Smart farm autonomous driving robot system and control method therefor

Abstract

The present invention relates to a smart farm autonomous driving robot system. The smart farm autonomous driving robot system comprises: a sensor module that includes a vision camera and a position sensor and detects information required for management of an open-field smart farm; a communication module that communicates with an external apparatus by using a wireless communication scheme, transmits various types of information from the smart farm autonomous driving robot system, and receives commands or data for controlling the smart farm autonomous driving robot system; a processor that controls the overall operations of the smart farm autonomous driving robot system, acquires state information of the open-field smart farm and growth information of crops by using information detected through the sensor module, manages an open field of the open-field smart farm in an optimal state, and manages crops in the open-field smart farm to grow safely; and a driving module that drives crawler-type wheels of the smart farm autonomous driving robot system under the control of the processor to cause the smart farm autonomous driving robot system to travel along a path of the open-field smart farm.

Description

Smart farm autonomous driving robot system and control method thereof

[0001] The present invention relates to a smart farm autonomous driving robot system and a control method thereof, and more specifically, to a smart farm autonomous driving robot system and a control method thereof that enables management of an open-field type smart farm.

[0002] Generally, a smart farm refers to a type of intelligent farm that minimizes the need for human labor by automating farming techniques through the integration of information and communication technology (ICT).

[0003] According to this smart farm technology, the temperature, humidity, amount of sunlight, carbon dioxide, and soil of a crop cultivation facility can be measured and analyzed using Internet of Things (IoT) technology, and the growth status of the crops can be analyzed. Based on the analysis results, an automated system can be operated to cultivate crops in an optimal growth environment, and remote management via mobile devices such as smartphones is also possible.

[0004] It is also possible to automatically spray fertilizer and insecticides for pest control.

[0005] Meanwhile, although such smart farms can be installed in various forms and at various costs depending on the system configuration, they typically require a significant investment. Consequently, research is currently being conducted on open-field smart farms, which are more affordable to install compared to greenhouse-type smart farms. The aforementioned open field refers to land not covered by a roof, and in agriculture, it signifies rice paddies and fields where facilities are not installed.

[0006] However, while it is desirable to perform leveling work first to manage the aforementioned smart farm, in the case of open-field smart farms, the smart farm system may be installed on unleveled open land (e.g., orchards, highland vegetables, etc.) due to the characteristics of the open land. Furthermore, even if leveling is achieved, the land may be deformed into a non-leveled state due to the influence of wind (typhoon), rain (heavy rain), sunlight (heat wave), etc. Therefore, there is a need for an autonomous robot system capable of managing such open-field smart farms.

[0007] The background technology of the present invention is disclosed in Korean registered patent No. 10-1556301 (registered September 22, 2015, device for controlling harmful elements in crops using an unmanned automatic robot).

[0008] According to one aspect of the present invention, the present invention is created to solve the above-mentioned problems and aims to provide a smart farm autonomous driving robot system and a control method thereof that can perform management of an open-field type smart farm.

[0009] A smart farm autonomous driving robot system according to one aspect of the present invention comprises: a sensor module including a vision camera and a position sensor, which detects information necessary for the management of an open-field smart farm; a communication module that communicates with an external device via wireless communication, transmits various information from the smart farm autonomous driving robot system, and receives commands or data for controlling the smart farm autonomous driving robot system; a processor that generally controls the operation of the smart farm autonomous driving robot system, obtains information on the state of the open-field smart farm and the growth of crops using information detected through the sensor module, manages the open field of the open-field smart farm in an optimal state, and manages the crops of the open-field smart farm to grow safely; and a driving module that drives the crawler-type wheels of the smart farm autonomous driving robot system to drive along the path of the open-field smart farm according to the control of the processor.

[0010] The present invention is characterized by further including a memory module that stores software or data for driving the smart farm autonomous driving robot system and data generated during the performance of management functions of the smart farm autonomous driving robot system.

[0011] In the present invention, the processor is characterized by analyzing an image captured through the vision camera based on prior learned information to distinguish the shape of an open field, weeds growing in the open field, fruits or branches fallen in the open field, the shape of vegetables and trees growing in the open field, the shape of trees or branches, the shape of fruits, the shape of leaves, and colors.

[0012] The present invention is further characterized by including a wind generating module that, under the control of the processor, blows wind in the shooting direction to move branches or leaves aside so as not to obstruct the front of the camera, in order to accurately detect the condition of the open field, trees, or crops using the vision camera of the sensor module.

[0013] The present invention is characterized by further including an agricultural tool module for selecting one of a plurality of agricultural tool modules mounted on one side of the smart farm autonomous driving robot system according to the control of the processor and performing a task corresponding to the agricultural tool module.

[0014] In the present invention, the agricultural tool module is characterized by comprising at least one of: an agricultural tool module for leveling the ground, such as a hoe or a plow; an agricultural tool module for weeding, such as a sickle or a brush cutter; an agricultural tool module for pruning, such as cutting branches using pruning shears or an electric saw; and an agricultural tool module for digging or covering the ground using a shovel or tongs.

