WO2024151142A1

WO2024151142A1 - Precise weeding device for agricultural weeding robot system

Info

Publication number: WO2024151142A1
Application number: PCT/KR2024/000660
Authority: WO
Inventors: 김형석; 이종훈; 탈하일리아스
Original assignee: 전북대학교산학협력단
Priority date: 2023-01-13
Filing date: 2024-01-12
Publication date: 2024-07-18

Abstract

The present invention relates to a precise weeding device for an agricultural weeding robot system. The precise weeding device according to the present invention comprises: a robot platform provided to travel in a cultivation space in which crops are cultivated; a hose row including a plurality of hoses arranged in a row below the robot platform; one or more cameras mounted on the robot platform so as to photograph the distal ends of the hoses, through which a herbicide solution is discharged, and the cultivation space below the robot platform; and a processing/control unit which recognizes, in an image captured through the camera, weeds to be removed, and which selects a hose capable of discharging the herbicide solution at the weeds in the hose row, so as to control the herbicide solution to be discharged through the selected hose. According to the present invention, weeds to be removed are accurately identified and the herbicide solution is precisely discharged at a position very close to the weeds to be removed, and thus a high weeding effect can be achieved with a small amount of herbicide solution, and damage to crops and environmental effects caused by the dispersion of herbicide solution can be minimized.

Description

Precision weeding device for agricultural weeding robot system

The present invention relates to a precision weeding device for an agricultural weeding robot system, and more specifically, to a precision weeding device consisting of an image recognition device using artificial intelligence, a high-speed herbicide injection control device and control valve, and a plurality of weeding hoses. It's about.

Recently, in order to solve problems such as the decline in the agricultural population and aging, various cutting-edge technologies have been introduced into agriculture, and smart agriculture based on robotization and automation is developing into a new paradigm.

In the field of open-field agriculture, various agricultural machinery technologies are being developed to achieve smart agriculture. Representative examples include tractors and combines capable of autonomous driving based on artificial intelligence. However, tractors are used in the pre-sowing stage of crops and combines are used during harvesting, so limited smartization is still limited to some stages of the agricultural process, and other tasks required during the crop growth period, such as weeding, pest control, There is a high dependence on manual labor in fertilization, etc.

Therefore, in order to achieve smartization of the entire agricultural process from sowing to harvest, additional technology development is needed to implement automation of each individual function.

Recently, as an autonomous agricultural weeding robot, a laser-type weeding robot has been developed that performs weeding by irradiating a laser to weeds while autonomously driving in a crop cultivation space. However, since the weeding robot requires a lot of energy and irradiates from a distance of about 30 cm or more, it is difficult to precisely aim at target weeds, and in the case of mature weeds, multiple strikes are required, making practical use difficult. In addition, since the production cost of a laser weeder is approximately tens of millions of won, it is very expensive to purchase and use it on a farm.

Accordingly, there is a need for a weeding robot that can improve weeding efficiency by performing fast and precise weeding only on the target weed area, and at the same time, can be operated relatively economically compared to conventional weeding robots.

The present invention was developed to solve the problems of the prior art as described above. Precision weeding for an agricultural weeding robot system that can improve weeding efficiency and be designed economically by precisely spraying herbicide liquid only on the target weed area. The purpose is to provide a device.

The above object is a precision weeding device for an agricultural weeding robot system according to an aspect of the present invention, comprising: a robot platform provided to travel in a cultivation space where crops are grown; A hose row including a plurality of hoses arranged in a row at the bottom of the robot platform; One or more cameras mounted on the robot platform to photograph the distal end of the hose through which herbicide is discharged and the cultivation space below the robot platform; And a processing/control unit that recognizes the weeds to be weeded in the image captured through the camera, selects a hose capable of discharging the herbicide to the weeds from among the hose string, and controls the herbicide to be discharged through the selected hose. This can be achieved by a precision weeding device comprising:

In addition, a herbicide supply unit that supplies herbicide liquid; a main line hose that transfers the herbicide supplied by the herbicide supply unit to the hose row; a plurality of valves that are individually installed on each hose of the hose row and open and close each hose according to the control of the processing/control unit; And it further includes a nozzle connected to the distal end of each hose to adjust the discharge area of the herbicide.

At this time, there is an identification mark on the hose to identify each hose, and the processing/control unit selects at least one hose from the hose string based on the relative position of the hose with respect to the weed, and selects the selected hose. By recognizing the identification mark of the hose in the image, the valve corresponding to the hose having the identification mark can be controlled to open.

Meanwhile, each hose of the hose row may be formed to be flexible so as not to cause physical damage when contacting the crop.

In addition, the processing/control unit individually analyzes the first image and the second image taken at different angles to select a hose capable of discharging the herbicide to the weeds, and selects a hose capable of discharging the herbicide to the weeds, and Only when the hoses selected according to the analysis results match each other, the herbicide can be controlled to be discharged through the selected hose.

Additionally, the processing/control unit may recognize the size and type of weeds in the image and determine the amount of herbicide discharged through the hose based on the recognized size and type of weeds.

