Mobility-type unmanned traveling device and method for controlling same

Abstract

The present invention relates to a mobility-type unmanned traveling device capable of effectively traveling on fields and rough paths. The mobility-type unmanned traveling device according to the present invention comprises: a body having a structure parallel to the ground; a plurality of wheels for traveling; a drive unit for driving the plurality of wheels; a steering unit for steering the plurality of wheels; one or more processors; and a memory, and includes a control unit for controlling travel, and thus has the advantage of being able to effectively travel on fields or rough paths that require disaster management.

Description

Mobility-type unmanned driving device and its control method

[0001] The present invention relates to an unmanned driving device, and more particularly, to a mobility-type unmanned driving device capable of unmanned driving through a field.

[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] In addition to pest control, there is a need to drive in non-standardized spaces such as fields or orchards for various purposes, but there is a problem in that existing driving devices cannot drive in such places.

[0005] The inventors of the present invention have made efforts to solve the problems of the prior art, and have completed the present invention after much effort to provide a mobility-type unmanned driving device and a control method thereof that can drive in environments where driving is difficult with general driving devices, such as between fields, by enabling four-wheel driving by a motor.

[0006] [National Research and Development Project Supporting This Invention]

[0007] [Project ID]1425179362

[0008] [Assignment Number] S3364407

[0009] [Ministry Name] Ministry of SMEs and Startups

[0010] [Name of Project Management (Specialist) Agency] Small and Medium Business Technology Information Promotion Agency

[0011] [Research Project Name] (Open Call) 2023 Regional Specialty Industry Promotion + (R&D) Support Plan Integrated Announcement

[0012] [Research Project Name] Development of a Mobile Multi-Pest Control System for Field Crop

[0013] [Contribution rate] 1 / 1

[0014] [Name of the project performing organization] HanA Co., Ltd.

[0015] Research Period: April 1, 2023 - March 31, 2024

[0016] In order to solve the above-mentioned problems, the present invention aims to provide a mobility-type unmanned driving device that uses an electric motor as a power source.

[0017] In addition, another object of the present invention is to provide a mobility-type unmanned driving device that can move and turn in various directions even in a narrow space by independently steering and driving each wheel.

[0018] 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.

[0019] A mobility-type unmanned driving device according to a preferred embodiment of the present invention for solving the above-mentioned problem is as follows:

[0020] A body; a plurality of wheels for driving; a driving unit for driving the plurality of wheels; a steering unit for steering the plurality of wheels; and a control unit for controlling driving, including one or more processors and memories.

[0021] The control unit further includes a communication unit, and is characterized in that it receives a user's remote control signal through the communication unit and controls the driving unit and steering unit to control driving.

[0022] The control unit further includes a sensor unit, and is characterized in that it determines the current location through the sensor unit, receives map data or satellite image data corresponding to the current location through the communication unit, and controls the driving unit and the steering unit to control driving.

[0023] The control unit further includes a pre-learned artificial intelligence model and a camera sensor, and is characterized in that it performs autonomous driving by controlling the driving unit and the steering unit using the artificial intelligence model based on the map data or satellite image data and driving path information acquired through the camera sensor.

[0024] The above control unit further includes a camera sensor, and is characterized in that it controls the height of the body according to the height of the crop in the spraying area obtained by the camera sensor.

[0025] The above control unit further includes an acceleration sensor, and is characterized in that it maintains the horizontality of the body regardless of the terrain by using the acceleration sensor while driving for spraying the chemical solution.

[0026] The above control unit is characterized in that it controls the driving unit and steering unit by PID (Proportional, Integral, Differential) control.

[0027] A method for controlling a mobility-type unmanned driving device according to another embodiment of the present invention,

[0028] It is characterized by including a step of determining a current location by a location sensor; a step of receiving map data or satellite image data corresponding to the current location; and a step of controlling driving of the mobility-type unmanned driving device by the map data or satellite image data.