[0015] In the present invention, the processor is characterized by analyzing images acquired through a vision camera while the smart farm autonomous driving robot system travels along a path of an open-field smart farm to detect whether there is uneven ground in the open field, and if uneven ground is detected, notifying the user that there is uneven ground in the open field, and, with the user's permission, selecting or attaching a suitable agricultural equipment module to perform the ground leveling work and performing the ground leveling work, and when the ground leveling work is completed, notifying the user of images taken before and after the work and leaving a record in the database of the memory module.

[0016] In the present invention, the processor analyzes images acquired through a vision camera while the smart farm autonomous driving robot system travels along a path of an open-field smart farm to detect whether weeds in the open field have grown beyond a specified standard; if weeds are detected growing in the open field, it notifies the user that weeds are growing in the open field; obtains permission from the user to select or install a suitable agricultural tool module for performing weeding operations and performs weeding operations; and when the weeding operations are completed, it notifies the user of images taken before and after the operation and leaves a record in the database of the memory module.

[0017] In the present invention, the processor analyzes images acquired through a vision camera while the smart farm autonomous driving robot system travels along a path of an open-field smart farm to analyze the shape of branches of trees planted in the open-field smart farm; if, as a result of analyzing the shape of the branches, a broken branch or a branch to be pruned is detected, the processor checks whether the branch is a branch that can be automatically pruned by an agricultural tool module mounted on the smart farm autonomous driving robot system; if the branch is a branch that can be automatically pruned, the processor notifies the user that there is a branch to be pruned, selects or mounts a suitable agricultural tool module to perform the pruning operation with the user's permission, and performs the electronic operation; and when the pruning operation is completed, the processor notifies the user of images captured before and after the operation and leaves a record in the database of the memory module.

[0018] In the present invention, the processor is characterized by recording the location of the tree containing the branch to be pruned in a map form in a memory module when the branch is not a branch capable of automatic pruning, and guiding the user to the recorded location so that the user can perform the pruning operation.

[0019] In the present invention, the processor analyzes images acquired through a vision camera while the smart farm autonomous driving robot system travels along a path of an open-field smart farm, analyzes the shape and color of fruits hanging on the branches of trees planted in the open-field smart farm, and if a fruit not wrapped in a bag is detected at the current growth stage of the fruit hanging on the branch, records the location of the tree where the unwrapped fruit is hanging in the form of a map in a memory module, guides the user to the recorded location so that the user can perform fruit bagging work, and when the user performs fruit bagging work, checks whether fruit bagging work is completed for all fruits by comparing with the information recorded in the map, and if fruit bagging work is completed for all fruits recorded in the map, notifies the user of the images taken before and after the work and leaves a record in the database of the memory module.

[0020] In the present invention, the processor analyzes images acquired through a vision camera while the smart farm autonomous driving robot system drives along the path of an open-field smart farm to detect whether there is a fruit that has fallen to the ground, and if the fruit that has fallen to the ground is a rotten fruit or a fruit with a damaged flesh, selects or mounts a suitable agricultural tool module to perform the task of burying the fruit that has fallen to the ground, thereby performing the fruit burying task, and when the fruit burying task is completed, notifies the user of the images taken before and after the task and leaves a record in the database of the memory module.

[0021] In the present invention, the processor analyzes images acquired through a vision camera while the smart farm autonomous driving robot system drives along a path of an open-field smart farm, analyzes the shape and color of a fruit hanging on a branch of a tree planted in the open-field smart farm, and if the fruit hanging on the branch is any one of a rotten fruit, a fruit with a hollowed-out flesh, or a ripe fruit, records the location of the tree where the fruit is hanging in the form of a map in a memory module, guides the user to the recorded location so that the user can perform a fruit removal operation or a fruit harvesting operation, and when the user performs a fruit removal operation or a fruit harvesting operation, checks whether the corresponding operation is completed for all fruits of each type by comparing with the information recorded in the map, and if the corresponding operation is completed for all fruits of each type recorded in the map, notifies the user of images taken before and after the operation and leaves a record in the database of the memory module.

[0022]

[0023] A control method for a smart farm autonomous driving robot system according to another aspect of the present invention comprises: a step in which a processor of the smart farm autonomous driving robot system analyzes images acquired through a vision camera while the smart farm autonomous driving robot system is driving along a path of an open-field smart farm to detect whether there is dug-out soil in the open field; a step in which, if dug-out soil is detected in the open field, the user is notified that there is dug-out soil in the open field, and, with the user's permission, a corresponding agricultural tool module suitable for performing soil leveling work is selected or mounted to perform soil leveling work; and a step in which, when the soil leveling work is completed, the user is notified of images taken before and after the work and a record is left in the database of a memory module.

[0024] The present invention is characterized by further comprising: a step in which, after the smart farm autonomous driving robot system analyzes images acquired through a vision camera while driving along a path of an open-field smart farm, the processor detects whether weeds in the open field have grown above a specified standard; a step in which, if weeds grown in the open field are detected, the processor notifies the user that weeds are growing in the open field and, with the user's permission, selects or mounts a suitable agricultural tool module for performing weeding work to perform weeding work; and, when the weeding work is completed, notifies the user of images taken before and after the work and leaves a record in the database of a memory module.