At this time, the processing/control unit may process the image through an artificial intelligence model learned to identify the weeds and recognize the type of the weeds.

In addition, the processing/control unit may control the timing of discharging the herbicide through the selected hose in consideration of the moving speed of the robot platform.

Meanwhile, the robot platform may further include a crop protection unit that protects the crops by shielding them from exposure to the herbicide on the traveling path of the robot platform.

Here, the crop protection unit includes a first actuator that performs a transverse transfer function with respect to the moving direction of the robot platform; a second actuator coupled to the first actuator and performing a transport function back and forth in the moving direction of the robot platform; And it may include a crop protection frame that is coupled to the second actuator and is formed in a tunnel shape to isolate the left and right sides of the crop and has a crop entrance and exit portion so that the crop can pass inside.

In addition, the crop protection unit is formed to protrude in the direction of the crop outlet portion of the crop protection frame, and the crop protection frame can be positioned within the hose row by bending the hose corresponding to the position of the crop in the hose row. It may further include a protrusion to secure space.

Meanwhile, the upper side of the crop protection frame may be formed of a non-flexible material, and the lower side of the crop protection frame may be formed of a deformable flexible material.

Also, the width between both sides of the crop protection frame can be changed.

In addition, the processing/control unit recognizes the crop in the image and determines the position of the crop protection frame so that the crop can pass through the crop protection frame as the robot platform travels, and the determined crop protection frame The driving of the first actuator and the second actuator can be controlled in response to the position of .

Meanwhile, the processing/control unit, when it is necessary to change the position of the crop protection frame in the horizontal direction in order to move the crop protection frame to the determined position while the crop protection frame is advanced to the position of the hose row, the first 2 After driving the actuator to move the crop protection frame backward, the first actuator is driven to move in the horizontal direction, and then the crop protection frame is moved forward by driving the second actuator to control the crop protection frame to re-enter between the hose rows. You can.

In addition, the processing/control unit may control driving of the first actuator or the second actuator so that the crop protection frame returns to a preset initial position when the passage of the crop through the crop protection frame is completed. .

Meanwhile, the processing/control unit, including CPU, GPU, and memory, directly performs recognition and processing of the image for dispensing herbicide to the weeds, or transmits the image to the outside through a communication module. It may be configured to allow image recognition and processing to be performed externally and then receive the results of the image recognition and processing from the outside.

As described above, according to the present invention, a precise weeding effect can be achieved by accurately identifying the weeding target and precisely discharging the herbicide at a very close position to the herbicide target. Environmental impacts such as crop damage and soil pollution can be minimized.

In addition, according to the present invention, by applying a crop protection device, crops can be protected from residual herbicide remaining in the hose, and effective weeding is possible even on the lower part of the crop that is obscured by the leaves of the crop by applying lateral pressure to the crop. do.

In addition, according to the present invention, it is possible to economically design and operate an agricultural weeding robot system, thereby reducing the cost burden.

1 is a block diagram showing the configuration of a precision weeding device according to a first embodiment of the present invention;

Figure 2 is an exploded perspective view showing the configuration of a precision weeding device according to a first embodiment of the present invention;

3 is a flowchart showing the operation of the processing/control unit according to an embodiment of the invention;

Figure 4 is a block diagram showing the configuration of a precision weeding device including a crop protection unit according to a second embodiment of the present invention;

Figure 5 is an exploded perspective view showing the configuration of a precision weeding device including a crop protection unit according to a second embodiment of the present invention;

Figure 6 is a diagram showing the configuration of a crop protection unit according to an embodiment of the present invention;

Figure 7 is a diagram for explaining the operation of the crop protection unit according to an embodiment of the present invention; and

Figure 8 is a flowchart showing how the processing/control unit operates the crop protection unit during the weeding process according to an embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, in the following description and attached drawings, detailed descriptions of known functions or configurations that may obscure the gist of the present invention are omitted. Additionally, it should be noted that the same components throughout the drawings are indicated by the same reference numerals whenever possible.

Figure 1 is a block diagram showing the configuration of a precision weeding device according to a first embodiment of the present invention, and Figure 2 is an exploded perspective view of the configuration of a precision weeding device according to a first embodiment of the present invention. Referring to Figures 1 and 2, the precision weeding device according to the first embodiment of the present invention includes a robot platform 100, a weeding unit 200, a camera 300, and a processing/control unit 400.

The robot platform 100 is a traveling body that travels in a cultivation space corresponding to a field where crops are grown, and is equipped with wheels (not shown) at the bottom of both sides to perform a traveling function, a weeding unit 200, which will be described later, and a camera. (300), and a processing/control unit (400) are mounted.

The robot platform 100 allows the weeding unit 200 to perform weeding work while moving around the cultivation space to prevent crops from being damaged by the wheels while driving. For example, in the case of a cultivation space where furrows and furrows are formed and crops are planted in the furrows, the robot platform 100 may have wheels on both sides of the furrows running along the furrows. According to this, the crops planted in the furrows pass through the lower part of the robot platform 100 while being spaced apart from the body of the robot platform 100 running on the furrows between the furrows.

