Mobility-type unmanned pest control device and control method therefor

Abstract

The present invention relates to a mobility-type unmanned pest control device capable of effectively spraying a chemical solution onto field crops in agricultural fields. The mobility-type unmanned pest control device according to the present invention comprises: a body having a structure parallel to the ground; a plurality of wheels for driving; a driving unit for driving the plurality of wheels; a steering unit for steering the plurality of wheels; chemical solution spraying units positioned on a lower end and a side surface of the body and capable of spraying a chemical solution downward or sideward; and a control unit which comprises one or more processors and a memory and controls driving and chemical solution spraying. Accordingly, the device has the advantage of effectively driving along furrows of a field, for which pest control is to be performed, and uniformly spraying a chemical solution onto field crops.

Description

Mobile unmanned pest control device and its control method

[0001] The present invention relates to an unmanned pesticide sprayer, and more particularly, to a mobile unmanned pesticide sprayer capable of unmanned driving between fields.

[0002] Spraying pesticides is essential for crop cultivation to prevent pests and diseases. Speed ​​sprayers are used for this purpose in large areas such as orchards, farms, and golf courses. These sprayers consist of an engine, water tank, chemical tank, sprayer, blower fan, and nozzle. The sprayer disperses the chemical particles sprayed through the nozzle into finer particles by the blower fan. The sprayer is operated by a driver on board.

[0003] Recently, the need for these speed sprayers is increasing due to the decline in the agricultural population and the aging population. However, speed sprayers are large in size, so they cannot be used in areas such as fields where there is not enough space for speed sprayer operation.

[0004] To solve this problem, conventional pesticide sprayers use a blower to generate air pressure to disperse the pesticide sprayed from the spray nozzle, thereby blowing the pesticide from a long distance.

[0005] However, these long-distance sprayers have the problem of not being able to spray pesticides evenly on crops because they cannot get close to the target fields.

[0006] The inventors of the present invention have made research efforts to solve the problems of the prior art, and have completed the present invention after much effort to provide a mobile unmanned sprayer and its control method that can drive between fields and spray chemicals by driving on four wheels driven by a motor.

[0007] [National Research and Development Project Supporting This Invention]

[0008] [Project ID]1425179362

[0009] [Assignment Number] S3364407

[0010] [Ministry Name] Ministry of SMEs and Startups

[0011] [Name of Project Management (Specialist) Agency] Small and Medium Business Technology Information Promotion Agency

[0012] [Research Project Name] (Open Call) 2023 Regional Specialty Industry Promotion + (R&D) Support Plan Integrated Announcement

[0013] [Research Project Name] Development of a Mobile Multi-Pest Control System for Field Crop

[0014] [Contribution rate] 1 / 1

[0015] [Name of the project performing organization] HanA Co., Ltd.

[0016] Research Period: April 1, 2023 - March 31, 2024

[0017] In order to solve the above-mentioned problems, the present invention aims to provide a mobile unmanned pesticide sprayer that uses an electric motor as a power source.

[0018] In addition, another object of the present invention is to provide a mobile unmanned sprayer capable of moving and turning in various directions even in a narrow space by independently steering and driving each wheel.

[0019] However, the problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0020] According to a preferred embodiment of the present invention for solving the above-mentioned problem, a mobile unmanned sprayer is provided.

[0021] It is characterized by including a body having a structure parallel to the ground; a plurality of wheels for driving; a driving unit for driving the plurality of wheels; a steering unit for steering the plurality of wheels; a liquid spray unit located at the bottom and side of the body and capable of spraying liquid downward or sideways; and a control unit for controlling driving and liquid spraying, and comprising one or more processors and memories.

[0022] The above-mentioned liquid injection unit is characterized by including a first liquid injection unit capable of injecting downwardly of the body and a second liquid injection unit capable of changing the injection direction so as to be capable of injecting downwardly or laterally of the body.

[0023] The above-mentioned mobile unmanned sprayer further includes a camera unit capable of photographing the direction of travel, and the control unit is characterized in that it controls the height of the body or the spraying unit located on the body according to the height of the field crops photographed by the camera unit.

[0024] The above control unit is characterized in that it controls the spraying direction of the body or the liquid spray unit located on the body according to the height of the field crops in the field photographed by the camera unit.