[0025] In the present invention, after the step of analyzing images acquired through a vision camera while the smart farm autonomous driving robot system drives along a path of an open-field smart farm, the processor further comprises: a step of analyzing the shape of a tree branch planted in the open-field smart farm; a step of checking whether the branch is capable of automatic pruning by an agricultural tool module mounted on the smart farm autonomous driving robot system if, as a result of analyzing the shape of the branch, it is detected as a broken branch or a branch to be pruned; a step of, if the branch is capable of automatic pruning, notifying the user that there is a branch to be pruned, and performing an electronic operation by selecting or mounting a suitable agricultural tool module for performing the pruning operation with the user's permission; and, when the pruning operation is completed, notifying the user of images captured before and after the operation and leaving a record in the database of the memory module.

[0026] In the present invention, if the branch is not a branch capable of automatic pruning, the processor records the location of the tree containing the branch to be pruned in a map form in a memory module and guides the user to the recorded location so that the user can perform the pruning operation.

[0027] In the present invention, the smart farm autonomous driving robot system analyzes images acquired through a vision camera while driving along a path of an open-field smart farm, and the processor further comprises the steps of: analyzing the shape and color of fruit hanging on a branch of a tree planted in the open-field smart farm; if fruit not wrapped in a bag is detected at the current growth time of the fruit hanging on the branch, recording the location of the tree where the fruit not wrapped in a bag is hanging in a map form in a memory module and guiding the user to the recorded location so that the user can perform fruit bagging work; checking whether fruit bagging work is completed for all fruits by comparing with the information recorded in the map when the user performs fruit bagging work; and if fruit bagging work is completed for all fruits recorded in the map, notifying the user of images taken before and after the work and leaving a record in the database of the memory module.

[0028] The present invention is characterized by further including, after the step of analyzing images acquired through a vision camera while the smart farm autonomous driving robot system drives along a path of an open-field smart farm, the processor detects whether there is a fruit that has fallen to the ground; if the fruit that has fallen to the ground is a rotten fruit or a fruit with a damaged flesh, the processor selects or mounts a suitable agricultural tool module to perform a fruit burying operation by performing the fruit burying operation; and when the fruit burying operation is completed, the processor notifies the user of images taken before and after the operation and leaves a record in the database of the memory module.

[0029] In the present invention, the smart farm autonomous driving robot system analyzes images acquired through a vision camera while driving along a path of an open-field smart farm, and the processor further comprises the steps of: analyzing the shape and color of a fruit hanging on a branch of a tree planted in the open-field smart farm; if the fruit hanging on the branch is any one of a rotten fruit, a fruit with a hollowed-out flesh, or a ripe fruit, recording the location of the tree where the fruit is hanging in a map form in a memory module and guiding the user to the recorded location so that the user can perform a fruit removal operation or a fruit harvesting operation; when the user performs a fruit removal operation or a fruit harvesting operation, checking whether the corresponding operation for each type of fruit is completed by comparing with the information recorded in the map; and if the corresponding operation for each type of fruit recorded in the map is completed, notifying the user of images taken before and after the operation and leaving a record in the database of the memory module.

[0030] According to one aspect of the present invention, the present invention enables management of an open-field type smart farm.

[0031] FIG. 1 is an exemplary diagram showing the schematic configuration of a smart farm autonomous driving robot system according to one embodiment of the present invention.

[0032] FIG. 2 is an example diagram showing the schematic shape of a smart farm autonomous driving robot system in FIG. 1.

[0033] FIG. 3 is a flowchart illustrating a control method for a smart farm autonomous driving robot system according to a first embodiment of the present invention.

[0034] FIG. 4 is a flowchart illustrating a control method for a smart farm autonomous driving robot system according to a second embodiment of the present invention.

[0035] FIG. 5 is a flowchart illustrating a control method for a smart farm autonomous driving robot system according to a third embodiment of the present invention.

[0036] FIG. 6 is a flowchart illustrating a control method for a smart farm autonomous driving robot system according to a fourth embodiment of the present invention.

[0037] FIG. 7 is a flowchart illustrating a control method for a smart farm autonomous driving robot system according to a fifth embodiment of the present invention.

[0038] FIG. 8 is a flowchart illustrating a control method for a smart farm autonomous driving robot system according to the 6th embodiment of the present invention.

[0039] Hereinafter, an embodiment of a smart farm autonomous driving robot system and a control method according to the present invention will be described with reference to the attached drawings.

[0040] In this process, the thickness of lines or the size of components depicted in the drawings may be exaggerated for the sake of clarity and convenience of explanation. Furthermore, the terms described below are defined considering their functions in the present invention, and these may vary depending on the intent or convention of the user or operator. Therefore, the definitions of these terms should be based on the content throughout this specification.

[0041] FIG. 1 is an exemplary diagram showing the schematic configuration of a smart farm autonomous driving robot system according to one embodiment of the present invention, and FIG. 2 is an exemplary diagram showing the schematic shape of the smart farm autonomous driving robot system in FIG. 1.

[0042] As illustrated in FIG. 1, the smart farm autonomous driving robot system according to the present embodiment includes a sensor module (110), a communication module (120), a memory module (130), a processor (140), a driving module (150), a wind generation module (160), and an agricultural equipment module (170).

[0043] The sensor module (110) detects information to enable the smart farm autonomous driving robot system to perform smart farm management functions through autonomous driving.

