Method and device for controlling unmanned travelling vehicle for agricultural work

Abstract

The present invention discloses a driving control method for an unmanned vehicle used for agricultural work. More specifically, the present invention relates to a driving control method and apparatus for an unmanned vehicle for agricultural work that is equipped with one or more sensors to identify and avoid obstacles present on a driving path. According to an embodiment of the present invention, one or more sensors mounted on an agricultural vehicle detect obstacles located on a driving path in real time, and after a certain period of time has elapsed, determine whether the obstacles are moving based on a change in their position and reset the currently set driving path. By adaptively avoiding not only stationary obstacles but also moving obstacles to minimize the vehicle's stopping period, the effect of maximizing the operational efficiency of an agricultural driving vehicle is achieved.

Description

Technology Field

[0001] The present invention relates to a driving control method for an unmanned vehicle used for agricultural work, and more specifically, to a driving control method and apparatus for an unmanned vehicle for agricultural work equipped with one or more sensors to identify and avoid obstacles present on the driving path. Background Technology

[0002] With the advent of the Fourth Industrial Revolution, countries around the world are establishing industrial systems that integrate artificial intelligence and ICT technologies across all industrial sectors, and this change in industrial structure is also affecting the agricultural sector. A representative Fourth Industrial Revolution-based industrial system in the agricultural sector is the smart farm.

[0003] Furthermore, attempts are being made to apply ICT-based technologies, such as unmanned autonomous driving and obstacle avoidance, to agricultural work vehicles, which are one of the most critical machines in relation to industrial systems in the agricultural sector.

[0004] In advanced agricultural technology nations, research on autonomous unmanned agricultural vehicles and the accompanying work robots has already progressed significantly and been commercialized, while monitoring technologies to check work conditions are also continuously being introduced.

[0005] As a prior art document related to obstacle recognition and avoidance for such agricultural vehicles, Registered Patent Publication No. 10-2642503 relates to a driving safety system for an autonomous unmanned pesticide spraying vehicle. It involves installing a mechanical bumper switch and an ultrasonic sensor on the front bumper of the spraying vehicle to detect approaching obstacles from a distance. The system controls the vehicle to reduce speed and repeat detection, stopping if detection continues even when the vehicle approaches within a certain distance. If an obstacle is not detected by the ultrasonic sensor, the system controls the vehicle to stop immediately by detecting contact with the bumper switch while in a low-speed state. For obstacle avoidance, the system recognizes obstacles 1 to 2 meters ahead via the ultrasonic sensor, reduces speed to detect them again, and analyzes the ultrasonic signal intensity to determine whether the signal is caused by the shaking of an object due to wind or is a signal detected during the movement of a person or animal, based on the signal intensity and the number of detections. If it is determined that the obstacle is temporary, it decides whether to resume driving after a certain period of time has elapsed. When an obstacle is detected by the ultrasonic sensor, it identifies its size and location to determine whether it is possible to bypass it, and if it is small in size A configuration is disclosed that controls the vehicle to temporarily deviate from the guidance line and then re-enter the guidance line to continue driving if the location allows for a detour.

[0006] However, according to these prior art documents and other known technologies, although agricultural vehicles utilize infrared or ultrasonic sensors to detect, identify, and avoid obstacles, there is a limitation in that driving efficiency is significantly reduced because the vehicle stops and waits for a considerable amount of time before resuming driving as the obstacle moves in real time. Prior art literature

[0007] Registered Patent Publication No. 10-2642503 (Date of publication: Feb. 29, 2024) The problem to be solved

[0008] The present invention has been devised to overcome the aforementioned limitations. The present invention has a task to implement a driving control method and device for an unmanned agricultural vehicle capable of adaptively avoiding obstacles while driving, by considering various situations such as the movement and height of obstacles detected by one or more sensors, so as to minimize the stopping period. means of solving the problem