[0025] The above control unit is characterized in that it controls driving using driving path information acquired from an image captured by the camera unit.

[0026] The above control unit is characterized by including an artificial intelligence model that has been learned in advance to obtain driving path information from an image captured by the camera unit.

[0027] The above control unit is characterized in that when an obstacle on the driving path is detected in an image captured by the camera unit, the control unit determines that it is a dangerous situation and controls the speed of the mobile unmanned sprayer.

[0028] It further includes a distance sensor for detecting forward objects,

[0029] The above control unit is characterized in that it stops the mobile unmanned sprayer when the distance to the front object detected by the distance sensor is less than a predetermined standard.

[0030] The above control unit is characterized in that it obtains the boundary of the driving path from the image captured by the camera unit using Hough transform.

[0031] A method for controlling a mobile unmanned sprayer according to another preferred embodiment of the present invention is as follows:

[0032] It is characterized by including a step of calculating the type or height of field crops in a field to be sprayed, which is photographed by a camera unit; a step of controlling the height of a spraying unit for spraying pesticides according to the type or height of field crops in the field to be sprayed; and a step of controlling the mobile unmanned sprayer to spray pesticides when it drives over field crops in the field to be sprayed.

[0033] It is characterized by further including a step of controlling the spraying direction of the spraying unit that sprays the pesticide according to the shape of the field to be sprayed as captured by the camera unit.

[0034] A method for controlling a mobile unmanned sprayer according to another preferred embodiment of the present invention is as follows:

[0035] It is characterized by including a step of photographing the front of the driving direction by a camera unit; a step of extracting driving path information from the photographed image; and a step of controlling the driving of the mobile unmanned sprayer according to the acquired driving path information.

[0036] The above control unit is characterized by including an artificial intelligence model that has been learned in advance to obtain driving path information from an image captured by the camera unit.

[0037] According to the present invention, there is an advantage in that driving and steering can be secured in open-air conditions such as field furrows by means of a mobility-type structure capable of independent driving and steering of four wheels.

[0038] In addition, since the pesticide spray nozzle for field crop control can be kept close to the field crop, it is effective in spraying the pesticide evenly on the field crop.

[0039] Additionally, it has the advantage of being able to optimally control the mobile unmanned sprayer according to the field environment.

[0040] The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention belongs from the description below.

[0041] FIG. 1 is a schematic structural diagram of a mobile unmanned sprayer according to a preferred embodiment of the present invention.

[0042] FIG. 2 is a schematic block diagram of a mobile unmanned sprayer according to a preferred embodiment of the present invention.

[0043] Figures 3 and 4 illustrate examples of arrangement of a chemical spraying unit for chemical spraying of a mobile unmanned pesticide sprayer according to a preferred embodiment of the present invention.

[0044] FIG. 5 is a more detailed structural diagram of a control unit of a mobile unmanned sprayer according to a preferred embodiment of the present invention.

[0045] Figures 6 and 7 illustrate examples of path recognition for autonomous driving of a mobile unmanned sprayer according to a preferred embodiment of the present invention.

[0046] Figure 8 is a schematic flowchart of a control method of a mobile unmanned sprayer according to another preferred embodiment of the present invention.

[0047] Figure 9 is a schematic flowchart of an autonomous driving control method of a mobile unmanned sprayer according to another preferred embodiment of the present invention.

[0048] The above-described objects, means, and resulting effects of the present invention will become more apparent through the following detailed description, taken in conjunction with the accompanying drawings. Accordingly, those skilled in the art will be able to readily implement the technical concepts of the present invention. Furthermore, in describing the present invention, if a detailed description of known technology related to the present invention is deemed to unnecessarily obscure the gist of the invention, such detailed description will be omitted.

[0049] The terminology used herein is for the purpose of describing embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural, unless specifically stated otherwise. In this specification, terms such as "include," "provide," "provide," or "have" do not exclude the presence or addition of one or more other components other than the mentioned components.

[0050] In this specification, terms such as “or,” “at least one,” and the like can refer to one of the words listed together, or a combination of two or more. For example, “or B” or “at least one of B” can include only one of A or B, or can include both A and B.