[0044] For example, the sensor module (110) includes at least a camera (vision camera) and a position sensor (e.g., GPS).

[0045] The camera of the sensor module (110) is provided on one side of the smart farm autonomous driving robot system (e.g., the top of a rotatable wind generating module, the top or front of the main body) to acquire images of the condition of the open field and the branches or fruits of crops.

[0046] In addition, the position sensor (GPS) of the sensor module (110) detects the current location (i.e., the location inside the smart farm) where the smart farm autonomous driving robot system is moving.

[0047] The above communication module (120) can perform wireless communication functions with an external device (e.g., a PC for smart farm management, a smart farm management server, a manager's smartphone, etc.).

[0048] For example, the above external devices can receive various information from the smart farm autonomous driving robot system through the communication module (120) and can also transmit commands or data to control the smart farm autonomous driving robot system.

[0049] The memory module (130) stores software or data for operating the smart farm autonomous driving robot system.

[0050] In addition, the memory module (130) can store data generated during the performance of management functions of the smart farm autonomous driving robot system.

[0051] The processor (140) generally controls the operation of the smart farm autonomous driving robot system, obtains information on the status of the smart farm and the growth of crops through vision inspection using the sensor module (110), manages the smart farm in an optimal state based on this, and manages the crops so that they can grow safely.

[0052] The processor (140) analyzes information (e.g., image information, location information) detected through the sensor module (110).

[0053] For example, the processor (140) analyzes the image based on information learned in advance (e.g., deep learning algorithm) to distinguish the shape of the open field, weeds (grass) grown in the open field, objects fallen in the open field (e.g., fruit, branches, animal feces, etc.), vegetables and trees, and also distinguishes the shape of the tree or branch, the shape of the fruit, the shape of the leaf, and the color.

[0054] The above drive module (150) controls a wheel (e.g., a crawler wheel) (151) based on power supplied from a battery (not shown) under the control of the processor (140) to perform forward, reverse, speed control, and direction control.

[0055] The processor (140) controls the driving module (150) based on information detected through the sensor module (110), thereby enabling the smart farm autonomous driving robot system to perform smart farm management functions through autonomous driving.

[0056] The wind generating module (160), under the control of the processor (140), blows wind in the direction of shooting to accurately detect the condition of the open field and trees (or crops) using the camera of the sensor module (110) (e.g., to photograph fruits hidden behind branches or leaves), thereby causing branches or leaves to move aside so as not to block the front of the camera.

[0057] The processor (140) analyzes the image detected through the sensor module (110) to detect branches that are broken or require pruning (i.e., cutting and trimming side branches to make the appearance of the plant uniform, prevent excessive growth, and increase the production of fruit trees, etc., such as branch selection, branch trimming, branch pruning, etc.).

[0058] In addition, in orchards, etc., the fruit is wrapped in paper bags to prevent it from being damaged by birds or insects, and the processor (140) analyzes the image detected through the sensor module (110) to distinguish between the fruit wrapped in the paper bag and the fruit not wrapped in the paper bag.

[0059] In addition, the processor (140) can distinguish between rotten fruit, fruit with damaged flesh, and ripe fruit from a fruit tree (e.g., apple, pear, peach, etc.), record the number and location of each type, create a map, and notify the user, thereby enabling the user to perform fruit removal or fruit harvesting.

[0060] The above agricultural tool module (170), under the control of the processor (140), selects one of a plurality of agricultural tool modules (i.e., a plurality of agricultural tool modules required for the management of the smart farm) mounted on one side of the smart farm autonomous driving robot system and performs a task corresponding to the agricultural tool module.

[0061] For example, the above-mentioned agricultural tool module (170) includes an agricultural tool module for leveling the ground, such as a hoe or plow (1st agricultural tool module), an agricultural tool module for weeding work, such as a sickle or brush cutter (2nd agricultural tool module), an agricultural tool module for pruning work, such as cutting branches using pruning shears or an electric saw (3rd agricultural tool module), and an agricultural tool module for digging or covering the ground using a shovel or tongs, etc. (4th agricultural tool module).

[0062] However, the aforementioned agricultural machinery module is described merely as an example, and additional agricultural machinery modules performing a wider variety of functions may be included.

[0063] Here, each agricultural tool module included in the above agricultural tool module (170) may be attached in advance to one side (e.g., bottom surface, top surface, front surface, rear surface) of the smart farm autonomous driving robot system according to the characteristics of the work to be performed by the agricultural tool module, or carried collectively in the main body and then mounted (or attached) to a designated location when a required agricultural tool module is selected (or switched) for use.

[0064] The control method of the above-mentioned smart farm autonomous driving robot system is described below.

[0065] -1st Embodiment-

[0066] FIG. 3 is a flowchart illustrating a control method for a smart farm autonomous driving robot system (hereinafter simply referred to as a robot system) according to a first embodiment of the present invention.

[0067] Referring to FIG. 3, the processor (140) analyzes images acquired through a camera while the robot system according to the present embodiment travels along the path of an open-field smart farm (S101) and detects whether there is any dug-up soil in the open field (S103).

[0068] For example, due to the characteristics of open fields, the ground may be dug up by the influence of natural conditions (e.g., wind, rain, etc.).