[0009] To solve the aforementioned problem, a driving control method by a driving control device mounted on an unmanned vehicle according to an embodiment of the present invention may include: (a) detecting one or more obstacles located on a driving path through a first sensor installed on the front of the vehicle; (b) when a second time point arrives after a certain time has elapsed from a first time point when the obstacle is first detected, determining whether the obstacle is moving by comparing the initial position where the obstacle is detected with the current position; (c) if the obstacle is moving, temporarily stopping the vehicle until it moves off the driving path and then resuming driving, and if the obstacle is stationary, detecting the height of the obstacle through a second sensor installed on the vehicle to determine whether the vehicle can climb the obstacle; and (d) maintaining the current driving path if the vehicle can climb the obstacle, and readjusting the driving path according to the position of the obstacle if the vehicle cannot climb the obstacle.

[0010] The first sensor may include a plurality of ultrasonic sensors that detect objects within a certain range from the front, including the front of the vehicle.

[0011] The second sensor may include one or more light-reflecting sensors that are installed at a certain height above the ground in front of the vehicle and measure the height of an obstacle in front according to the reflected light by irradiating a laser forward.

[0012] The above step (c) may further include the step of (c1) detecting the characteristics of the obstacle through a third sensor installed on the front of the vehicle and measuring hardness as the vehicle comes into contact with the obstacle, and determining whether it is possible to climb the obstacle.

[0013] In addition, to solve the aforementioned problem, a driving control device mounted on an unmanned vehicle according to an embodiment of the present invention may include: a detection unit that detects one or more obstacles located on the driving path through the first sensor; a tracking unit that determines whether the obstacle is moving by comparing the initial position where the obstacle was detected with the current position when a second time point arrives after a certain time has elapsed from a first time point when the obstacle is first detected; a first avoidance driving unit that, if the obstacle is moving, temporarily stops the vehicle until it moves out of the driving path and then instructs the driving unit to resume driving, and if the obstacle is stationary, detects the height of the obstacle through the second sensor and determines whether the vehicle can climb the obstacle; and a second avoidance driving unit that maintains the current driving path if the vehicle can climb the obstacle, and instructs the driving unit to readjust the driving path according to the position of the obstacle if the vehicle cannot climb the obstacle.

[0014] The first sensor may include a plurality of ultrasonic sensors that detect objects within a certain range from the front, including the front of the vehicle.

[0015] The second sensor may include one or more light-reflecting sensors that are installed at a certain height above the ground in front of the vehicle and measure the height of an obstacle in front according to the reflected light by irradiating a laser forward.

[0016] The second avoidance drive unit is installed on the front of the vehicle and can determine whether it is possible to climb by detecting the characteristics of an obstacle through the third sensor. Effects of the invention

[0017] According to an embodiment of the present invention, one or more sensors mounted on an agricultural vehicle detect obstacles located on a driving path in real time, and after a certain period of time has elapsed, determine whether the obstacles are moving according to a change in their position and reset the currently set driving path so that not only stationary obstacles but also moving obstacles can be adaptively avoided without stopping the vehicle, thereby maximizing the operational efficiency of the agricultural driving vehicle. Brief explanation of the drawing

[0018] FIG. 1 is a diagram simulating the driving situation of a vehicle to which a driving control method for an unmanned vehicle for agricultural work according to an embodiment of the present invention is applied. FIG. 2 is a diagram showing the structure of a driving control device for an unmanned vehicle for agricultural work according to an embodiment of the present invention. FIG. 3 is a diagram showing a driving method of an unmanned vehicle for agricultural work according to an embodiment of the present invention. Specific details for implementing the invention

[0019] The present invention as described above will be explained in detail through the attached drawings and embodiments.

[0020] It should be noted that the technical terms used in this invention are used merely to describe specific embodiments and are not intended to limit the invention. Furthermore, unless specifically defined otherwise in this invention, the technical terms used in this invention should be interpreted in the sense generally understood by those skilled in the art to which this invention pertains, and should not be interpreted in an overly broad or overly narrow sense. Additionally, if a technical term used in this invention is an incorrect technical term that fails to accurately express the concept of the invention, it should be replaced with a technical term that can be correctly understood by those skilled in the art. Moreover, general terms used in this invention should be interpreted according to their prior definitions or the context, and should not be interpreted in an overly narrow sense.

