Method for processing device-initiated synchronization of work vehicle based on cloud computing system and edge device implementing the same

Abstract

One embodiment of the present invention discloses a work vehicle-led synchronization processing method based on a cloud computing system and an edge device implementing the same.

Description

Technology Field

[0001] The present invention relates to a work vehicle-led synchronization processing method based on a cloud computing system and an edge device implementing the same. More specifically, it relates to a technology that determines whether a discard condition for a control command received from a cloud server is met, discards the control command when the discard condition is met, and transmits the latest operation history of the work vehicle to the cloud server to perform synchronization. Background Technology

[0002] Automation and remote control technologies are being actively applied in the field of modern agriculture. In particular, a method of creating a digital twin of agricultural machinery on a cloud server and allowing users to transmit control commands remotely is being widely utilized. Such digital twin-based systems offer the advantages of providing users with an intuitive interface and enabling the efficient management of multiple work vehicles.

[0003] However, communication environments in rural areas are often more unstable compared to urban areas. Communication dead zones are scattered, and problems arise where the connection between cloud servers and work vehicles is frequently interrupted due to weather conditions or topographical characteristics. This can lead to discrepancies between the virtual state stored on the cloud server and the physical state of the actual work vehicle.

[0004] Conventional systems adopt a bidirectional synchronization method with a cloud server acting as the master. In this scenario, a problem may arise where past control commands stored on the cloud server forcibly overwrite the current state of the work vehicle upon the restoration of communication. For instance, even if an operator manually adjusted the height of a work implement on-site during a communication outage, the previously transmitted control commands may arrive belatedly after communication is restored, causing the implement to operate unintentionally. This phenomenon is known as "Ghost Actuation" and carries critical risks that can lead to safety accidents, such as the work implement suddenly descending while driving on the road. Prior art literature

[0005] Korean Patent Publication No. 10-2527799 (Registered on April 26, 2023) The problem to be solved

[0006] The technical problem that the present invention aims to solve is to provide a work vehicle-led synchronization processing method based on a cloud computing system and an edge device that implements the same. means of solving the problem

[0007] A method according to an embodiment of the present invention for solving the above technical problem may include a cloud computing system-based work vehicle-led synchronization processing method comprising: receiving a control command for a work vehicle from a cloud server; analyzing the received control command to determine whether a discard condition has been established; and, if it is determined that the discard condition has been established, discarding the control command and transmitting the latest operation history of the work vehicle to the cloud server for synchronization.

[0008] In the above method, the control command may be generated through user input regarding the digital twin of the work vehicle at a user terminal connected to the cloud server.

[0009] In the above method, the step of determining whether the disposal condition is established can determine whether the disposal condition is established by whether the validity period set in the control command has expired.

[0010] In the above method, the step of determining whether the disposal condition is established can determine whether the disposal condition is established based on the result of comparing the command version set in the control command with the version recorded in the local shadow of the work vehicle.

[0011] In the above method, the step of determining whether the disposal condition is established may determine whether the disposal condition is established only if at least one of communication delay and communication disconnection with the cloud server occurs before analyzing the control command.

[0012] In the above method, the method may further include the step of controlling the work vehicle based on the control command if the disposal condition is not met.

[0013] In the above method, the work vehicle may be one of an autonomous tractor, an autonomous rice transplanter, an autonomous planter, an autonomous combine, or an autonomous boom sprayer.

[0014] One embodiment of the present invention may provide a computer-readable recording medium storing a program for executing the above method.

[0015] An apparatus according to another embodiment of the present invention for solving the above technical problem comprises: a memory in which at least one program is stored; and a processor that performs operations by executing the at least one program, wherein the processor may be an edge device that receives a control command for a work vehicle from a cloud server, analyzes the received control command to determine whether a disposal condition is established, and if it is determined that the disposal condition is established, discards the control command and transmits the latest operation history of the work vehicle to the cloud server for synchronization.

[0016] In the above device, the control command may be generated through user input regarding the digital twin of the work vehicle at a user terminal connected to the cloud server.