[0069] As a result of the above detection (S103), if a dug-out area is detected in the open field (e.g., in S103), the processor (140) notifies the user that there is a dug-out area in the open field (i.e., notifies the user through an external device that there is a dug-out area in the open field), and if the user permits the leveling work to be performed (e.g., in S104), then selects (or switches) or mounts (or attaches) a suitable agricultural tool module (e.g., agricultural tool module No. 1) for performing the leveling work (S105), and then moves the robot system to the location where the ground is dug (S106).

[0070] When the above robot system moves to the location where the ground is dug, the processor (140) performs a ground leveling operation using the corresponding agricultural tool module (e.g., agricultural tool module 1) (S107), and when the ground leveling operation is completed (e.g., S108), it notifies the user of the video footage taken before and after the operation (i.e., notifies the user that the operation is completed through an external device) and leaves a record in the database of the memory module (130) (S109).

[0071] -2nd Implementation Example-

[0072] FIG. 4 is a flowchart illustrating a control method for a smart farm autonomous driving robot system (hereinafter simply referred to as a robot system) according to a second embodiment of the present invention.

[0073] Referring to FIG. 4, the processor (140) analyzes images acquired through a camera while the robot system according to the present embodiment travels along the path of an open-field smart farm (S201) and detects whether weeds (grass) have grown above a specified standard in the open field (S203).

[0074] If weeds (grass) grown in the open field are detected as a result of the above detection (S203) (e.g., in case of S203), the processor (140) notifies the user that weeds (grass) have grown in the open field (i.e., notifies the user through an external device that weeds are growing in the open field), and if the user permits the weeding work (weed removal work) to be performed (e.g., in case of S204), the processor (140) selects (or switches) or mounts (or attaches) a suitable agricultural tool module (e.g., agricultural tool module 2) for performing the weeding work (S205), and then moves the robot system to the location where the weeding work is to be performed (S206).

[0075] When the robot system moves to a location to perform weeding, the processor (140) performs weeding using the corresponding agricultural tool module (e.g., agricultural tool module 2) (S207), and when the weeding is completed (e.g., S208), it notifies the user of the images taken before and after the work (i.e., notifies the user that the work is completed through an external device) and leaves a record in the database of the memory module (130) (S209).

[0076] -Third Embodiment-

[0077] FIG. 5 is a flowchart illustrating a control method for a smart farm autonomous driving robot system (hereinafter simply referred to as a robot system) according to a third embodiment of the present invention.

[0078] Referring to FIG. 5, the processor (140) analyzes images acquired through a camera while the robot system according to the present embodiment travels along the path of an open-field smart farm (S301) and analyzes the shape of the branches of the trees planted in the open-field smart farm (S302).

[0079] If, as a result of analyzing the shape of the above branch (S203), a broken branch or a branch to be pruned is detected (e.g., S303), the processor (140) checks whether the branch can be automatically pruned by the robot system (i.e., by the agricultural tool module mounted on the robot system) (S304).

[0080] As a result of the above check (S304), if the branch is a branch that can be automatically pruned (e.g., in S304), the user is notified that there is a branch to be pruned (i.e., notified via the user's external device that there is a branch to be pruned), and if the user is authorized to perform the pruning work (S305), the corresponding agricultural tool module suitable for performing the pruning work (e.g., agricultural tool module 3) is selected (or switched) or mounted (or attached) (S306), the robot system is moved to the location to perform weeding work, and the pruning work is performed using the corresponding agricultural tool module (e.g., agricultural tool module 3) (S307), and when the pruning work is completed (e.g., in S308), the user is notified of the video footage taken before and after the work (i.e., notified via the user's external device that the work is completed), and a record is left in the database of the memory module (130) (S309).

[0081] Meanwhile, if, as a result of the above check (S304), the branch is not a branch that can be automatically pruned (No in S304), the corresponding location (i.e., the location of the tree containing the branch to be pruned) is recorded (stored) in the memory module (130) in the form of a map, and the recorded (stored) location is guided to the user (S310) so that the user can perform the pruning operation.

[0082] -Fourth Embodiment-

[0083] FIG. 6 is a flowchart illustrating a control method for a smart farm autonomous driving robot system (hereinafter simply referred to as a robot system) according to a fourth embodiment of the present invention.

[0084] Referring to FIG. 6, the processor (140) analyzes images acquired through a camera while the robot system according to the present embodiment travels along the path of an open-field smart farm (S401) and analyzes the shape (e.g., shape and color) of a fruit attached (hanging) to a branch of a tree planted in the open-field smart farm (S402).

[0085] When the shape (e.g., shape and color) of the fruit hanging on the branch is analyzed (S203) and a fruit not wrapped in a bag is detected at the current growth stage of the fruit (e.g., S403), the processor (140) records (stores) the location (i.e., the location of the tree where the fruit not wrapped in a bag is hanging) in the form of a map in the memory module (130) (S404), and guides the user to the recorded (stored) location (S405) so that the user can perform the fruit bag operation (i.e., the operation of wrapping the fruit in a bag) (S406).

