KR101537959B1 - wild animals extermination robot and using Driving method Thereof - Google Patents

Abstract

A wildlife eradication robot and a driving method thereof are disclosed. The wildlife eradication robot performs farm patrol, wildlife tracking, and wildlife eradication by using optical sensors, ultrasonic sensors, and sound sensors in a farm which is divided into atypical or regularly using sound and light.
The wildlife eradication robot and the driving method thereof according to the present invention can be easily installed in a fixed or atypical farm to calculate the appearance directions and appearance angles of wild animals based on the sounds of wild animals at the time of appearance of wild animals, When the robot is driven in the calculated direction and angle, it approaches the wild animal and generates the erase sound according to the kind of the wild animal, thereby eliminating the wild animal. Thereby providing the advantage of being able to combat wildlife.
It also offers the advantage that wildlife can inhibit environmental pollution from chemicals sprayed to prevent access within the farm. In addition, it provides an advantage of solving the problems of wasting manpower and time due to the operation of capturing wild animals.

Description

[0001] The present invention relates to a wildlife extermination robot and a driving method thereof,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a wildlife eradication robot, and more particularly, to a wildlife eradication robot using an acoustic sensor and a driving method thereof.

Fig. 1 is an illustration showing damage cases and amounts of crops caused by wild animals.

Recently, crop damage caused by wild animals is increasing rapidly. Referring to FIG. 1, various agricultural products such as orchards, corn, sweet potatoes, and radishes are damaged by various wild animals such as wild boar, elk, and magpie, and the damage amounts to tens of billions of dollars.

Various attempts have been made to reduce crop damage from wild animals. For example, installing scarecrows, putting fruit bags, and installing a fence are traditional methods.

Attempts have also been made to set up catch traps or to directly organize wildlife capture teams to capture wild animals.

In recent years, it has been attempting to combat wild animals by using advanced equipment such as electric fence installation, nemesis mobiles, algae eliminator, and fixed 4-directional high-pitched speakers, and constructed a detection system of wild animals through a ubiquitous sensor network.

However, there are some problems with this existing method of fighting wild animals.

First, environmental pollution. Many pesticides and chemicals, such as pesticide bags that have not been collected, are causing environmental pollution. Second, there is a problem that a lot of manpower and time are wasted due to the operation of capturing wild animals.

Third, it is effective at first because of the simple methods of combat, but as the time goes by the application of wild animals, the effect of fighting becomes weak. Finally, because the fixed stone eradication equipment is fixed at a certain point, it is difficult to cover the whole area in the case of a large farmer.

In order to solve such a problem, the present invention discloses a wildlife eradication robot and a driving method thereof, in which a robot patrols a farm, detects wild animals when they occur, tracks wild animals, and can eliminate them.

Korean Patent Registration No. 10-1104943 (title: Wildlife Intrusion Detection Device)

A problem to be solved by the present invention is to use a robot equipped with an acoustic sensor to prevent damage to crops caused by wild animals that are generated on a small or large scale farm which is divided into regular or atypical farms, And a method for driving the wildlife animal and a method for driving the wildlife animal, which can detect the direction and position of the wild animal through the sensed acoustic signal, .

According to an aspect of the present invention, there is provided a robot for combating wildlife, which comprises at least one of an optical sensor, an ultrasonic sensor, and a sound sensor in a farm structured by atypical or regularly using sound and light, Wildlife tracking, and wildlife fighting.

The wildlife eradication robot includes four acoustic sensors 110 for sensing acoustic signals S1, S2, S3, and S4 received from different directions, respectively. The method comprising the steps of: detecting presence or absence of the wild animals on the basis of the sound signals S1, S2, S3, and S4 sensed by the four acoustic sensors; A first processing unit 130 for transmitting data to the outside; A second processing unit 140 for outputting a first operation mode or a second operation mode signal according to the information in the message transmitted from the first processing unit 130; And a driving unit 150 driven in an operation mode according to the first operation mode signal or the second operation mode signal, wherein the operation mode is a farm patrol mode or a wildlife tracking / erasure mode.

The first processing unit 130 calculates a maximum value among the acoustic values summed by the two acoustic sensors adjacent to each other among the acoustic signals S1, S2, S3, and S4 sensed by the at least one acoustic sensors 110 A direction / angle calculating unit 131 for calculating the moving angle information of the wild animal, the appearance direction and the current position according to the calculated result value; A message generating unit 132 for generating a message including information calculated by the direction / angle calculating unit 131; And the communication module 133 for transmitting a message generated by the message generating unit 132 to the second processing unit 140 using any one of Bluetooth, WiFi, 3G, Zigbee, and RF .