[0021] Furthermore, singular expressions used in the present invention include plural expressions unless the context clearly indicates otherwise. In the present invention, terms such as "composed of" or "comprising" should not be interpreted as necessarily including all of the various components or steps described in the invention, and should be interpreted as meaning that some of the components or steps may not be included, or that additional components or steps may be included.

[0022] Additionally, terms including ordinal numbers, such as first, second, etc., used in the present invention may be used to describe components, but the components should not be limited by these terms. The 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.

[0023] Furthermore, in describing the present invention, detailed descriptions of related prior art are omitted if it is determined that such descriptions may obscure the essence of the invention. Additionally, it should be noted that the attached drawings are intended only to facilitate an understanding of the concept of the present invention and should not be interpreted as limiting the concept of the invention.

[0024] Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings. Identical or similar components are given the same reference number regardless of the drawing symbols, and redundant descriptions thereof will be omitted.

[0025] Hereinafter, a driving control method and apparatus for an unmanned vehicle for agricultural work according to an embodiment of the present invention will be described in detail with reference to the drawings.

[0026] FIG. 1 is a diagram simulating the driving situation of a vehicle to which a driving control method for an unmanned vehicle for agricultural work according to an embodiment of the present invention is applied.

[0027] Referring to FIG. 1, the driving control method for an unmanned vehicle for agricultural work according to an embodiment of the present invention can be applied to an agricultural vehicle used to perform tasks necessary for cultivating crops in farmland, etc., in particular to a vehicle capable of driving unmanned along a set driving path, rather than being driven by a worker riding directly on board.

[0028] In particular, an unmanned vehicle (1) to which a control method according to an embodiment of the present invention is applied may have one or more first to third sensors (10 to 30) mounted on each front part of the vehicle (1), and a control device for driving may be mounted inside the vehicle (1) to determine the size, location, etc. of obstacles existing on the driving path based on information monitored by each sensor (10 to 30), and may support moving to a destination along the original driving path or a modified driving path by controlling a driving device mounted on the vehicle (1) to temporarily stop the vehicle or to climb or avoid obstacles.

[0029] Here, the unmanned vehicle (1) to which the control method of the present invention is applied may be equipped with at least two different types of sensors. Among these, the first sensor (10) is installed in the upper area of ​​the front of the vehicle and can detect the presence of obstacles located in front of and around the vehicle.

[0030] Additionally, the second sensor (20) is installed at a predetermined height from the ground surface at the front of the vehicle to detect whether the first obstacle (obj1) detected by the first sensor (10) is above a certain height, and the third sensor (30) is installed in the lower front area of ​​the vehicle to directly contact the second obstacle (obj2) that is detected by the first sensor (10) but is not detected by the second sensor (20) because of its low height, and can measure its hardness.

[0031] In addition, each sensor is electrically connected to a driving control device mounted inside the unmanned vehicle (1) to transmit detection results in real time, thereby enabling the driving control device to identify information about each obstacle (obj1, obj2) and control the driving of the vehicle (1) in accordance with the current situation.

[0032] To this end, the driving control device adaptively controls the vehicle's driving by considering the movement of obstacles, whether it is climbing based on height, and the possibility of damage when climbing, through detection results transmitted from each sensor, and a detailed description of the configuration of the driving control device to implement this function will be provided later.

[0033] Accordingly, the driving control method for an unmanned vehicle for agricultural work according to an embodiment of the present invention has the effect of enabling the vehicle to travel quickly to a destination with minimal delay by adaptively controlling the driving according to the current situation, such as the state and shape of obstacles, by equipping the unmanned vehicle with various types of sensors.

[0034] In addition, according to an embodiment of the present invention, since the determination is made by measuring only the detection results by sensors such as ultrasonic sensors rather than using known lag processing techniques for obstacle identification and location tracking, the configuration of the control device is simple, which reduces implementation costs, and the computation time is relatively short, which has the advantage of being suitable for real-time control situations.