[0086] As described above, when the user performs the fruit bag operation (i.e., the operation of wrapping fruit in a bag), the information recorded on the map is compared (contrast) to check whether the fruit bag operation (i.e., the operation of wrapping fruit in a bag) is completed for all fruits (S407). Accordingly, if the fruit bag operation (i.e., the operation of wrapping fruit in a bag) is completed for all fruits recorded on the map (e.g., the example of S407), the user is notified of the images taken before and after the operation (i.e., notified through the user's external device that the operation is completed), and a record is left in the database of the memory module (130) (S408).

[0087] -Fifth Embodiment-

[0088] FIG. 7 is a flowchart illustrating a control method for a smart farm autonomous driving robot system (hereinafter simply referred to as a robot system) according to the fifth embodiment of the present invention.

[0089] Referring to FIG. 7, the processor (140) analyzes images acquired through a camera while the robot system according to the present embodiment travels along the path of an open-field smart farm (S501), detects whether there is any fruit that has fallen to the ground (S503), and checks whether the detected fruit that has fallen to the ground is rotten or has damaged flesh (i.e., fruit that is not marketable or cannot be eaten) (S504).

[0090] If, as a result of the above check (S504), the fruit that fell to the ground is rotten or has its flesh gouged out (example of S504), according to a preset algorithm, the processor (140) selects (or switches) or mounts (or attaches) a corresponding agricultural tool module (e.g., agricultural tool module 4) suitable for performing the task of burying the fruit that fell to the ground (i.e., fruit burying task) (S506), moves the robot system to the location where the fruit burying task is to be performed, and then performs the fruit burying task using the corresponding agricultural tool module (e.g., agricultural tool module 4) (S506). When the fruit burying task is completed (example of S507), the processor (140) notifies the user of the video footage taken before and after the task (i.e., notifies the user that the task is completed via an external device), and leaves a record in the database of the memory module (130) (S508).

[0091] -6th Embodiment-

[0092] FIG. 8 is a flowchart illustrating a control method for a smart farm autonomous driving robot system (hereinafter simply referred to as a robot system) according to the 6th embodiment of the present invention.

[0093] Referring to FIG. 8, the processor (140) analyzes images acquired through a camera while the robot system according to the present embodiment travels along the path of an open-field smart farm (S601), and analyzes the shape (e.g., shape and color) of a fruit attached (hanging) to a branch of a tree (e.g., fruit tree) planted in the open-field smart farm (S602).

[0094] As a result of analyzing the shape (e.g., shape and color) of the fruit hanging on the branch (S602), if it is any one of rotten fruit, fruit with hollowed-out flesh, or ripe fruit (e.g., S603), the processor (140) records (stores or updates) the corresponding location (i.e., the location of the tree where the rotten fruit, fruit with hollowed-out flesh, or ripe fruit is hanging) in the form of a map in the memory module (130) (S604), and guides the user to the recorded (stored) location (S605) so that the user can perform a fruit removal operation or a fruit harvesting operation (S606).

[0095] As described above, when the user performs a fruit removal or fruit harvesting operation, the information recorded on the map is compared (contrastd) to check whether the corresponding operation is completed for each type of fruit (i.e., rotten fruit, fruit with damaged flesh, or ripe fruit) (S607). Accordingly, when the corresponding operation is completed for each type of fruit recorded on the map (e.g., in the example of S607), the user is notified of the video footage taken before and after the operation (i.e., notified via the user's external device that the operation is completed), and a record is left in the database of the memory module (130) (S608).

[0096] As described above, this embodiment has the effect of improving user convenience by enabling a smart farm autonomous driving robot system to autonomously move to an open-field smart farm, which is less expensive than a greenhouse-type smart farm, on behalf of the user, and to manage the open field exposed to natural conditions and the crops (e.g., fruit trees) growing in this open-field smart farm.

[0097] Although the present invention has been described above with reference to the embodiments illustrated in the drawings, this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the technical scope of protection of the present invention should be determined by the claims below. Furthermore, the implementations described herein may be implemented, for example, as methods or processes, devices, software programs, data streams, or signals. Even if discussed only in the context of a single form of implementation (e.g., discussed only as a method), the implementation of the discussed features may also be implemented in other forms (e.g., devices or programs). Devices may be implemented in appropriate hardware, software, and firmware, etc. Methods may be implemented in devices such as processors, which generally refer to processing devices including, for example, computers, microprocessors, integrated circuits, or programmable logic devices. Processors also include communication devices such as computers, cell phones, portable / personal digital assistants ("PDAs"), and other devices that facilitate the communication of information between end-users.

Claims

1. A sensor module including a vision camera and a position sensor, which detects information necessary for the management of an open-field smart farm by a smart farm autonomous driving robot system; A communication module that communicates with an external device via wireless communication, transmits various information from the smart farm autonomous driving robot system, and receives commands or data for controlling the smart farm autonomous driving robot system; A processor that generally controls the operation of the smart farm autonomous driving robot system, acquires information on the status of the open-field smart farm and the growth of crops using information detected through the sensor module, manages the open field of the open-field smart farm in an optimal state, and manages the crops of the open-field smart farm to grow safely; and A smart farm autonomous driving robot system characterized by including a driving module that drives the crawler-type wheels of the smart farm autonomous driving robot system according to the control of the above processor to drive the path of an open-field smart farm.