[0017] In the above device, the processor can determine whether the disposal condition is established based on whether the validity period set in the control command has expired.

[0018] In the above device, the processor can determine whether the disposal condition is met based on the result of comparing the command version set in the control command with the version recorded in the local shadow of the work vehicle.

[0019] In the above device, the processor may determine whether the discard condition is established only when at least one of communication delay and communication disconnection with the cloud server occurs before analyzing the control command.

[0020] In the above device, the processor can control the work vehicle based on the control command if the disposal condition is not met.

[0021] In the above device, the work vehicle may be one of an autonomous tractor, an autonomous rice transplanter, an autonomous planter, an autonomous combine, or an autonomous boom sprayer. Effects of the invention

[0022] According to the present invention, the problem of ghost actuation, in which past control commands received from a cloud server overwrite the current state of a work vehicle in the event of communication delay or disconnection, can be fundamentally prevented.

[0023] In addition, according to the present invention, by defining the work vehicle as the Source of Truth, the discrepancy between the virtual state of the cloud server and the physical state of the actual work vehicle can be quickly resolved.

[0024] Furthermore, according to the present invention, by discarding control commands that have expired or are of a lower version, the safety of the work vehicle can be improved, and major accidents caused by unintended operation of the work machine while driving on the road can be prevented.

[0025] In addition, according to the present invention, stable remote control of agricultural machinery is possible even in rural environments with many communication blind spots, and it can be universally applied to various autonomous agricultural machinery. Brief explanation of the drawing

[0026] FIG. 1 is a conceptual diagram showing the overall configuration of a cloud computing system according to one embodiment of the present invention. FIG. 2 is a conceptual diagram showing the connection relationship between a plurality of work vehicles, a user terminal, and a cloud server in a cloud computing system according to an embodiment of the present invention. FIG. 3 is a block diagram showing the configuration of an edge device according to one embodiment of the present invention. FIG. 4 is a block diagram showing the detailed configuration of a processor of an edge device according to one embodiment of the present invention. FIG. 5 is a flowchart illustrating a work vehicle-led synchronization processing method according to one embodiment of the present invention. FIG. 6 is a flowchart illustrating a work vehicle-led synchronization processing method according to another embodiment of the present invention. Specific details for implementing the invention

[0027] The present invention is capable of various modifications and may have various embodiments; specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects 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 drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various forms.

[0028] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same reference numerals, and redundant descriptions thereof will be omitted.

[0029] In the following embodiments, terms such as first, second, etc. are used not in a limiting sense, but for the purpose of distinguishing one component from another component.

[0030] In the following embodiments, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0031] In the following embodiments, terms such as "include" or "have" mean that the features or components described in the specification are present, and do not preclude the possibility that one or more other features or components may be added.

[0032] Where an embodiment can be implemented differently, a specific process sequence may be performed differently from the order described. For example, two processes described consecutively may be performed substantially simultaneously or proceed in the reverse order of the description.

[0033] FIG. 1 is a conceptual diagram showing the overall configuration of a cloud computing system according to one embodiment of the present invention.

[0034] Referring to FIG. 1, a cloud computing system according to one embodiment of the present invention may include a user terminal (100), a cloud server (130), a plurality of work vehicles (140, 150, 160, 170), and an edge device (200).

[0035] The user terminal (100) can receive user input through a digital twin interface. For example, the user terminal (100) may be a dedicated tablet or a smartphone. The user terminal (100) can process the specification data and driving data of the work vehicle into matching data and transmit it to the cloud server (130). The user can input remote control commands for multiple work vehicles (140, 150, 160, 170) through the user terminal (100).

[0036] The cloud server (130) can store and manage matching data on a per-user account basis. Additionally, the cloud server (130) can perform high-computation processing such as path calculation and work log generation. The cloud server (130) can generate control commands through user input regarding the digital twin of the work vehicle from the user terminal (100). The generated control commands can be transmitted to the work vehicles (140, 150, 160, 170) via the edge device (200).