The direction / angle calculation unit 131 calculates a moving angle (relative rotation angle) between the appearance direction and the current position of the wild animal using the following wild animal appearance direction detection algorithm, and detects the wild animal appearance direction The algorithm,

Step 0. IF (max (S1, S2, S3, S4)> threshold)

Step 1. Wild animal emergence direction = max {(S1 + S2), (S2 + S3), (S3 + S4), (S4 + S1)

Step 2. Difference value = Acoustic sensor 1 Measured value - Acoustic sensor 2 Measured value

Step 3. IF (Difference == 0)

Step 4. Appearance angle = 90

Step 5. IF (difference value <0)

Step 6. Appearance angle = 45

Step 7. ELSE

Step 8. Appearance angle = 135

Step 9. Relative rotation angle = appearance angle * appearance direction quadrant value

And a control unit.

The second processing unit 140 includes a communication module 142 for receiving a message transmitted from the first processing unit 130 using one of Bluetooth, WiFi, 3G, Zigbee, and RF; A comparison judging unit 145 for comparing the message received by the communication module 142 with a preset message and outputting a result of the comparison; And an operation signal output module 141 for outputting an operation mode signal corresponding to the first operation mode or the second operation mode to the driving unit 150 according to the comparison result value.

The comparison determining unit 145 outputs a comparison result value of 0 or 1, and when the comparison result is 0, the transmitted message and the predetermined message are the same, and when the comparison result is 1 And a case in which the transmitted message differs from the predetermined message.

The operation signal output module 141 may include a hatchery patrol module 141a for driving the driving unit in the first operation mode; And a wildlife tracking / erasure module 141b for driving the driving unit in the second operation mode.

A method of driving a wildlife eradication robot according to any one of claims 1 to 7, comprising the steps of: (S110) measuring a crying sound of wild animals through four acoustic sensors; Comparing and comparing a maximum value among the acoustic values measured by the four acoustic sensors with a preset threshold value (S120); Using the maximum value, calculating a rotation angle between a wild animal emergence direction and a current position of the robot and a wild animal position (S130); Generating a message according to a result of the comparing and determining unit in a message generating unit (S140); Transmitting the message generated by the message generating unit in the communication module 133 of the first processing unit 130 to the second processing unit 140 (S150); Receiving a message transmitted from the first processing unit 130 in the communication module 142 of the second processing unit 140 (S160); A step S170 of comparing and judging whether or not a message preset in the comparison determining unit 145 of the second processing unit 140 is identical with the received message; (S180) driving the driving unit in the second operation mode according to the comparison result of S170; And driving the driving unit in the first operation mode according to the comparison result of S170.

S 130 is a step (S 131) of calculating the direction of the point where the wild animal appears based on the maximum value in the direction / angle calculation unit when the maximum value exceeds the preset threshold value, And calculating a rotation angle with respect to the position of the animal (S132).

In operation S181, if the comparison result is 1, the step S180 drives the driving unit based on the direction and the moving angle information of wild animals included in the received message to rotate the mobile robot in the animal emergence direction. And a step (S182) of moving the mobile robot in the wild animal emergence direction and a step (S183) of generating an eradication sound wave according to the kind of wild animal.

Accordingly, the wildlife eradication robot and its driving method according to the present invention can be easily installed in a fixed or atypical farm, and the appearance direction and appearance angle of wild animals are calculated based on the sound of wild animals at the time of appearance of wild animals After the robot is driven in the calculated direction and angles, the approaching wild animal is used to generate an erase sound according to the kind of wild animal, thereby eliminating the wild animal. Thus, And can be used to combat wildlife.

It also offers the advantage that wildlife can inhibit environmental pollution from chemicals sprayed to prevent access within the farm.

In addition, it provides an advantage of solving the problems of wasting manpower and time due to the operation of capturing wild animals.