[0051] In this specification, descriptions using the word “for example” or the like should not be construed as limiting the embodiments of the invention in terms of the effects of variations such as tolerances, measurement errors, limitations of measurement accuracy, and other commonly known factors, as well as the information presented, such as cited characteristics, variables, or values, may not be exactly the same.

[0052] In this specification, when a component is described as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components in between. Conversely, when a component is described as being "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0053] In this specification, when a component is described as being "on" or "in contact with" another component, it should be understood that it may be directly on or connected to the other component, but there may be another component in between. Conversely, when a component is described as being "directly on" or "in direct contact with" another component, it should be understood that there is no other component in between. Other expressions that describe the relationship between components, such as "between" and "directly between", can be interpreted similarly.

[0054] In this specification, terms such as "first" and "second" may be used to describe various components, but the components should not be limited by these terms. Furthermore, these terms should not be construed to limit the order of each component, but rather may be used to distinguish one component from another. For example, a "first component" may be referred to as a "second component," and similarly, a "second component" may also be referred to as a "first component."

[0055] Unless otherwise defined, all terms used herein may be used in their common sense by those of ordinary skill in the art to which the present invention pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0056]

[0057] Hereinafter, a preferred embodiment according to the present invention will be described in detail with reference to the attached drawings.

[0058] FIG. 1 is a schematic structural diagram of a mobile unmanned sprayer according to a preferred embodiment of the present invention.

[0059] Fig. 1 (a) is a front view of a mobile unmanned sprayer (1), and Fig. 1 (b) is a side view of the mobile unmanned sprayer (1).

[0060] The mobile unmanned sprayer (1) according to the present invention may include a body (10), wheels (20), a driving unit (30), a steering unit (40), a liquid spraying unit (50), a camera unit (60), and a control unit (70). In addition, it includes a battery (not shown) to supply power to the mobile unmanned sprayer (1).

[0061] The body (10) is configured in a shape generally parallel to the ground, and four or more wheels (20) are connected as needed, and a liquid spray unit (50) and a camera unit (60) can be attached.

[0062] The wheel (20) may be a wheel having a structure that can run between the furrows of a field.

[0063] A driving unit (30) and a steering unit (40) are connected to each of the plurality of wheels (20), so that each of the plurality of wheels (20) can be driven and steered independently.

[0064] The driving unit (30) and steering unit (40) are included in numbers corresponding to the number of wheels (20), and each includes a motor (not shown) for driving and steering.

[0065] The chemical spray unit (50) is configured to spray the chemical toward field crops, and may include a first chemical spray unit (52) located at the front or lower part of the body (10) and spraying the chemical downward, a second chemical spray unit (54) and a third chemical spray unit whose spraying direction can be adjusted downward or sideways.

[0066] The camera unit (60) is installed at the front and rear of the body (10) to photograph the front or rear of the moving direction of the mobile unmanned sprayer (1).

[0067]

[0068] FIG. 2 is a schematic block diagram of a mobile unmanned sprayer according to a preferred embodiment of the present invention.

[0069] The control unit (70) performs various control operations of the mobile unmanned sprayer (1), and for this purpose, may be configured to include one or more processors and memories.

[0070] The memory stores various information necessary for the operation of the mobile unmanned sprayer (1). For example, the information stored in the memory may include, but is not limited to, program information for controlling the spraying of the mobile unmanned sprayer (1).

[0071] For example, the memory may include, but is not limited to, a hard disk type, a magnetic media type, a compact disc read only memory (CD-ROM), an optical media type, a magneto-optical media type, a multimedia card micro type, a flash memory type, a read only memory type, or a random access memory type, depending on its type. In addition, the memory may include, but is not limited to, a cache, a buffer, a main memory, an auxiliary memory, or a separately provided storage system depending on its use / location.

[0072] The control unit (70) can perform various control operations of the mobile unmanned sprayer (1).

[0073] For example, the control unit (70) may include, but is not limited to, a hardware processor or a software process executed on the processor. For example, the control unit (70) may include, but is not limited to, a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), or a field programmable gate array (FPGA).

[0074] The control unit (70) can control the driving unit (30) and steering unit (40) described above by using the ground information acquired by the camera unit (60) to control the driving of the mobile unmanned sprayer (1).