[0029] According to another preferred embodiment of the present invention, a mobility-type unmanned driving device is provided.

[0030] A body; a plurality of wheels for driving; a driving unit for driving the plurality of wheels; a steering unit for steering the plurality of wheels; and a control unit for controlling driving, including one or more processors and memories.

[0031] The above plurality of wheels are characterized in that their spacing is controlled by the control unit.

[0032] The above driving unit and steering unit are characterized in that they can independently drive and steer each of the plurality of wheels.

[0033] The above control unit is characterized in that it controls the driving unit or the steering unit to horizontally move, diagonally move, or rotate in place the mobility-type unmanned driving device.

[0034] The above-described mobility-type unmanned driving device further includes a camera unit capable of photographing the front or rear, and the control unit is characterized in that it controls the spacing between the plurality of wheels according to the distance between obstacles photographed by the camera unit.

[0035] The above control unit is characterized in that it controls the height of the body according to a front or rear obstacle captured by the camera unit.

[0036] A method for controlling a mobility-type unmanned driving device according to another preferred embodiment of the present invention is as follows:

[0037] It is characterized by including a step of calculating the distance between obstacles captured by a camera unit; a step of adjusting the distance between a plurality of wheels according to the calculated distance between obstacles; and a step of controlling the mobility-type unmanned driving device to drive along the distance between the obstacles.

[0038] When the driving is completed between the above obstacles, the driving unit and steering unit that drive and steer the plurality of wheels are controlled to move the mobility-type unmanned driving device horizontally next to the obstacle on which the driving is completed.

[0039] The step of controlling the above-mentioned mobility-type unmanned driving device to drive is characterized in that the driving direction is photographed, and when the distance between the obstacles changes, the distance between the plurality of wheels is adjusted according to the distance.

[0040] The step of controlling the above-mentioned mobility-type unmanned driving device to drive is characterized by photographing the direction in which the device is driving and controlling the height of the body of the mobility-type unmanned driving device according to the height of an obstacle in the photographed direction.

[0041] 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.

[0042] Additionally, it has the advantage of being able to optimally control the driving of the mobility-type unmanned driving device according to the field environment.

[0043] 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.

[0044] FIG. 1 is a schematic structural diagram of a mobility-type unmanned driving device according to a preferred embodiment of the present invention.

[0045] FIG. 2 is a schematic block diagram of a mobility-type unmanned driving device according to a preferred embodiment of the present invention.

[0046] FIGS. 3 and 4 illustrate examples of wheel arrangements for driving a mobility-type unmanned driving device according to a preferred embodiment of the present invention.

[0047] FIG. 5 is a more detailed block diagram of a control unit of a mobility-type unmanned driving device according to a preferred embodiment of the present invention.

[0048] Figure 6 is a schematic flowchart of a control method for a mobility-type unmanned driving device according to another preferred embodiment of the present invention.

[0049] Figure 7 is a schematic flowchart of a control method for a mobility-type unmanned driving device according to another preferred embodiment of the present invention.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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."

[0057] 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.

[0058]

[0059] Hereinafter, a preferred embodiment according to the present invention will be described in detail with reference to the attached drawings.

[0060] FIG. 1 is a schematic structural diagram of a mobility-type unmanned driving device according to a preferred embodiment of the present invention.

[0061] Fig. 1 (a) is a front view of a mobility-type unmanned driving device (1), and Fig. 1 (b) is a side view of the mobility-type unmanned driving device (1).

[0062] A mobility-type unmanned driving device (1) according to the present invention may include a body (10), wheels (20), a driving unit (30), a steering unit (40), a liquid injection unit (50), a camera unit (60), and a control unit (70). In addition, a battery (not shown) is included to supply power to the mobility-type unmanned driving device (1).

[0063] 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.