2. The smart farm autonomous driving robot system according to claim 1, further comprising a memory module for storing software or data for driving the smart farm autonomous driving robot system and data generated during the performance of management functions of the smart farm autonomous driving robot system.

3. In claim 1, the processor, A smart farm autonomous driving robot system characterized by analyzing images captured through the vision camera based on prior learned information to distinguish the shape of an open field, weeds growing in the open field, fruits or branches fallen in the open field, the shape of vegetables and trees growing in the open field, the shape of trees or branches, the shape of fruits, the shape of leaves, and colors.

4. In Paragraph 1, A smart farm autonomous driving robot system characterized by further including a wind generating module that, under the control of the above processor, blows wind in the shooting direction to move branches or leaves aside so as not to obstruct the front of the camera, in order to accurately detect the condition of the open field, trees, or crops using the vision camera of the sensor module.

5. In Paragraph 1, A smart farm autonomous driving robot system characterized by further including an agricultural tool module for selecting one of a plurality of agricultural tool modules mounted on one side of the smart farm autonomous driving robot system according to the control of the above processor and performing a task corresponding to the agricultural tool module.

6. In Clause 5, the above agricultural machinery module is, A farming tool module for leveling the ground, such as a hoe or plow; Agricultural tool module for weeding work, such as a sickle or brush cutter; A farming tool module for pruning operations that cut tree branches using pruning shears or an electric saw; and A smart farm autonomous driving robot system characterized by including at least one of the following: an agricultural tool module for digging or covering the ground using a shovel or tongs.

7. In paragraph 1, the processor, The smart farm autonomous driving robot system drives along the path of an open-field smart farm, analyzes images acquired through a vision camera to detect whether there is any dug-up soil in the open field, and If a dug-up is detected in the open field, notify the user that there is a dug-up in the open field, and with the user's permission, select or install the appropriate farm equipment module suitable for performing the leveling work to perform the leveling work, and A smart farm autonomous driving robot system characterized by notifying the user of videos taken before and after the operation and leaving a record in the database of the memory module when the above-mentioned ground leveling operation is completed.

8. In paragraph 1, the processor, The smart farm autonomous driving robot system travels along the path of an open-field smart farm, analyzes images acquired through a vision camera to detect whether weeds in the open field have grown above a designated standard, and If weeds growing in the open field are detected, notify the user that weeds are growing in the open field, and, with the user's permission, select or install the appropriate agricultural equipment module suitable for weeding to perform the weeding operation, and A smart farm autonomous driving robot system characterized by notifying the user of videos taken before and after the operation and leaving a record in the database of the memory module when the above weeding operation is completed.

9. In claim 1, the processor, A smart farm autonomous driving robot system analyzes images acquired through a vision camera while driving along a path in an open-field smart farm to analyze the shape of the branches of trees planted in the open-field smart farm, and If, as a result of analyzing the shape of the above branch, it is detected as a broken branch or a branch to be pruned, it is checked whether the branch is a branch that can be automatically pruned by the agricultural tool module mounted on the smart farm autonomous driving robot system, and If the above branch is a branch capable of automatic pruning, notify the user that there is a branch to be pruned, and, with the user's permission, select or install a suitable agricultural tool module to perform the pruning work and perform electronic operations. A smart farm autonomous driving robot system characterized by notifying the user of videos taken before and after the operation and leaving a record in the database of the memory module when the above battery operation is completed.

10. In Clause 9, the processor, If the above branch is not a branch that can be automatically pruned, A smart farm autonomous driving robot system characterized by recording the location of a tree with branches to be pruned in a map form in a memory module and guiding the user to the recorded location so that the user can perform pruning work.

11. In claim 1, the processor, As the smart farm autonomous driving robot system travels along the path of an open-field smart farm, it analyzes images acquired through a vision camera to analyze the shape and color of fruits hanging on the branches of trees planted in the open-field smart farm, and If a fruit not wrapped in a bag is detected at the current growth stage of the fruit hanging on the aforementioned branch, the location of the tree where the fruit not wrapped in a bag is hanging is recorded in a map form in the memory module, and the recorded location is guided to the user so that the user can perform the fruit bag operation. A smart farm autonomous driving robot system characterized by checking whether the fruit bagging operation is completed for all fruits by comparing it with information recorded on the map when the user performs the fruit bagging operation, and if the fruit bagging operation is completed for all fruits recorded on the map, notifying the user of the video footage taken before and after the operation and leaving a record in the database of the memory module.

12. In paragraph 1, the processor, The smart farm autonomous driving robot system travels along the path of an open-field smart farm, analyzes images acquired through a vision camera to detect whether there is fruit fallen to the ground, and If the fruit that has fallen to the ground is rotten or has its flesh gouged out, select or install a suitable agricultural tool module for burying the fruit in the ground to perform the fruit burying operation, and A smart farm autonomous driving robot system characterized by notifying the user of videos taken before and after the operation and leaving a record in the database of the memory module when the above fruit burying operation is completed.