[0075] In addition, the spray amount and spray direction of the chemical spray unit (50) can be controlled based on the information on the field crops obtained by the camera unit (60), and the position of the chemical spray unit (50) can also be controlled.

[0076] For this purpose, the camera unit (60) may include a first camera (62) on the front and a second camera (64) on the rear.

[0077] The control unit (70) can calculate the distance between the furrows of the field using an image acquired by the first camera (62) on the front. For accurate distance calculation, the mobile unmanned sprayer (1) may further include a distance sensor (not shown).

[0078] The control unit (70) can control the spacing of the wheels (30) by the spacing between the calculated field furrows.

[0079] In addition, the control unit (70) controls the position and spraying of the liquid spray unit (50) according to the shape of the photographed field and the height of the crops planted in the field.

[0080] For this purpose, the liquid injection unit (50) may include a first liquid injection unit (52), a second liquid injection unit (54), and a third liquid injection unit (56).

[0081] Figures 3 and 4 show examples of arrangement of a chemical spray unit for chemical spraying of a mobile unmanned pesticide sprayer according to a preferred embodiment of the present invention.

[0082] Figure 3 shows an example in which the height of the body or the spraying part is adjusted depending on the type of field crop.

[0083] The height of field crops varies depending on their type and growth period. Therefore, the mobile unmanned sprayer (1) according to the present invention adjusts the height of the body (10) or the height of the spraying unit (52) according to the height of the field crops.

[0084] To this end, the control unit (70) determines the state of the field crops in front through the camera unit (60), determines the height of the field crops, and then controls the height of the body (10) or the spraying unit (52) accordingly. To accurately determine the height, the mobile unmanned sprayer (1) may further include a distance sensor. The distance sensor can be used to measure the distance between the body (10) and the field crops, and thereby adjust the height of the body (10).

[0085] The control unit (70) can control the height of the body (10) or the liquid spray unit (52) to be higher when the field crops are tall, as in (a) of FIG. 3, and can lower the height of the body (10) or the liquid spray unit (52) when the field crops are short, as in (b) of FIG. 3.

[0086] Even when the mobile unmanned sprayer (1) is driving along the furrows of a field and spraying pesticide, the control unit (70) can continuously update the height of the field crops through the camera unit (60) and control the height of the body (10) or the pesticide spray unit (52) according to the height.

[0087] In this way, the control unit (70) can effectively control the spraying of the chemical liquid by controlling the chemical liquid spray unit (52) according to the height of the crop.

[0088] Figure 4 shows the control form of the liquid spray unit according to the shape of the field.

[0089] The mobile unmanned sprayer (1) basically includes a first chemical spray unit (52), a second chemical spray unit (54), and a third chemical spray unit (56), and when spraying simultaneously as shown in (a) of Fig. 6, the chemical can be sprayed simultaneously on three rows of field crops.

[0090] However, in fields with less than three rows, depending on the end of the field or the shape of the field, it is not necessary for all three spraying units (52, 54, 56) to spray the chemical.

[0091] Accordingly, in cases where there are only two fields or the end of the field as in (b) of Fig. 4, the control unit (70) can control only the first chemical spray unit (52) and the second chemical spray unit (54) to spray the chemical, and control the third chemical spray unit (56) not to spray the chemical. In addition, the third chemical spray unit (56) that does not spray the chemical may be folded and stored to prevent collision with obstacles during driving.

[0092] The control unit (70) can also spray the liquid over a wider range by controlling the liquid spraying direction of the second liquid spray unit (54) and the third liquid spray unit (54) to the side instead of downward.

[0093] In this way, the control unit (70) can spray the pesticide on the target field more effectively by controlling the height and direction of the pesticide spray unit (50).

[0094] FIG. 5 is a more detailed structural diagram of a control unit of a mobile unmanned sprayer according to a preferred embodiment of the present invention.

[0095] The control unit (70) according to the present invention may further include a processor (71), a memory (72), and a sensor (73).

[0096] As previously discussed, the memory (72) stores various information necessary for the operation of the mobility-type unmanned driving sprayer (1), and the processor (71) can perform various control operations of the mobility-type unmanned driving sprayer (1).

[0097] The sensor (73) may include a gyro sensor or acceleration sensor for maintaining the balance of the mobile unmanned sprayer (1), a radar or lidar sensor for driving the mobile unmanned sprayer (1), a position sensor for determining the current location, etc.