[0064] The body (10) may have various shapes and may be equipped with various equipment depending on the intended use of the mobility-type unmanned driving device (1). For example, the body (10) may be equipped with a chemical spray unit (50) for spraying chemicals, and the body (10) may have a special shape for transport or performing special functions. Below, an example in which the chemical spray unit (50) is installed on the body (10) will be described, but the structure and function of the body (10) are not limited thereto.

[0065] The height of the body (10) can be adjusted depending on the presence and type of obstacles on the driving path. For example, when driving on a field, the height of the body (10) can be adjusted depending on the height of the field crops.

[0066] Additionally, a swing device (not shown) may be further included between the body (10) and the wheel (20) so that the body (10) can remain horizontal with the ground.

[0067] The wheel (20) may be a wheel having a structure that can drive between obstacles such as fields.

[0068] 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.

[0069] 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.

[0070] In one embodiment, when the body (10) includes a chemical spraying unit (50) for spraying the chemical, the chemical spraying unit (50) is configured to spray the chemical toward field crops, and may include a first chemical spraying unit (52) located at the front or lower portion of the body (10) and spraying the chemical downward, a second chemical spraying unit (54) and a third chemical spraying unit whose spraying direction can be adjusted downward or sideways.

[0071] The camera unit (60) is installed at the front and rear of the body (10) respectively to capture the front or rear of the moving direction of the mobility-type unmanned driving device (1).

[0072]

[0073] FIG. 2 is a schematic block diagram of a mobility-type unmanned driving device according to a preferred embodiment of the present invention.

[0074] The control unit (70) performs various control operations of the mobility-type unmanned driving device (1), and for this purpose, may be configured to include one or more processors and memories.

[0075] The memory stores various types of information necessary for the operation of the mobility-type unmanned driving device (1). For example, the information stored in the memory may include, but is not limited to, program information for controlling the operation of the mobility-type unmanned driving device (1).

[0076] 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.

[0077] The control unit (70) can perform various control operations of the mobility-type unmanned driving device (1).

[0078] 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).

[0079] The control unit (70) can control the driving unit (30) and steering unit (40) described above based on obstacle information acquired by the camera unit (60) to control the driving of the mobility-type unmanned driving device (1).

[0080] For this purpose, the control unit (70), driving unit (30), steering unit (40), and camera unit (60) can be connected and send and receive signals using a CAN (Control Area Network) communication method, but are not limited thereto.

[0081] Additionally, the gap between wheels (20) or the height of the body (10) can be controlled according to obstacle information acquired by the camera unit (60).

[0082] For this purpose, the camera unit (60) may include a first camera (62) on the front and a second camera (64) on the rear.

[0083] Additionally, a lifter (not shown) may be further included between each wheel (20) and the body (10) to control the height of the body (10).

[0084] Since a lifter is installed for each wheel (20), it is possible to set the height of the body (10) corresponding to the wheel (20) differently, and thus the height of the body (10) can be maintained horizontally even when driving on an inclined road surface, etc.

[0085] For this purpose, the control unit (70) or the body (10) may include a gyro sensor or acceleration sensor for maintaining balance.

[0086] The control unit (70) can calculate the distance between obstacles using images acquired by the first camera (62) on the front. A distance sensor (not shown) may be further included to accurately calculate the distance. In addition, when the mobility-type unmanned driving device (1) moves backward, the distance between obstacles can be calculated using images acquired by the second camera (64) on the rear.

[0087] The control unit (70) can control the gap between the wheels (20) by the calculated gap between obstacles.

[0088] Figure 3 shows an example of controlling the spacing of wheels (20) in this way.

[0089] Figure 3 (a) shows the spacing between wheels (20) when the spacing between obstacles (d1) is narrow, and Figure 3 (b) shows the spacing between wheels (20) when the spacing between obstacles (d2) is wider than d1.

[0090] In this way, the control unit (70) controls the spacing between the wheels (20) of the mobility-type unmanned driving device (1), thereby enabling the mobility-type unmanned driving device (1) to drive and perform functions such as pest control or transport of goods regardless of the spacing between obstacles, such as the spacing between non-standardized field furrows.