[0037] A plurality of work vehicles (140, 150, 160, 170) may include an autonomous tractor (140), an autonomous rice transplanter (150), an autonomous combine harvester (160), an autonomous boom sprayer (170), etc. Each work vehicle (140, 150, 160, 170) may be equipped with an autonomous driving terminal (140T, 150T, 160T, 170T). The autonomous driving terminal (140T, 150T, 160T, 170T) can perform autonomous driving control and sensor interface functions.

[0038] Although not illustrated in FIG. 1, the edge device (200) according to the present invention may be a core relay device located between a work vehicle (140, 150, 160, 170) and a cloud server (130). The edge device (200) can execute the work vehicle-led synchronization processing logic of the present invention. The edge device (200) receives a control command from the cloud server (130), determines whether a discard condition is met, and decides to execute or discard the control command.

[0039] FIG. 2 is a conceptual diagram showing the connection relationship between a plurality of work vehicles, a user terminal, and a cloud server in a cloud computing system according to an embodiment of the present invention.

[0040] delete

[0041] Below, the explanation will be made with reference to Fig. 1.

[0042] The edge unit (20) can implement the method according to the present invention while communicating with the cloud server (130). The edge unit (20) may include an autonomous tractor (140) and an edge device (200). As shown in FIG. 2, the edge device (200) is installed adjacent to a work vehicle such as an autonomous tractor (140). In the present invention, since the image generated from the camera of the work vehicle is transmitted to the edge device (200) via an AHD transmission method, the edge device (200) may be installed by being attached to or mounted on the work vehicle, or placed in an adjacent area, taking into account the realistic length of the existing coaxial cable.

[0043] Referring to FIG. 2, a plurality of sensors may be attached to the autonomous tractor (140). The plurality of sensors may include a GNSS module, a camera, an impact detection sensor, a LiDAR, and an IMU. The GNSS module generates high-precision position information, the camera generates image data, and the impact detection sensor can detect an impact applied to the autonomous tractor (140) and generate an impact amount and a rollover risk signal. Additionally, the LiDAR generates results of generating 3D spatial recognition data, and the IMU can generate attitude, acceleration, and angular velocity information of the autonomous tractor (140). Although only an autonomous tractor (140) is shown in FIG. 2 for convenience of explanation, it will be obvious to a person skilled in the art that the edge device (200) according to the present invention, as shown in FIG. 1, is compatible not only with the autonomous tractor (140) but also with work vehicles such as an autonomous rice transplanter (150), an autonomous planter (not shown), an autonomous combine (160), and an autonomous boom sprayer (170).

[0044] Sensing values ​​generated from multiple sensors can be transmitted to an edge device (200) through different channels depending on the type of sensor. Here, the different channels may include a CAN communication-based channel, an RS232-based channel, and a channel for transmitting AHD video. For example, in-vehicle sensors such as an impact detection sensor, an IMU, and a LiDAR can transmit sensing values ​​through a CAN communication-based channel, a GNSS module can transmit sensing values ​​through an RS232-based channel, and a camera can transmit video data through a channel for transmitting AHD video.

[0045] In this way, the edge device (200) according to the present invention provides a transmission path optimized for the data characteristics of each sensor attached / installed on the work vehicle, thereby enabling efficient data transmission suitable for the characteristics of each sensor, such as bandwidth, real-time performance, and data size.

[0046] Meanwhile, due to the characteristics of the rural environment, communication between the cloud server (130) and the edge device (200) may be unstable. Communication delays or disconnections may occur due to communication blind spots, weather conditions, topographical characteristics, etc. In this case, a state mismatch may occur between the cloud shadow stored in the cloud server (130) and the local shadow of the work vehicle.

[0047] The present invention defines the work vehicle as the Source of Truth in such state discrepancies. That is, unlike the existing Cloud Master method, the work vehicle switches to the master role in the event of communication quality degradation or disconnection to resolve data conflicts.

[0048] FIG. 3 is a block diagram showing the configuration of an edge device according to one embodiment of the present invention.

[0049] Referring to FIG. 3, the edge device (200) may include a communication unit (210), a processor (230), and a memory (250).