[0098] The control unit (70) can control the mobile unmanned sprayer (1) to operate autonomously using information acquired using the camera unit (60) and sensor (73).

[0099] For this purpose, the control unit (70) may include an artificial intelligence model for autonomous driving, and may be learned in advance according to the driving route, type and status of crops, etc. in fields or rice paddies.

[0100] Fig. 6 shows an example of driving path information recognition for autonomous driving of a mobile unmanned sprayer according to a preferred embodiment of the present invention.

[0101] Figure 6 (a) shows a front image captured by the camera unit (60).

[0102] The control unit (70) may include an artificial intelligence model that has been pre-learned to recognize the driving path and lane in the front image.

[0103] Training of an AI model can be done through supervised learning by manually labeling lanes.

[0104] When a mobility-type unmanned sprayer (1) drives on a lane, it recognizes the lane, and when it moves on a cultivated field such as a rice paddy, field, or orchard, which is not a lane, it recognizes the boundary of the driving path, and based on this, the control unit (70) controls the driving of the mobility-type unmanned sprayer (1).

[0105] Figure 6 (b) shows an example of generating a masking image by classifying the boundary and lane of the driving path from the front image acquired by the camera unit (60).

[0106] Masking image generation can be done using artificial intelligence models such as DNN (Deep Neural Network) and CNN (Convolution Neural Network), but is not limited to these.

[0107] Additionally, detecting the road boundary or lane by masking image can be done by Hough Transform, but is not limited thereto.

[0108] Figure 6 (c) shows an example of recognizing the final driving path using a masking image.

[0109] The lane position difference between the masking image and the final driving path recognition image can be calculated, and if the difference exceeds a threshold, the upper value of the final driving path image can be used to control driving, and if the difference is below the threshold, the lower part of the final driving path image can be used to control driving.

[0110] Figure 7 shows another example of driving path information recognition for autonomous driving of a mobile unmanned sprayer according to a preferred embodiment of the present invention.

[0111] When the control unit (70) recognizes an obstacle (2) in the image acquired from the camera unit (60), it can determine that it is a dangerous situation and control the speed, etc. of the mobile unmanned sprayer (1).

[0112] For this purpose, the sensor (73) of the control unit (70) may further include a distance sensor such as an ultrasonic sensor.

[0113] When the control unit (70) recognizes an obstacle (2) in the front image, it may control the mobility-type unmanned sprayer (1) to reduce or stop the speed, or to control the steering unit (40) to avoid the obstacle (2).

[0114] The control unit (70) may also be able to control the mobile unmanned sprayer (1) to stop when the distance to the front obstacle (2) measured by the sensor (73) is less than a predetermined standard, for example.

[0115]

[0116] Figure 8 is a schematic flowchart of a method for controlling a liquid spray unit of a mobile unmanned sprayer according to another preferred embodiment of the present invention.

[0117] The field to be sprayed is photographed by the camera unit of the mobile unmanned sprayer for spraying the pesticide (S110).

[0118] Since the height of the crop varies depending on the shape of the field or the type of crop, the position of the spray nozzle should be optimally controlled accordingly.

[0119] The height or arrangement of field crops is determined by the captured field image, and then the position of the liquid sprayer is controlled (S120).

[0120] For example, in order to control the height of the liquid sprayer, as in the example shown in Fig. 5, the height of the body of the mobile unmanned sprayer or the height of the liquid sprayer is controlled according to the height of the field crops.

[0121] After determining the location of the liquid injection unit, control is given as to which liquid injection unit the liquid will be injected through (S130).

[0122] For example, as in the example of Fig. 6, depending on the location or shape of the target field for spraying the chemical, it is determined whether to spray the chemical by controlling all or only part of the chemical spraying unit, and the chemical is sprayed only through the determined chemical spraying unit (S140).

[0123]

[0124] Figure 9 is a schematic flowchart of a driving control method of a mobile unmanned sprayer according to another preferred embodiment of the present invention.

[0125] The driving control method of a mobile unmanned sprayer according to the present invention can be performed by a control unit including one or more processors and memories.

[0126] First, the camera section is used to take a picture of the front driving direction (S210).