[0091] The control unit (70) can also continuously detect the distance between obstacles by the camera unit (60) while driving, and control the distance between wheels (20) in real time accordingly when the distance between obstacles changes.

[0092] The control unit (70) also controls the driving unit (30) and the steering unit (40) to enable various driving controls of the mobility-type unmanned driving device (1).

[0093] The mobility-type unmanned driving device (1) requires various driving modes because it must drive between field furrows or turn in narrow spaces. Accordingly, by including a separate driving unit (32, 34, 36, 38) and steering unit (42, 44, 46, 48) for each wheel (22, 24, 26, 28), the control unit (70) can control the mobility-type unmanned driving device (1) in various driving modes through various combinations of these.

[0094] Figure 4 shows examples of various driving modes of such a mobility-type unmanned driving device (1).

[0095] Figure 4 (a) shows the wheel arrangement in a typical driving situation of a mobility-type unmanned driving device (1). In this arrangement, the mobility-type unmanned driving device (1) will be able to drive in a straight line forward or backward.

[0096] Figure 4 (b) shows the arrangement of wheels in parallel movement, also known as crab driving, of a mobility-type unmanned driving device (1).

[0097] When a mobility-type unmanned driving device (1) needs to move in parallel to the furrow of a field right next to it, steering of the wheels (20) is required. Accordingly, the control unit (70) controls the steering unit (42, 44, 46, 48) to rotate each wheel (22, 24, 26, 28) by 90 degrees, thereby moving in a straight direction to the left or right to continue spraying the furrow next to it.

[0098] Figure 4 (c) shows the wheel arrangement for turning in place of a mobility-type unmanned driving device (1).

[0099] The control unit (70) controls the steering unit (42, 44, 46, 48) to arrange each wheel (22, 24, 26, 28) in a circle, and controls the driving unit (32, 34, 36, 38) to rotate each wheel (22, 24, 26, 28) in the same direction, thereby controlling the mobility-type unmanned driving device (1) to turn in place.

[0100] The steering unit (42, 44, 46, 48) and driving unit (32, 34, 36, 38) of the control unit (70) can be controlled by PID control, and a detailed description of the PID control is omitted.

[0101] The speed of the driving unit and the steering angle of the wheels can be stably controlled by PID control.

[0102] Figure 4 (d) shows the wheel arrangement for diagonal driving of a mobility-type unmanned driving device (1).

[0103] The mobility-type unmanned driving device (1) can move in a straight line in a diagonal direction by controlling the steering unit (42, 44, 46, 48) so that the four wheels (22, 24, 26, 28) are arranged in parallel and diagonally.

[0104] In this way, the mobility-type unmanned driving device (1) according to the present invention has the advantage of being able to drive and spray between various fields that are difficult to drive with a general driving device because each of the plurality of wheels can be independently steered to enable various wheel arrangements as shown in FIG. 4.

[0105] FIG. 5 is a more detailed structural diagram of a control unit of a mobility-type unmanned driving device according to a preferred embodiment of the present invention.

[0106] The control unit (70) according to the present invention may further include a processor (71), a memory (72), a sensor (73), and a communication unit (74).

[0107] As previously discussed, the memory (72) stores various information necessary for the operation of the mobility-type unmanned driving device (1), and the processor (71) can perform various control operations of the mobility-type unmanned driving device (1).

[0108] The sensor (73) may include a gyro sensor or acceleration sensor for maintaining the balance of the mobility-type unmanned driving device (1), a radar or lidar sensor for driving the mobility-type unmanned driving device (1), a position sensor for determining the current location, etc.

[0109] The communication unit (74) provides a wireless connection between the control unit (70) and the remote controller (2).