[0050] The communication unit (210) can implement various wired and wireless communications. For example, the communication unit (210) can support communication methods such as WiFi, Bluetooth, LAN, LTE, 5G, and satellite communication. The communication unit (210) can communicate with the work vehicle (140, 150, 160, 170) and the cloud server (130) through a dedicated channel.

[0051] The memory (250) can store at least one program. Additionally, the memory (250) can temporarily store sensing values ​​and local shadow documents. The local shadow documents may include current status information and version information of the work vehicle.

[0052] The processor (230) can perform operations by executing at least one program stored in memory (250). The processor (230) can perform core operations such as receiving, classifying, transmitting, and deleting sensing values. Additionally, the processor (230) can execute logic to analyze control commands and determine whether disposal conditions are met.

[0053] FIG. 4 is a block diagram showing the detailed configuration of a processor of an edge device according to one embodiment of the present invention.

[0054] Referring to FIG. 4, the processor (230) may include a first processing unit (231), a second processing unit (233), and a third processing unit (235).

[0055] The first processing unit (231) can receive a control command for a work vehicle from the cloud server (130). The control command (desired state) generated by the cloud server (130) may be generated through user input regarding the digital twin of the work vehicle from a user terminal (100) connected to the cloud server (130). The control command includes a 'command generation time' and a 'Time-to-Live (TTL)'.

[0056] The second processing unit (233) can analyze the received control command to determine whether the discard condition has been established. As an example, the discard condition can be determined by whether the validity period set in the control command has expired. The edge device (200) combines the command creation time and validity period included in the control command, and if a control command is received that has expired from the time of creation due to communication delay or recovery after communication disconnection, it considers the discard condition to have been established, immediately discards the control command, and returns only a log indicating that the command has expired (expired) to the cloud server (130).

[0057] In addition, as another example, the disposal condition can be determined based on the result of comparing the command version set in the control command with the version recorded in the local shadow of the work vehicle. If the command version of the control command is lower than the version recorded in the local shadow, the second processing unit (233) can determine that the disposal condition has been established.

[0058] The second processing unit (233) may determine whether a discard condition is established only when at least one of communication delay and communication disconnection with the cloud server (130) occurs before analyzing the control command. To this end, the second processing unit (233) may determine the communication quality status in advance. Network performance indicators such as latency, packet loss rate, jitter, and wireless signal strength may be used to determine the communication quality status of the second processing unit (233).

[0059] The third processing unit (235) may discard the control command if it determines that the discard condition has been met. Additionally, after discarding the control command, the third processing unit (235) may transmit the latest operation history of the work vehicle to the cloud server (130) for synchronization. This allows the contents of the local shadow to be reflected in the cloud shadow. At this time, since the latest operation history transmitted is information that is forcibly transmitted (pushed), the cloud server (130) cannot refuse to be updated by the information. Meanwhile, if the discard condition has not been met, the third processing unit (235) may control the work vehicle based on the control command. After control, it may update the local shadow document according to the change in the physical state of the work vehicle and transmit the updated local shadow document to the cloud server (130).

[0060] The process processed by the first processing unit (231) to the third processing unit (235) can be configured as an exemplary scenario as follows. When a user launches an app installed on a smartphone at 10:00 AM and inputs a command to move to area A and spread fertilizer for the autonomous tractor owned by the user, the cloud server (130) can generate a control command with a command ID of 101, a command creation time of 10:00 AM, a validity period of 5 minutes, and version 3. At this time, if the control command generated by the cloud server (130) does not reach the autonomous tractor due to poor communication conditions in the mountainous area, the user can board the autonomous tractor directly and move to area B manually to perform the fertilizer spreading operation. In this case, the edge device (200) can update the details of the work performed by the user in the local shadow. The updated content may include the work location (area B), work status (work completed), and shadow version (5). Afterwards, when the communication status improves (recovers) at 10:30 and a control command generated by the cloud server (130) reaches the autonomous tractor, the edge device (200) of the autonomous tractor can discard the control command that has expired and maintain the current state.

