental synchronization, performed in a system comprising a terminal and a server, each comprising one or more processors and one or more memories for storing commands that can be executed by said processors, wherein the terminal collects location information and RTK quality indicators from an RTK / GNSS position calculation module and collects fertilizer spraying work data from a work data collection module to generate a work event including said RTK quality indicators; a local storage step wherein the terminal evaluates a LoRa link indicator to determine whether transmission is possible, and if transmission is determined impossible, assigns a sequence number to said work event and stores it locally; an incremental synchronization step wherein, when the terminal enters a transmission window defined by a geofence or the LoRa link is restored, the terminal queries the server for the last synchronization status and uploads only the data after the last confirmed sequence verified by the server using an incremental synchronization method; and a work data storage step wherein the server separates and stores records into a confirmed layer or a temporary layer based on the RTK quality indicator of the received work event and performs GIS alignment. Claim 2 A method for managing fertilizer spraying history using RTK quality-based incremental synchronization, wherein, in claim 1, the local storage step comprises the step of the terminal generating a checkpoint hash for stored events at preset intervals, and forming a hash chain by chaining the hashes of previous checkpoints and subsequent events; and further comprising, prior to the work data storage step, the step of the server verifying the received checkpoint and hash chain to check for omission or tampering. Claim 3 A method for managing fertilizer spraying history using RTK quality-based incremental synchronization, wherein, in claim 1, the local storage step comprises classifying the operation event into high-priority events corresponding to safety, failure, or abnormal events and low-priority events corresponding to general spraying logs and storing them in a priority queue; and the incremental synchronization step is characterized by attempting to immediately upload the high-priority events through an available communication path regardless of whether LoRa transmission is possible, and uploading the low-priority events in batches from the transmission window. Claim 4 A method for managing fertilizer application history using RTK quality-based incremental synchronization, wherein, in claim 1, after the local storage step, the terminal further comprises the step of generating summary data by rolling up stored work events in polyline path units or grid cell cumulative application amount units, and the incremental synchronization step is characterized by uploading the summary data to the server first. Claim 5 A method for managing fertilizer application history using RTK quality-based incremental synchronization, characterized in that, in claim 1, the terminal or the server accumulates transmission success and failure history by coordinate to generate a radio wave map; and the server updates the boundary of the geofence or the upload priority section based on the radio wave map. Claim 6 A method for managing fertilizer application history using RTK quality-based incremental synchronization, wherein, in claim 1, the incremental synchronization step is characterized in that, if an upload failure to the server occurs, the terminal performs partial retransmission in segment units. Claim 7 A method for managing fertilizer application history using RTK quality-based incremental synchronization, wherein, in claim 1, the work data storage step comprises the server storing a record in which the RTK quality indicator is in the FIX state in the confirmed layer and storing a record in which the RTK quality indicator is in the FLOAT or INVALID state in the temporary layer, and the record stored in the temporary layer is subsequently transferred to the confirmed layer according to the reception of quality improvement data or a preset correction rule. Claim 8 A method for managing fertilizer application history using RTK quality-based incremental synchronization, wherein, in claim 1, the incremental synchronization step is characterized by immediately initiating uploading when the LoRa link indicator is recovered even outside the geofence when the backlog of untransmitted data stored in the terminal exceeds a preset threshold. Claim 9 The present invention relates to a fertilizer spraying history management device using RTK quality-based incremental synchronization, comprising a terminal and a server, each including one or more processors and one or more memories for storing commands executable by said processors, wherein the device comprises: a work event generation unit that collects location information and RTK quality indicators from an RTK / GNSS position calculation module and collects fertilizer spraying work data from a work data collection module to generate a work event including said RTK quality indicators; a local storage unit that evaluates LoRa link indicators to determine whether transmission is possible and, if transmission is determined impossible, assigns a sequence number to the work event and stores it; an incremental synchronization unit that queries the server for the last synchronization status when entering a transmission window defined by a geofence or when the LoRa link is restored, and uploads only the data after the last confirmed sequence verified by the server using an incremental synchronization method; and a buffer management unit that receives confirmed sequence information from the server and organizes local data within the corresponding range. A fertilizer spraying history management device using RTK quality-based incremental synchronization, comprising, wherein the server separates and stores records into a confirmed layer or a temporary layer based on the RTK quality indicator of a received operation event and performs GIS alignment. Claim 10 A computer-readable recording medium having a program for executing the method of any one of paragraphs 1 through 8 on a computer.

Images