[0110] The user can check the status of the mobility-type unmanned driving device (1) or the driving environment of the field or other driving path through the remote controller (2), and can remotely control the driving or spraying of the mobility-type unmanned driving device (1) by controlling the remote controller (2) and transmitting commands to the control unit (70).

[0111] With the emergency situation function built into the remote controller (2), the communication unit (74) can stop the mobility-type unmanned driving device (1) in an emergency when receiving an emergency situation signal from the remote controller (2).

[0112] The user can control the stationary driving or diagonal driving of the mobility-type unmanned driving device (1) through the remote controller (2).

[0113] When the control unit (70) receives a driving control signal from the remote controller (2), it controls the driving unit (30) and the steering unit (40) to drive the mobility-type unmanned driving device (1) according to the user's command.

[0114] The control unit (70) can also drive the mobility-type unmanned driving device (1) autonomously.

[0115] 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.

[0116] The control unit (70) can determine the current location through a sensor (73). For this purpose, the sensor (73) may include a location sensor such as a GPS sensor.

[0117] The control unit (70) can receive map data or satellite photo data corresponding to the current location identified using the sensor (73) through the communication unit (74).

[0118] Since driving information on farmland such as fields cannot often be determined using map data, a route for autonomous driving can be determined using satellite image data or by combining satellite image data and map data, and the artificial intelligence model of the control unit (70) can be learned in advance using satellite image data and map data.

[0119] The control unit (70) may also control the amount or direction of chemical spraying based on the status of the crops, etc., as determined by the sensor (73). For this purpose, the sensor (73) may be a camera sensor.

[0120] The control unit (70) can also control the height of the body (10) according to the height of the crop detected by the camera sensor. This is to prevent the body (10) from getting caught on the crop and damaging the crop depending on the height of the crop.

[0121]

[0122] Figure 6 is a schematic flowchart of a driving control method of a mobility-type unmanned driving device according to another preferred embodiment of the present invention.

[0123] The method for controlling a mobility-type unmanned driving device according to the present invention can be performed by a control unit including one or more processors and memory.

[0124] In order to control the driving of a mobility-type unmanned driving device, the driving path is first captured by a camera unit (S110).

[0125] The control unit determines the shape and width of obstacles on the driving path, the spacing between obstacles, etc. to set the driving path and controls the mobility-type unmanned driving device accordingly.

[0126] The control unit controls the spacing between the wheels of the mobility-type unmanned driving device according to the spacing between the photographed obstacles (S120).

[0127] Since the size and shape of the field, the spacing between furrows, etc., which are types of obstacles, are not standardized, the spacing between furrows in the field is determined by analyzing the field image captured by the camera unit, and the spacing between the wheels is adjusted to the spacing between the furrows in the field, so that the mobile unmanned driving device can drive between the fields and spray the chemical solution.

[0128] At this time, not only the spacing between the wheels but also the height of the mobile unmanned vehicle's body can be controlled. By controlling the height of the body according to the height of the field crops, which are obstacles, the vehicle can move without damaging them.

[0129] After completing the wheel spacing adjustment, the control unit controls the driving unit to drive the mobility-type unmanned driving device between obstacles (S130), and when the mobility-type unmanned driving device is used for pesticide spraying, the control unit controls the pesticide sprayer to spray the pesticide on the field crops (S140).

[0130] At this time, the camera unit continuously observes the shape of the field in the driving direction, and if the distance between the ridges in the field or the shape of the field changes, the control unit can control the driving by re-regulating the wheel distance. In addition, if the height of obstacles such as field crops changes, the control unit can adjust the height of the body to continue driving.

[0131]

[0132] Figure 7 is a schematic flowchart of a driving control method of a mobility-type unmanned driving device according to another preferred embodiment of the present invention.

[0133] The method for controlling a mobility-type unmanned driving device according to the present invention can be performed by a control unit including one or more processors and memory.

[0134] The control unit first determines the current location using a position sensor (S210).