[0061] Additionally, the edge device (200) may discard the control command by considering it a control command based on past knowledge, as the version currently recorded in the local shadow is '5' rather than the validity period, and the command version included in the control command is '3'. In this process, the autonomous tractor corresponding to the work vehicle and the edge device (200) take the lead in updating the cloud shadow of the cloud server (130) to the current state of "Area B, work completed," thereby quickly resolving the state discrepancy between the edge unit (20) of the work vehicle and the cloud server (130). As described above, the present invention can be differentiated from existing technologies in that, when a predetermined discard condition is established, the work vehicle (actually, the edge device installed on the work vehicle or corresponding to the work vehicle) takes the lead in performing synchronization of the information stored in the cloud server (130).

[0062] As an optional embodiment, the edge device (200) according to the present invention may operate in a process of immediately transmitting the latest operation history recorded in the local shadow to the cloud server (130) when either communication delay or communication disconnection occurs and the communication status improves, regardless of whether it receives a control command from the cloud server (130). According to this optional embodiment, even if a control command is not generated from the cloud server (130) for a long time, data synchronization between the work vehicle and the cloud server (130) can be achieved under the condition that a communication failure has occurred, so that data synchronization is achieved whenever a communication failure occurs, thereby minimizing the period during which the state inconsistency is maintained.

[0063] FIG. 5 is a flowchart illustrating a work vehicle-led synchronization processing method according to one embodiment of the present invention.

[0064] Referring to FIG. 5, a work vehicle-led synchronization processing method according to one embodiment of the present invention may include a control command reception step (S510), a discard condition determination step (S520), a control command discard step (S530), and a latest operation history transmission step (S540).

[0065] In the control command reception step (S510), the edge device (200) can receive a control command for the work vehicle from the cloud server (130).

[0066] In the disposal condition determination step (S520), the edge device (200) can analyze the received control command to determine whether the disposal condition has been established. For example, the edge device (200) can check whether the validity period set in the control command has expired as of the current time. If the validity period has expired, it can be determined that the disposal condition has been established.

[0067] In the control command discarding step (S530), if it is determined that the discarding condition is met, the edge device (200) can discard the control command. This prevents past control commands with expired validity periods from overwriting the current state of the work vehicle.

[0068] In the latest operation history transmission step (S540), the edge device (200) can transmit the latest operation history of the work vehicle to the cloud server (130) for synchronization. Through this, the cloud shadow of the cloud server (130) can be updated to reflect the actual state of the work vehicle.

[0069] FIG. 6 is a flowchart illustrating a work vehicle-led synchronization processing method according to another embodiment of the present invention.

[0070] Referring to FIG. 6, a work vehicle-led synchronization processing method according to another embodiment of the present invention may include a control command reception step (S610), a step of determining whether the validity period has expired (S620), a version comparison step (S630), and a control step (S640).

[0071] In the control command reception step (S610), the edge device (200) can receive a control command for the work vehicle from the cloud server (130).

[0072] In the step of determining whether the validity period has expired (S620), the edge device (200) can check whether the validity period set in the control command has expired. If the validity period has expired, the control command can be discarded and the latest operation history can be transmitted to the cloud server (130).

[0073] In the version comparison step (S630), if the validity period has not expired, the edge device (200) can compare the command version set in the control command with the version recorded in the local shadow of the work vehicle. If the command version is lower than the version in the local shadow, it is determined that the disposal condition has been met and the control command can be disposed of.

[0074] In the control step (S640), if the disposal condition is not met, the edge device (200) can control the work vehicle based on the control command. After control, the local shadow document can be updated and transmitted to the cloud server (130) to perform synchronization.

[0075] As shown in Fig. 6, since the invalidation condition of a control command can be determined in multiple ways, cases where "ghost commands" arrive late due to communication delays, as in the past, are executed can be fundamentally prevented, thereby dramatically improving the safety of autonomous work vehicles.

[0076] Various embodiments according to one embodiment of the present invention are described below.