13. In paragraph 1, the processor, As the smart farm autonomous driving robot system travels along the path of an open-field smart farm, it analyzes images acquired through a vision camera to analyze the shape and color of fruits hanging on the branches of trees planted in the open-field smart farm, and If the fruit hanging on the branch is any one of a rotten fruit, a fruit with hollowed-out flesh, or a ripe fruit, the location of the tree on which the fruit is hanging is recorded in a memory module in the form of a map, and the recorded location is guided to the user so that the user can perform a fruit removal operation or a fruit harvesting operation. When the above user performs a fruit removal task or a fruit harvesting task, check whether the corresponding task is completed for all fruits of each type by comparing with the information recorded on the above map, and A smart farm autonomous driving robot system characterized by notifying the user of the video footage taken before and after the operation and leaving a record in the database of the memory module when the corresponding operation is completed for each fruit of each type recorded on the map above.

14. The processor of the smart farm autonomous driving robot system, A step in which the above-mentioned smart farm autonomous driving robot system drives along a path of an open-field smart farm and analyzes images acquired through a vision camera to detect whether there is dug-up soil in the open field; When a dug-out area is detected in the open field, the user is notified that there is a dug-out area in the open field, and, with the user's permission, a suitable agricultural equipment module is selected or installed to perform the dug-out area leveling operation; and A control method for a smart farm autonomous driving robot system characterized by including the step of, when the above-mentioned ground leveling operation is completed, notifying the user of the video footage taken before and after the operation and leaving a record in the database of the memory module.

15. In Clause 14, after the step of analyzing images acquired through a vision camera while the smart farm autonomous driving robot system drives along the path of an open-field smart farm, The above processor detects whether weeds in the open field have grown above a specified standard; When weeds growing in the open field are detected, a step of notifying the user that weeds are growing in the open field, and obtaining the user's permission to select or install a suitable agricultural tool module for performing weeding work to perform weeding work; and A control method for a smart farm autonomous driving robot system, further comprising the step of notifying the user of images taken before and after the weeding operation and leaving a record in the database of a memory module when the above weeding operation is completed.

16. In Clause 14, after the step of analyzing images acquired through a vision camera while the smart farm autonomous driving robot system travels along the path of an open-field smart farm, The above processor, A step of analyzing the shape of tree branches of trees planted in an open-field smart farm; If, as a result of analyzing the shape of the branch, it is detected as a broken branch or a branch to be pruned, a step of checking whether the branch is a branch that can be automatically pruned by an agricultural tool module mounted on the smart farm autonomous driving robot system; If the above branch is a branch capable of automatic pruning, a step of notifying the user that there is a branch to be pruned, and obtaining the user's permission to select or install a suitable agricultural tool module for performing pruning work to perform electronic work; and A control method for a smart farm autonomous driving robot system, further comprising the step of notifying the user of images taken before and after the operation and leaving a record in the database of the memory module when the above battery operation is completed.

17. In Paragraph 16, If the above branch is not a branch that can be automatically pruned, The above processor is, A control method for a smart farm autonomous driving robot system characterized by recording the location of a tree with branches to be pruned in a map form in a memory module, and guiding the user to the recorded location so that the user can perform pruning work.

18. In Clause 14, after the step of analyzing images acquired through a vision camera while the smart farm autonomous driving robot system drives along the path of an open-field smart farm, The above processor, A step of analyzing the shape and color of fruit hanging on the branches of trees planted in an open-field smart farm; If a fruit not wrapped in a bag is detected at the current growth stage of the fruit hanging on the branch, the location of the tree where the fruit not wrapped in a bag is hanging is recorded in a memory module in the form of a map, and the recorded location is guided to the user so that the user can perform a fruit bag operation; A step of checking whether fruit bagging work is completed for all fruits by comparing with information recorded on the map when the user performs fruit bagging work; and A control method for a smart farm autonomous driving robot system, further comprising the step of: notifying the user of images taken before and after the operation and leaving a record in the database of the memory module when the fruit bagging operation is completed for all fruits recorded on the map above.

19. In Clause 14, after the step of analyzing images acquired through a vision camera while the smart farm autonomous driving robot system drives along the path of an open-field smart farm, The above processor, A step to detect if there is fruit on the ground; If the fruit that fell to the ground is rotten or has its flesh eroded, the step of selecting or mounting a suitable agricultural tool module for performing the task of burying the fruit that fell to the ground and performing the fruit burying task; and A control method for a smart farm autonomous driving robot system, further comprising the step of notifying the user of the video footage taken before and after the operation and leaving a record in the database of the memory module when the above fruit burying operation is completed.

20. In Clause 14, after the step of analyzing images acquired through a vision camera while the smart farm autonomous driving robot system drives along the path of an open-field smart farm, The above processor, A step of analyzing the shape and color of fruit hanging on the branches of trees planted in an open-field smart farm; If the fruit hanging on the branch is any one of a rotten fruit, a fruit with hollowed-out flesh, or a ripe fruit, the step of recording the location of the tree on which the fruit is hanging in a map form in a memory module, and guiding the user to the recorded location so that the user can perform a fruit removal operation or a fruit harvesting operation; When the user performs a fruit removal operation or a fruit harvesting operation, a step of checking whether the corresponding operation is completed for each type of fruit by comparing with information recorded on the map; and A control method for a smart farm autonomous driving robot system, further comprising the step of: notifying the user of images taken before and after the operation and leaving a record in the database of the memory module when the corresponding operation is completed for each of the fruits of each type recorded on the map above.

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