Fig. 1 is an illustration showing damage cases and amounts of crops caused by wild animals.
2 is an exemplary view showing an example of a movement pattern of a robot in a farm constructed as a regular or irregular space.
3 is a block diagram of a wildlife eradication robot according to an embodiment of the present invention.
4 is an actual view of a wildlife eradication robot according to an embodiment of the present invention.
5 is an exemplary view showing a rotation angle of the robot.
6 is a flowchart illustrating a method of driving a wildlife fighting robot according to an embodiment of the present invention.
7 is an illustration of an experimental space for testing the driving of the wildlife eradication robot provided in the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description of preferred embodiments of the present invention will be given with reference to the accompanying drawings. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

Embodiments in accordance with the concepts of the present invention can make various changes and have various forms, so that specific embodiments are illustrated in the drawings and described in detail in this specification or application. It is to be understood, however, that it is not intended to limit the embodiments according to the concepts of the present invention to the particular forms of disclosure, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises &quot;,or" having &quot;, or the like, specify that there is a stated feature, number, step, operation, , Steps, operations, components, parts, or combinations thereof, as a matter of principle.

2 is an exemplary view showing an example of a movement pattern of a robot in a farm constructed as a regular or irregular space.

3 is a block diagram of a wildlife eradication robot according to an embodiment of the present invention.

4 is an actual view of a wildlife eradication robot according to an embodiment of the present invention.

5 is an exemplary view showing a rotation angle of the robot.

6 is a flowchart illustrating a method of driving a wildlife fighting robot according to an embodiment of the present invention.

7 is an illustration of an experimental space for testing the driving of the wildlife eradication robot provided in the present invention.

3, the wildlife eradication robot 100 according to the embodiment of the present invention utilizes an optical sensor, an ultrasonic sensor, and a sound sensor in a farm which is segmented irregularly or regularly using sound and light And more particularly, to a robot that performs four functions of the acoustic sensor 110, the first processing unit 130, the second processing unit 140, and the driving unit 150, .

The four acoustic sensors 110 are located in different directions, and sense sounds S1, S2, S3, and S4 received in the respective directions.

The first processing unit 130 detects presence or absence of the wild animals based on the acoustic signals S1, S2, S3, and S4 sensed by the respective four acoustic sensors 110, And generates and outputs a message.

The second processing unit 140 outputs a driving signal according to the first operation mode or the second operation mode to the driving unit according to the information in the message transmitted from the first processing unit 130. [

The driving unit 150 is driven according to a driving signal output from the second processing unit 140.

More specifically, the first processor 130 includes a direction / angle calculator 131, a message generator 132, and a communication module 133.

The direction / angle calculating unit 131 calculates a direction / angle of the sound signal S1, S2, S3, S4 sensed by each of the at least one acoustic sensors 110, And then calculates the moving angle information of the wild animal's appearance direction, the appearance direction, and the current position according to the calculated result value.

More specifically, the direction / angle calculation unit 131 calculates the sum of the adjacent sound sensors S1 and S2, S2 and S3, S3 and S4, and S4 and S1, It is determined to be one direction, which is derived by using a principle in which the sound value is largely measured as the sound is near to the point where the sound is generated due to the characteristics of the acoustic sensor.

(S1 + S2), (S2 + S3), (S3 + S4), (S4 + S1)

Next, the direction of movement of wild animals and the current position uses the difference between the two sound sensor values in the direction in which wild animals appear. That is, both the difference between the sound sensor value is zero or represents a very small difference means that the appearance at the intermediate direction, that is 90 ^o direction of the two sound sensors, if the difference value is negative (0 - 90) ^o between positive if (90 to 180) ^o .

So if you are negative, you move the robot in 45 ^o direction, if it is positive, you move it in 135 ^o direction.

This is because wild animals are constantly moving and appearing instead of stopping at exactly one place, so it is desirable to constantly adjust and track directions.

Calculate the relative angle of rotation by matching the calculated angle to the direction in which wild animals appear in (Equation 1). Relative rotation angle refers to the angle that the robot's current movement direction is set to 0 ^o and corrected based on this.

Here, the direction / angle calculation unit 131 calculates the moving angle between the appearance direction and the current position of the wildlife described above by using the algorithm 1, a wild animal appearance direction detection algorithm.

[Algorithm 1]

Input: Measured value of sound sensor (S1, S2, S3, S4)

Output: relative rotation angle

Start the algorithm

Step 0. IF (max (S1, S2, S3, S4)> threshold)

Step 1. Wild animal emergence direction = max {(S1 + S2), (S2 + S3), (S3 + S4), (S4 + S1)

Step 2. Difference value = Sound sensor 1 Measured value - Sound sensor 2 Measured value

Step 3. IF (Difference == 0)

Step 4. Appearance angle = 90

Step 5. IF (difference value <0)

Step 6. Appearance angle = 45

Step 7. ELSE

Step 8. Appearance angle = 135

Step 9. Relative rotation angle = appearance angle * appearance direction quadrant value

End of algorithm

The message generator 132 generates a message including the information calculated by the direction / angle calculator 131 and transmits the generated message to the communication module 133.