[0035] Hereinafter, a driving control device for an unmanned vehicle for agricultural work according to an embodiment of the present invention will be described in detail with reference to the drawings.

[0036] FIG. 2 is a diagram showing the structure of a driving control device for an unmanned vehicle for agricultural work according to an embodiment of the present invention.

[0037] Referring to FIG. 2, a driving control device (100) for an unmanned vehicle for agricultural work according to an embodiment of the present invention is electrically connected to a driving device (50) of a vehicle equipped with first to third sensors (10 to 30) and is a driving control device (100) that controls the driving of the vehicle according to a preset driving path, comprising: a detection unit (110) that detects one or more obstacles located on the driving path through a first sensor (10); a tracking unit (120) that determines whether the obstacle is moving by comparing the initial position where the obstacle was detected with the current position when a second time point arrives after a certain time has elapsed from a first time point when the obstacle was first detected; a first avoidance driving unit (130) that temporarily stops the vehicle until it deviates from the driving path if the obstacle is moving and then instructs the driving device (50) to resume driving, and if the obstacle is stationary, detects the height of the obstacle through a second sensor (20) to determine whether the vehicle can climb the obstacle; and if the vehicle can climb the obstacle, maintains the current driving path and [regarding] the obstacle In cases where the vehicle cannot climb, it may include a second avoidance drive unit (140) that instructs the drive unit (50) to readjust the driving path according to the location of the obstacle.

[0038] The first sensor (10) may be configured as an ultrasonic sensor that can be installed in multiple numbers on the upper front of the vehicle and outputs an ultrasonic signal within a certain angle range from the front of the vehicle and detects whether there is a certain obstacle on the driving path including the front of the vehicle through the reflected signal.

[0039] These obstacles may include people, animals passing nearby, crops such as rice, barley, fruits, and vegetables planted in a certain width in the farmland, and various objects that may be located in the farmland, such as stones, rocks, and other devices.

[0040] One or more second sensors (20) may be installed in the front middle section of the vehicle. In particular, the second sensor (20) is a light-reflecting sensor installed at a certain height from the ground and irradiates an infrared laser or the like forward to check whether an obstacle located in the driving path is at a specific height, that is, a height at which the vehicle can climb over the obstacle. For example, when a specific obstacle is detected by the second sensor (20), the height of the obstacle is considered to be greater than or equal to the height at which the second sensor (20) is installed, thereby determining whether the vehicle can climb over the obstacle and drive.

[0041] One or more third sensors (30) may be installed on the lower front of the vehicle, and when the vehicle approaches an obstacle having a height that is determined to be climbable based on the detection result of the second sensor (20), it can directly contact the surface of the obstacle to measure its hardness.

[0042] This third sensor (30) may be configured as a specific tactile sensor capable of measuring the hardness of an object through surface contact, and through contact with an obstacle, it can determine whether the obstacle is an animal such as a dog or cat, a living organism such as a crop, or an object capable of being climbed such as a rock or stone.

[0043] The aforementioned first to third sensors (10 to 30) can transmit detection results in real time to the driving control device (100) according to the driving of the vehicle.

[0044] The driving control device (100) is electrically connected to a driving device (50) that is mounted on a driving control vehicle and drives the vehicle, and can perform control of the vehicle driving, and in particular, can control the vehicle driving by determining the situation with an obstacle from the detection results transmitted from the first to third sensors (10 to 30) described above.

[0045] As a configuration for this purpose, the driving control device (100) may include a sensing unit (110), a tracking unit (120), a first avoidance driving unit (130), and a second avoidance driving unit (140).

[0046] The detection unit (110) is electrically connected to the aforementioned first sensor (10) and can receive detection results from it in real time, thereby determining whether an obstacle of a predetermined size is located at a specific location on the driving path.

[0047] Additionally, the detection unit (110) can determine whether the obstacle is a movable living organism or an object fixed at a certain location based on the change in the obstacle's position after a certain period of time has elapsed immediately after detecting the initial obstacle's position, and if it is a movable living organism, it can instruct the driving device (50) to temporarily stop the vehicle.