[0077] In one embodiment, the edge device (200) can implement a cloud computing system-based work vehicle-led synchronization processing method, comprising the steps of receiving a control command for a work vehicle from a cloud server (130), analyzing the received control command to determine whether a discard condition has been established, and, if it is determined that a discard condition has been established, discarding the control command and transmitting the latest operation history of the work vehicle to the cloud server (130) for synchronization.

[0078] In one embodiment, the control command may be a command generated through user input regarding the digital twin of the work vehicle at a user terminal (100) connected to a cloud server (130).

[0079] In one embodiment, the edge device (200) may determine whether the disposal condition is established by determining whether the validity period set in the control command has expired during the process of performing the step of determining whether the disposal condition is established.

[0080] In one embodiment, the edge device (200) performs a step of determining whether a disposal condition is established, and can determine whether a disposal condition is established based on the result of comparing the command version set in the control command with the version recorded in the local shadow of the work vehicle.

[0081] In one embodiment, the edge device (200) performs a step of determining whether a disposal condition is established, and determines whether the disposal condition is established only if at least one of communication delay and communication disconnection with the cloud server (130) occurs before analyzing the control command.

[0082] In one embodiment, the edge device (200) can control the work vehicle based on a control command if the disposal condition is not met.

[0083] In one embodiment, the work vehicle may be one of an autonomous tractor, an autonomous rice transplanter, an autonomous planter, an autonomous combine, or an autonomous boom sprayer.

[0084] As an optional embodiment of the present invention, when the work vehicle is operating in a local master mode that is operated by user input to an input device provided inside the cabin of the work vehicle, the edge device (200) may discard a control command received from the cloud server (130) without determining whether the discard condition is met. However, even in this optional embodiment, in the case of a top-level safety command such as "emergency stop," it may be applied to the work vehicle separately from operating in the local master mode.

[0085] According to the present invention, the problem of ghost actuation, in which past control commands received from a cloud server overwrite the current state of a work vehicle in the event of communication delay or disconnection, can be fundamentally prevented.

[0086] In addition, according to the present invention, by defining the work vehicle as the Source of Truth, the discrepancy between the virtual state of the cloud server and the physical state of the actual work vehicle can be quickly resolved.

[0087] Furthermore, according to the present invention, by discarding control commands that have expired or are of a lower version, the safety of the work vehicle can be improved, and major accidents caused by unintended operation of the work machine while driving on the road can be prevented.

[0088] In addition, according to the present invention, stable remote control of agricultural machinery is possible even in rural environments with many communication blind spots, and it can be universally applied to various autonomous agricultural machinery.

[0089] The embodiments according to the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded on a computer-readable medium. In this case, the medium may include a magnetic medium such as a hard disk, a floppy disk, and a magnetic tape, an optical recording medium such as a CD-ROM and a DVD, a magneto-optical medium such as a floptical disk, and a hardware device specifically configured to store and execute program instructions, such as a ROM, RAM, or flash memory.

[0090] Meanwhile, the above-mentioned computer program may be one specifically designed and configured for the present invention, or one known and available to those skilled in the art of computer software. Examples of computer programs may 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.

[0091] The specific embodiments described in this invention are examples and do not limit the scope of the invention in any way. For the sake of brevity of the specification, descriptions of prior electronic configurations, control systems, software, and other functional aspects of said systems may be omitted. Additionally, the connections of lines or connecting members between components shown in the drawings are illustrative of functional connections and / or physical or circuit connections, and may be replaced or additionally represented as various functional connections, physical connections, or circuit connections in actual devices. Furthermore, unless specifically stated as “essential,” “importantly,” etc., a component may not be strictly necessary for the application of the invention.