The communication module 133 performs a function of transmitting a message generated by the message generator 132 to the second processor 140 using one of communication methods of Bluetooth, WiFi, 3G, Zigbee, and RF .

Next, the second processing unit 140 includes a communication module 142, a comparison determination unit 145, and an operation signal output module 141.

The communication module 142 performs a function of receiving a message transmitted from the first processing unit 130 using one of Bluetooth, WiFi, 3G, Zigbee, and RF.

The comparison determination unit 145 outputs a comparison result value obtained by comparing the message received from the communication module 142 with a message preset therein.

Here, the comparison result value may be 0 or 1, and when it is 0, the transmitted message and the predetermined message are the same, and when it is 1, the transmitted message differs from the predetermined message .

The operation signal output module 141 outputs an operation mode signal corresponding to the first operation mode or the second operation mode to the driving unit 150 according to the comparison result value.

Here, the first operation mode may be a farm patrol mode, and the second drive mode may be a wildlife tracking / erasure mode, and a detailed description of each mode will be described later.

The operation signal output module 141 may include a farm patrol module 141a and a wildlife tracking / erasure module 141b.

The farm patrol module 141a outputs a farm patrol driving signal when the result of the comparison is zero.

More specifically, the farm patrol module 141a is programmed with an integrated patrol algorithm, and the integrated patrol algorithm can be a movement algorithm that allows the mobile robot to move while avoiding obstacles in a regular space and an irregular space .

More specifically, the integrated patrol algorithm is designed such that the mobile robot repeats steps 0 to 11 as follows.

[Start Algorithm]

Step 0. Start driving

Step 1. Repeat Start

Step 2. IF (Light Sensor 1 Measure> Threshold)

Step 3. IF (Light Sensor 2 Measurements> Threshold)

Step 4. Straight run

Step 5. IF (Ultrasonic Sensor Measurements <Distance Threshold)

Step 6. Obstacle avoidance driving

Step 7. ELSE

Step 8. Turn Right

Step 9. ELSE

Step 10. Turn left

Step 11. Repeat

[End of algorithm]

That is, the farm patrol mode is a normal mode, using two optical sensors and ultrasonic sensors, and operates as a line tracer for regular space such as paddy field or field using two optical sensors, And it is designed to patrol by avoiding fruit trees by using an ultrasonic sensor.

Specifically, assuming that two optical sensors are used to track a black color on a white background, if there is a black color line, the black color line is rotated along the line to move along the line.

At this time, if the black line does not exist, the robot continues to go straight, and if an obstacle is encountered, it is detected by the ultrasonic sensor and avoided and patrolled. Through this process, the robot is able to perform the line tracing if there is a line on the floor, and automatically patrol the atypical space if there is no line, so that it can do both patrol space and irregular space patrol. to be.

If the comparison result is 1, the wildlife tracking / erasure module transmits a wildlife tracking signal to the driving unit so that the mobile robot drives the driving unit to rotate and move in the direction in which the wildlife is located.

At this time, the wildlife tracking / erasure module is driven based on information calculated from the direction / angle calculation unit of the first processing unit.

For example, when a wild-type robot is moving in the direction of a wild animal, and an obstacle such as a fruit is encountered, it is avoided by using an ultrasonic sensor. Specifically, the robot can move to a target by using a bug algorithm

Thereafter, the wildlife tracking / erasure module identifies the type of wildlife through the magnitude of the cry of the wild animal provided by the first processing unit, and then transmits the sound of the wild animal or the voice of the natural enemy to the speaker. And outputs the corresponding sound wave.

6 is a flow chart for explaining a driving method of the wildlife fighting robot shown in FIG.

As shown in FIG. 6, the driving method of the wildlife fighting robot according to the embodiment of the present invention includes S110 to S190.

The step S110 may be a step of measuring the crying sound of wild animals through four acoustic sensors.

The step S120 may be a step of comparing the maximum value among the acoustic values measured by the four acoustic sensors and a predetermined threshold value.