[0048] When one or more obstacles are detected by the detection unit (110) as being in a motionless state, the tracking unit (120) can measure the height of the obstacles detected by the second sensor (20). Since the second sensor (20) is installed at a specific height in the vehicle, if an obstacle detected by the first sensor (10) is not detected by the second sensor (20), it can be determined that it has a height lower than that of the second sensor (20).

[0049] When the first avoidance drive unit (130) detects that the obstacle is above a certain height by the tracking unit (120), it determines that the obstacle is at a height that the vehicle cannot climb and instructs the drive device (50) to reset the driving path in a direction to avoid the obstacle on the current driving path. Additionally, when the obstacle is detected below a certain height by the tracking unit (120), it determines that the obstacle is at a height that the vehicle can climb and proceeds along the original driving path without changing the path.

[0050] When there is an obstacle with a low height below a certain height, the second avoidance drive unit (140) can receive the result of measuring the hardness of the obstacle as the vehicle moves along the original driving path, and when the third sensor installed at the front bottom of the vehicle contacts the surface of the obstacle, and if the hardness is below a certain level, there is a possibility that it is an animal or a crop, and the drive unit (50) can be instructed to reset the currently set driving path in the direction of avoidance.

[0051] In addition, if the hardness of the obstacle is determined to be a hard object (e.g., a rock) above a certain level based on the measurement result by the third sensor, the second avoidance drive unit (140) can control the vehicle to climb the obstacle without changing the driving path.

[0052] Hereinafter, a driving method of an unmanned vehicle for agricultural work according to an embodiment of the present invention will be described in detail with reference to the drawings.

[0053] FIG. 3 is a diagram illustrating a driving method of an unmanned vehicle for agricultural work according to an embodiment of the present invention. The driving method of an unmanned vehicle for agricultural work according to an embodiment of the present invention can be implemented in the form of a computer program executable by a known microprocessor and can be recorded on a read-write recording medium and mounted on a driving control device.

[0054] Referring to FIG. 3, according to the driving control method of an unmanned vehicle according to an embodiment of the present invention, immediately after the unmanned vehicle starts driving along a preset driving path, a driving control device receives the detection result as a first sensor installed on the front of the vehicle detects one or more obstacles located on the driving path in real time (S100).

[0055] Next, when a second time point arrives after a certain amount of time has elapsed from the first time point when the obstacle was first detected, the driving control device determines whether the obstacle has moved by comparing the initial position where the obstacle was detected with the current position (S110). This step S110 can be seen as determining whether the obstacle has moved based on the change in position over time for the detected obstacle.

[0056] Next, if the obstacle is in a moving state, the driving control device temporarily stops the vehicle until it moves off the driving path and then resumes driving, and if the obstacle is in a stationary state, it detects the height of the obstacle through a second sensor installed on the vehicle and determines whether the vehicle can climb the obstacle (S120).

[0057] In step S110, if it is determined that the obstacle is moving, the detected obstacle may be considered to be a living creature such as a pedestrian or a dog, and the driving control device controls the vehicle to wait until the obstacle moves away from the driving path. Additionally, if it is determined that the obstacle is stationary, it may be assumed to be a crop or a rock, and since a change in position cannot be expected, a decision is made to avoid it or proceed uphill.

[0058] Next, the driving control device maintains the current driving path if the vehicle can climb the obstacle, and readjusts the driving path according to the location of the obstacle if the vehicle cannot climb the obstacle (S130). For an obstacle that is not moving detected in step S120, the driving control device approaches the obstacle on the path as it continues driving, and when the third sensor comes into contact with the obstacle and measures the hardness, it determines whether the vehicle can climb the obstacle based on the detection result.

[0059] In addition, the driving control device controls the drive unit to maintain the current driving path when the obstacle is an object with a hardness that can be climbed, thereby causing the vehicle to climb the obstacle and continue moving, and when the obstacle is not an object with a hardness that can be climbed, such as a living organism or a crop, it readjusts the current path to avoid the obstacle and drive.