[0127] The control unit extracts a driving path image from the forward shooting image (S220).

[0128] The driving path information may include the boundaries and lanes of the driving path, and may also include information on obstacles on the driving path.

[0129] To this end, the control unit may include a pre-trained artificial intelligence model capable of extracting lane information or driving path boundaries from the image.

[0130] When the driving path information is extracted, it is used to control the driving of the mobility-type unmanned sprayer to achieve autonomous driving (S230).

[0131] The control unit may control the mobile unmanned sprayer to follow the lane or road boundary, and when driving in an orchard or field, may control the mobile unmanned sprayer to recognize the gaps between trees or furrows and drive along them.

[0132]

[0133] According to the mobile unmanned sprayer and its control method according to the present invention configured as described above, there is an advantage in that the spraying efficiency of the pesticide can be significantly increased by effectively controlling the driving of the mobile unmanned sprayer and controlling the spraying regardless of the shape, size and spacing of various non-standardized fields.

[0134]

[0135] While the detailed description of the present invention has described specific embodiments, it should be understood that various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention is not limited to the described embodiments, but should be determined by the claims and their equivalents.

Claims

1. A body structure parallel to the ground; Multiple wheels for driving; A driving unit for driving the above plurality of wheels; A steering unit for steering the plurality of wheels; A liquid spraying unit located at the bottom and side of the body and capable of spraying the liquid downward or sideways; and A control unit comprising one or more processors and memory for controlling driving and injection of a liquid; A mobile unmanned sprayer, characterized by including:

2. In paragraph 1, A mobile unmanned sprayer, characterized in that the liquid spraying unit includes a first liquid spraying unit capable of spraying downward of the body and a second liquid spraying unit capable of changing the spraying direction to be able to spray downward or sideways of the body.

3. In paragraph 1, A camera unit capable of capturing the direction of travel of the above-mentioned mobile unmanned sprayer; Including more, A mobile unmanned sprayer, characterized in that the control unit controls the height of the body or the liquid spray unit located on the body according to the height of the field crops photographed by the camera unit.

4. In paragraph 1, A camera unit capable of capturing the direction of travel of the above-mentioned mobile unmanned sprayer; Including more, A mobile unmanned sprayer, characterized in that the control unit controls the spraying direction of the body or the liquid spray unit located on the body according to the height of the field crops in the field photographed by the camera unit.

5. In paragraph 1, Camera sensor for capturing driving direction; Including more, A mobility-type unmanned sprayer, characterized in that the control unit controls driving by using driving path information acquired from an image captured by the camera sensor.

6. In paragraph 5, A mobility-type unmanned sprayer, characterized in that the control unit includes an artificial intelligence model learned in advance to obtain driving path information from an image captured by the camera sensor.

7. In paragraph 5, A mobility-type unmanned sprayer, characterized in that the control unit detects an obstacle on the driving path in an image captured by the camera sensor, determines that it is a dangerous situation, and controls the speed of the mobility-type unmanned sprayer.

8. In paragraph 5, It further includes a distance sensor for detecting forward objects, A mobile unmanned sprayer, characterized in that the control unit stops the mobile unmanned sprayer when the distance to the front object detected by the distance sensor is less than a predetermined standard.

9. In paragraph 5, A mobile unmanned sprayer, characterized in that the control unit obtains the boundary of the driving path from the image captured by the camera sensor using Hough transform.

10. A method for controlling a mobile unmanned sprayer, the method being performed by a control unit including one or more processors and memories: A step of calculating the type or height of field crops in a field to be pesticide-treated as photographed by a camera unit; A step for controlling the height of a pesticide spraying unit that sprays pesticide according to the type or height of field crops in the above-mentioned pesticide target field; A step of controlling the above-mentioned mobile unmanned sprayer to spray the pesticide when it drives over the field crops of the field to be sprayed; A method for controlling a mobile unmanned sprayer, characterized by including a.

11. A method for controlling a mobile unmanned sprayer, the method being performed by a control unit including one or more processors and memories: A step of capturing the driving direction forward by a camera sensor; A step of extracting driving route information from the above-described captured image; and A step of controlling the driving of the mobile unmanned sprayer according to the acquired driving path information; A method for controlling a mobile unmanned sprayer, characterized by including a.

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