If the maximum value exceeds the preset threshold value, the step S 130 calculates the direction of the point where the wild animal appears based on the maximum value in the direction / angle calculation unit (S 131) (S132) the rotation angle with respect to the rotation angle?

If the maximum value exceeds the preset threshold value, the message generating unit 120 generates a message including the information provided by the direction / angle calculating unit, for example, Quot; appearance direction &quot; message, and generating a &quot; normal mode &quot; message when the maximum value is less than the predetermined threshold value.

S150 may be a step of transmitting the message generated by the message generating unit in the communication module 133 of the first processing unit 130 to the second processing unit 140. [

Step S160 is a step of receiving a message transmitted from the first processing unit 130 in the communication module 142 of the second processing unit 140. [

Step S170 may be a step of comparing and judging whether or not a message preset in the comparison and determination unit 145 of the second processor matches the received message. Here, if the pre-set message and the received message are not the same, the comparison determining unit outputs the comparison result of 1, and if it is the same, outputs the comparison result of 0.

If the result of comparison is 1, step S180 is a step of driving in the wildlife eradication mode, which is the second operation mode, and drives the driving unit based on the direction and movement angle information of wild animals included in the received message, (S181) rotating the animal in the animal emergence direction, moving the mobile robot in the animal emergence direction (S182), and generating a repulsive sound wave according to the kind of the wild animal.

Step S190 is a step driven when the result of comparison is 0, which may be the step of patroling the robot in the normal mode, which is the first operation mode.

Hereinafter, performance evaluation of the wildlife eradication robot provided by the present invention will be described through experiments.

1. Experimental environment

The environment (farm) of the experiment conducted in the present invention was constructed by integrating a regular trace space capable of line tracing including the characteristics of field and field, and an atypical space representing an orchard, with reference to FIG.

2. Contents and Results

There are two major experiments. The first is whether the robot patrols the uniform space and the irregular space in an integrated way.

The second experiment was to determine if wildlife emerged in a patrolling mode in a peacetime mode and move to the point where the wildlife appeared exactly. For this experiment, we could not reproduce the sound source of the desired quality due to the NXT characteristics, so we used a beep instead of the natural voice.

As a result of repeated experiments more than 10 times, the robot worked almost smoothly. First, when observing the patrol process of the robot, the robot moved naturally to the regular space and the irregular space. In addition, we showed that wild animals were rotated to the destination in a direction in which the sound was generated.

However, although there are errors in determining the position of the sound sensors due to their sensitivity to the sound, the sound sensor is corrected based on the ambient noise.

Specifically, in order to calculate the angle of occurrence of wild animals, in this experiment, 16 directions were initialized as shown in FIG. In other words, the number of possible rotation angles of the robot is set to 16 in order to correct the difference of the fine sound sensor. Table 1 shows the measurement difference values of the sound sensors for setting the rotation angle in these 16 directions.

[Table 1]

In the case of S1-S2 in Table 1, it means that the difference is more than 40, that is, the value of the sound sensor attached to the front left side is the largest among the four sensors, When it should turn 315 ^o . If the value due to the difference is -40, it means that the sound sensor attached to the front right side has the largest measurement, so it rotates 45 ^o .

Accordingly, the wildlife eradication robot and its driving method according to the present invention can be easily installed in a fixed or atypical farm, and the appearance direction and appearance angle of wild animals are calculated based on the sound of wild animals at the time of appearance of wild animals After the robot is driven in the calculated direction and angles, the approaching wild animal is used to generate an erase sound according to the kind of wild animal, thereby eliminating the wild animal. Thus, And can be used to combat wildlife.

It also offers the advantage that wildlife can inhibit environmental pollution from chemicals sprayed to prevent access within the farm.

In addition, it provides an advantage of solving the problems of wasting manpower and time due to the operation of capturing wild animals.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present invention.