[0060] Although many details are specifically described in the above description, this should be interpreted as an example of a preferred embodiment rather than as a limitation to the scope of the invention. Accordingly, the invention should not be determined by the described embodiment, but by the claims and equivalents thereof. Explanation of the symbols

[0061] 1 : Driving vehicle for agricultural work 10 : 1st sensor 20: 2nd sensor 30: 3rd sensor 50: Drive unit 100: Driving control unit 110: Detector 120: Tracker 130: 1st avoidance drive unit 140: 2nd avoidance drive unit

Claims

Claim 1 A driving control method using a driving control device mounted on an unmanned vehicle, comprising: (a) detecting one or more obstacles located on a driving path through a first sensor installed on the front of the vehicle; (b) when a second time point arrives after a certain time has elapsed from a first time point when the obstacle is first detected, determining whether the obstacle is moving by comparing the initial position where the obstacle was detected with the current position; (c) if the obstacle is moving, temporarily stopping the vehicle until it moves off the driving path and then resuming driving, and if the obstacle is stationary, detecting the height of the obstacle through a second sensor installed at a specific height on the vehicle and determining whether the vehicle can climb the obstacle. and (d) a step of maintaining the current driving path when the vehicle can climb the obstacle, and readjusting the driving path according to the position of the obstacle when the vehicle cannot climb the obstacle, wherein step (c) includes: (c1) a step of determining whether climbing is possible by detecting the characteristics of the obstacle through a third sensor installed on the front of the vehicle and measuring the hardness as the vehicle comes into direct contact with the obstacle; and after step (c1), a step of allowing the vehicle to climb the obstacle and continue driving if the hardness of the obstacle is an object above a certain level, and readjusting the current path to avoid the obstacle and drive if the hardness of the obstacle is a living organism or a crop. Claim 2 A driving control method for an unmanned vehicle for agricultural work according to claim 1, wherein the first sensor comprises a plurality of ultrasonic sensors that detect objects within a certain range from the front, including the front of the vehicle. Claim 3 A driving control method for an unmanned vehicle for agricultural work according to claim 1, wherein the second sensor comprises one or more light-reflecting sensors installed at a certain height above the ground in front of the vehicle and irradiating a laser forward to measure the height of an obstacle in front according to the reflected light. Claim 4 delete Claim 5 A driving control device electrically connected to a driving device of a vehicle equipped with first to third sensors and controlling the driving of said vehicle according to a preset driving path, wherein the driving control device comprises: a detection unit that detects one or more obstacles located on the driving path through the first sensor; a tracking unit that determines whether the obstacle is moving by comparing the initial position where the obstacle was detected with the current position when a second time point arrives after a certain time has elapsed from a first time point where the obstacle was first detected; and a first avoidance driving unit that, if the obstacle is moving, temporarily stops the vehicle until it moves off the driving path and then instructs the driving device to resume driving, and if the obstacle is stationary, detects the height of the obstacle through a second sensor installed at a specific height and determines whether the vehicle can climb the obstacle. A driving control device for an unmanned vehicle for agricultural work, comprising a second avoidance drive unit that maintains the current driving path when the vehicle can climb the obstacle, and instructs the driving device to readjust the driving path according to the position of the obstacle when the vehicle cannot climb the obstacle, wherein the second avoidance drive unit is installed on the front of the vehicle and determines whether climbing is possible by detecting the characteristics of the obstacle through a third sensor that measures hardness as the vehicle comes into direct contact with the obstacle or other obstacles, and if the hardness of the obstacle is an object above a certain level, the vehicle climbs the obstacle and continues to proceed, and if the hardness of the obstacle is a living organism or a crop, the current path is readjusted to avoid the obstacle and drive. Claim 6 In claim 5, the driving control device of an unmanned agricultural vehicle comprises a plurality of ultrasonic sensors that detect objects within a certain range from the front, including the front of the vehicle. Claim 7 In claim 5, the driving control device of an unmanned vehicle for agricultural work comprises one or more light-reflecting sensors installed at a certain height above the ground in front of the vehicle and irradiating a laser forward to measure the height of an obstacle in front according to the reflected light. Claim 8 delete

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