[0135] Once the location is determined, map data or satellite image data corresponding to the location is received through the communication unit (S220).

[0136] Finally, autonomous driving is controlled using the received map data or satellite image data (S230).

[0137] As previously discussed, the control unit for autonomous driving can include a pre-learned artificial intelligence model.

[0138]

[0139] According to the mobility-type unmanned driving device and its control method according to the present invention configured as described above, there is an advantage in that the driving of the mobility-type unmanned driving device can be effectively controlled regardless of the shape, size, and spacing of various non-standardized fields, thereby enabling more effective driving between obstacles such as fields with irregular spacing.

[0140]

[0141] 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. Body; Multiple wheels for driving; A driving unit for driving the above plurality of wheels; A steering unit for steering the plurality of wheels; and A control unit comprising one or more processors and memory for controlling driving; Including, but not limited to, A mobility-type unmanned driving device, characterized in that the spacing between the plurality of wheels is adjusted by the control unit.

2. In paragraph 1, A mobility-type unmanned driving device, characterized in that the driving unit and steering unit can independently drive and steer each of the plurality of wheels.

3. In paragraph 1, A mobility-type unmanned driving device, characterized in that the control unit controls the driving unit or the steering unit to move the mobility-type unmanned driving device horizontally, diagonally, or rotate in place.

4. In paragraph 1, A camera unit capable of taking front or rear shots of the above-mentioned mobility-type unmanned driving device; Including more, A mobility-type unmanned driving device, characterized in that the control unit controls the spacing between the plurality of wheels according to the distance between obstacles captured by the camera unit.

5. In paragraph 1, A camera unit capable of taking front or rear shots of the above-mentioned mobility-type unmanned driving device; Including more, A mobility-type unmanned driving device, characterized in that the control unit controls the height of the body according to a front or rear obstacle captured by the camera unit.

6. In paragraph 1, The above control unit further includes a communication unit, A mobility-type unmanned driving device characterized in that it controls driving by receiving a user's remote control signal through the communication unit and controlling the driving unit and steering unit.

7. In paragraph 1, The above control unit further includes a sensor unit, The current location is identified through the above sensor section, A mobility-type unmanned driving device characterized in that it controls driving by receiving map data or satellite image data corresponding to the current location through the communication unit and controlling the driving unit and steering unit.

8. In paragraph 1, The above control unit further includes a pre-learned artificial intelligence model and a camera sensor, A mobility-type unmanned driving device characterized in that it performs autonomous driving by controlling the driving unit and steering unit using the artificial intelligence model based on the map data or satellite image data and driving path information acquired through the camera sensor.

9. In paragraph 1, The above control unit further includes a camera sensor, A mobility-type unmanned driving device characterized in that the height of the body is controlled according to the height of the crop in the spraying area acquired by the camera sensor.

10. In paragraph 1, The above control unit further includes an acceleration sensor, A mobility-type unmanned driving device characterized in that the body is maintained horizontally regardless of the terrain by using the acceleration sensor while driving for spraying a chemical solution.

11. In paragraph 1, A mobility-type unmanned driving device, characterized in that the control unit controls the driving unit and the steering unit by PID (Proportional, Integral, Differential) control.

12. A method for controlling a mobility-type unmanned driving device performed by a control unit including one or more processors and memories: A step of determining the current location by a location sensor; A step of receiving map data or satellite image data corresponding to the current location; and A step of controlling driving of the mobility-type unmanned driving device by the map data or satellite image data; A method for controlling a mobility-type unmanned driving device, characterized by including a .

13. A method for controlling a mobility-type unmanned driving device, the method being performed by a control unit including one or more processors and memories: A step of calculating the distance between obstacles captured by the camera unit; A step of adjusting the spacing between multiple wheels according to the calculated obstacle spacing; and A step of controlling the mobility-type unmanned driving device to drive along the obstacles; A method for controlling a mobility-type unmanned driving device, characterized by including a.

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