100: Wildlife Elimination Robot 110: Sound Sensor
130: first processing unit 131: direction angle calculating unit
132: message generator 133: communication module
140: second processor 141: operation signal output module
141a: Farm patrol module 141b: Wild animal tracking / elimination module
142: Communication module 145:
150: Mobile robot driving part

Claims (10)

delete In a wildlife eradication robot,
Four acoustic sensors 110 each sensing acoustic signals S1, S2, S3, S4 received in different directions;
The method comprising the steps of: detecting presence or absence of the wild animals on the basis of the sound signals S1, S2, S3, and S4 sensed by the four acoustic sensors; A first processing unit 130 for transmitting data to the outside;
A second processing unit 140 for outputting a first operation mode or a second operation mode signal according to the information in the message transmitted from the first processing unit 130; And
And a driving unit (150) driven in an operation mode according to the first operation mode signal or the second operation mode signal,
The operation mode includes:
A farm patrol mode or a wild animal tracking / erasure mode.
3. The method of claim 2,
The first processing unit (130)
Calculating a maximum value among the acoustic values summed by the two acoustic sensors adjacent to each other among the acoustic signals S1, S2, S3, S4 sensed by each of the at least one acoustic sensors 110, A direction / angle calculation unit 131 for calculating the direction of appearance of the wild animal, the movement angle information between the appearance direction and the current position;
A message generating unit 132 for generating a message including information calculated by the direction / angle calculating unit 131; And
And a communication module 133 for transmitting the message generated by the message generation unit 132 to the second processing unit 140 using any one of Bluetooth, WiFi, 3G, Zigbee, and RF. A wild animal fighting robot.
The method of claim 3,
The direction / angle calculation unit 131 calculates the direction /
Calculating a relative rotation angle between the appearance direction and the current position of the wild animal using the wildlife appearance direction detection algorithm described below,
The wildlife emergence direction detection algorithm may include:
Step 0. IF (max (S1, S2, S3, S4)> threshold)
Step 1. Wild animal emergence direction = max {(S1 + S2), (S2 + S3), (S3 + S4), (S4 + S1)
Step 2. Difference value = Acoustic sensor 1 Measured value - Acoustic sensor 2 Measured value
Step 3. IF (Difference == 0)
Step 4. Appearance angle = 90
Step 5. IF (difference value <0)
Step 6. Appearance angle = 45
Step 7. ELSE
Step 8. Appearance angle = 135
Step 9. Relative rotation angle = appearance angle * appearance direction quadrant value
And a controller for controlling the robot.
3. The method of claim 2,
The second processing unit (140)
A communication module 142 for receiving a message transmitted from the first processing unit 130 using any one of Bluetooth, WiFi, 3G, Zigbee, and RF;
A comparison judging unit 145 for comparing the message received by the communication module 142 with a preset message and outputting a result of the comparison; And
And an operation signal output module (141) for outputting an operation mode signal corresponding to the first operation mode or the second operation mode to the driving unit (150) according to the comparison result value.
6. The method of claim 5,
The comparison determination unit 145 determines,
0 or 1, and when the comparison result is 0, the transmitted message and the predetermined message are identical. If the comparison result is 1, the transmitted message and the preset message And a message indicating that the message is different.
6. The method of claim 5,
The operation signal output module 141,
An agriculture patrol module 141a for driving the driving unit in the first operation mode; And
And a wildlife tracking / erasure module (141b) for driving the driving unit in the second operation mode.
8. A driving method of a wildlife fighting robot according to any one of claims 2 to 7,
Measuring a cry of wild animals through four acoustic sensors (S110);
Comparing and comparing a maximum value among the acoustic values measured by the four acoustic sensors with a preset threshold value (S120);
Using the maximum value, calculating a rotation angle between a wild animal emergence direction and a current position of the robot and a wild animal position (S130);
Generating a message according to a result of the comparing and determining unit in a message generating unit (S140);
Transmitting the message generated by the message generating unit in the communication module 133 of the first processing unit 130 to the second processing unit 140 (S150);
Receiving a message transmitted from the first processing unit 130 in the communication module 142 of the second processing unit 140 (S160);
A step S170 of comparing and judging whether or not a message preset in the comparison determining unit 145 of the second processing unit 140 is identical with the received message;
(S180) driving the driving unit in the second operation mode according to the comparison result of S170; And
And driving the driving unit in a first operation mode according to a comparison result of S170.
9. The method of claim 8,
In S130,
Calculating (S131) the direction of the point at which the wild animal appears based on the maximum value in the direction / angle calculation unit when the maximum value exceeds the preset threshold value, and
(S132) calculating a rotation angle between the current position of the robot and the position of the wild animal.
9. The method of claim 8,
In S180,
(S181), when the comparison result is 1, rotating the mobile robot in the animal emergence direction by driving the driving unit based on the direction and movement angle information of wild animals contained in the received message;
Moving the mobile robot in the animal emergence direction (S182) and
(S183) generating an eradication sound wave according to the type of the wild animal.

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