[0092] In the specification of the present invention (particularly in the claims), the use of the term “above” and similar descriptive terms may be in both singular and plural. Furthermore, where a range is described in the present invention, it is to include the invention to which individual values ​​belonging to said range are applied (unless otherwise stated), and is equivalent to describing each individual value constituting said range in the detailed description of the invention. Finally, regarding the steps constituting the method according to the present invention, unless explicitly stated in order or otherwise stated, said steps may be performed in a suitable order. The present invention is not necessarily limited by the order in which said steps are described. The use of all examples or exemplary terms (e.g., etc.) in the present invention is merely for the purpose of describing the present invention in detail, and the scope of the present invention is not limited by said examples or exemplary terms unless limited by the claims. Furthermore, those skilled in the art will understand that various modifications, combinations, and changes may be made according to design conditions and factors within the scope of the claims or equivalents to which they are added. Explanation of the symbols

[0093] 100: User terminal 130: Cloud Server 200: Edge device 210: Communications Department 230: Processor 250: Memory

Claims

Claim 1 A cloud computing system-based work vehicle-led synchronization processing method comprising: receiving a control command for a work vehicle from a cloud server; analyzing the received control command to determine whether a discard condition is established; and, if it is determined that the discard condition is established, discarding the control command and transmitting the latest operation history of the work vehicle to the cloud server for synchronization. Claim 2 In claim 1, the control command is a cloud computing system-based work vehicle-led synchronization processing method generated through user input regarding the digital twin of the work vehicle at a user terminal linked to the cloud server. Claim 3 In claim 1, the step of determining whether the disposal condition is established is to determine whether the disposal condition is established by whether the validity period set in the control command has expired, a cloud computing system-based work vehicle-led synchronization processing method. Claim 4 In claim 1, the step of determining whether the above disposal condition is established is a cloud computing system-based work vehicle-led synchronization processing method that determines whether the above disposal condition is established based on the result of comparing the command version set in the control command with the version recorded in the local shadow of the work vehicle. Claim 5 A cloud computing system-based work vehicle-led synchronization processing method, wherein the step of determining whether the above disposal condition is established is to determine whether the above disposal condition is established only when at least one of communication delay and communication disconnection with the cloud server occurs before analyzing the above control command. Claim 6 A cloud computing system-based work vehicle-led synchronization processing method, wherein, in claim 1, the method further comprises the step of controlling the work vehicle based on the control command if the disposal condition is not met. Claim 7 In claim 1, the above work vehicle is one of an autonomous tractor, an autonomous rice transplanter, an autonomous planter, an autonomous combine, or an autonomous boom sprayer, a cloud computing system-based work vehicle-led synchronization processing method. Claim 8 A computer-readable recording medium storing a program for executing the method according to paragraph 1. Claim 9 An edge device implementing a cloud computing system-based work vehicle-driven synchronization processing method, comprising: a memory storing at least one program; and a processor that performs operations by executing the at least one program, wherein the processor receives a control command for a work vehicle from a cloud server, analyzes the received control command to determine whether a disposal condition is established, and if it is determined that the disposal condition is established, discards the control command and transmits the latest operation history of the work vehicle to the cloud server for synchronization. Claim 10 In claim 9, the control command is an edge device implementing a cloud computing system-based work vehicle-led synchronization processing method, which is generated through user input regarding the digital twin of the work vehicle at a user terminal linked to the cloud server. Claim 11 In claim 9, the edge device implementing a cloud computing system-based work vehicle-driven synchronization processing method, wherein the processor determines whether the disposal condition is established based on whether the validity period set in the control command has expired. Claim 12 In claim 9, the edge device implementing a cloud computing system-based work vehicle-driven synchronization processing method, wherein the processor determines whether the discard condition is established based on the result of comparing the command version set in the control command with the version recorded in the local shadow of the work vehicle. Claim 13 An edge device implementing a cloud computing system-based work vehicle-driven synchronization processing method, wherein, in claim 9, the processor determines whether the discard condition is established only when at least one of communication delay and communication disconnection with the cloud server occurs before analyzing the control command. Claim 14 In claim 9, the processor is an edge device implementing a cloud computing system-based work vehicle-driven synchronization processing method that controls the work vehicle based on the control command if the disposal condition is not met. Claim 15 In claim 9, the above work vehicle is an edge device implementing a work vehicle-led synchronization processing method based on a cloud computing system, which is one of an autonomous tractor, an autonomous rice transplanter, an autonomous planter, an autonomous combine, or an autonomous boom sprayer.

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