For reference, the robot platform 100 is not limited to a specific structure and can be applied to various structures and forms as long as it can travel in a cultivation space and a weeding unit 200, as described later, can be mounted on the bottom.

The weeding unit 200 includes a hose array (array) 210, a nozzle 220, a weeding solution supply unit 230, a main line hose 240, a valve 250, and a valve driving circuit 260. .

The hose string 210 consists of a plurality of hoses (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ), and each hose (210 ₁ , 210 ₂ , 210 ₃ ..., 210 _N ) is adjacent to The hoses (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ) are arranged in a line at the lower part of the robot platform 100 with a predetermined separation distance. At this time, each hose is arranged so that the distal end through which the herbicide is discharged faces downward, that is, toward the ground surface. The distance between each hose in the hose row 210 and the number of hoses may be determined differently depending on the planting type of crops or the size of the robot platform 100.

For reference, in Figure 2, as an example, the hose string is shown as being composed of hoses arranged in one row, but this is not necessarily limited, and the hose string may be composed of multiple rows. For example, the hose row 210 is composed of hoses arranged in two or more rows, and the hoses arranged in different rows are arranged in a staggered manner, so that when photographed through the camera 300, as will be described later, the weed killer solution It is possible to ensure that the distal end of the discharged hose is not obscured by the hoses located in front.

Each hose (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ) in the hose row is made of silicone material, etc. and is flexible enough to bend easily when in contact with the crop, preventing physical damage to the crop. . The diameter of each hose through which the herbicide is discharged is 5 mm or less, preferably 3 mm or less, so that a small amount of herbicide is discharged at a time, thereby preventing unnecessary use of the herbicide and performing precise weeding only on target weeds.

Meanwhile, there is an identification mark (M) on the hoses (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ) to identify each hose. Here, the identification mark (M) refers to a mark or feature that allows each hose to be identified among a plurality of hoses. For example, the identification mark (M) is a number or letter pre-assigned to each hose, or these It may be an identification code formed by a combination of , a color that can be distinguished from other hoses, a marker formed on the hose, etc. Although several examples of identification marks are listed, they are not necessarily limited to these and various types and forms of marks can be applied as long as they can be applied as an identification means for each hose object.

A nozzle 220 may be connected to the end of each hose (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ) to adjust the discharge area of the herbicide discharged from the hose. The nozzle 220 may be of various shapes, such as a cylinder or a hexahedron.

The herbicide supply unit 230 is for storing the diluted herbicide liquid and supplying the diluted herbicide liquid at high pressure. It supplies compressed air to the herbicide storage unit (not shown) that stores the herbicide liquid and the herbicide storage unit. Includes air compressors (not shown), etc. The herbicide liquid pressurized through the herbicide supply unit 230 is supplied to the main line hose 240 connected to the hose string 210.

The main line hose 240 performs the function of the main line to transfer the herbicide to each hose (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ) of the hose row 210, and the main line hose 240 ) and each hose (210 ₁ , 210 ₂ , 210 ₃ ..., 210 _N ) is connected to each other in parallel. The main line hose 240 supplies the herbicide supplied by the herbicide supply unit 230 to each hose (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ) so that it can be discharged to the outside. Considering the size of the hose row 210, the main line hose 240 is simultaneously supplied through each hose (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ) constituting the hose row 210. A hose with a diameter capable of receiving and distributing the discharged herbicide solution may be applied.

The valve 250 is individually installed on each hose (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ) of the hose string 210, and the corresponding valve 250 is operated through the operation of the valve 250. Open and close each hose (210 ₁ , 210 ₂ , 210 ₃ ..., 210 _N ) connected to. The valve 250 may be a solenoid valve, but is not necessarily limited thereto, and various known types and types of valves capable of performing an on-off function of discharging herbicide through a connected hose can be applied.

The valve driving circuit 260 is a valve corresponding to the hose (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ) selected by the processing/control unit 400, as will be described later among the plurality of valves 250. As a circuit for selectively driving 250, various types of circuits may be applied depending on the control method of the applied valve 250, such as a PWM (Pulse Width Modulation)-based driving circuit. As such, since a circuit for selectively driving at least some of the plurality of valves can be implemented according to known techniques, a description of the specific configuration of the circuit will be omitted for simplicity of explanation.

The weeding unit 200 described above may be designed to be integrated with the robot platform 100, but may be implemented as an individual module that is attachable and detachable from the robot platform 100.

According to the weeding unit 200, the weedkilling liquid is designed to be discharged at a position as close to the surface as possible while the end of each hose of the hose string 210 is in contact with the weeds or even if not in contact with the weeds, thereby performing precise weeding on the target object. This can minimize damage to crops and environmental impacts caused by the herbicide spreading to surrounding areas.

Next, the camera 300 is mounted on the robot platform 100 and photographs the hose row 210 and the cultivation space below the robot platform 100. The camera 300 may be installed singly or in plural pieces. The camera 300 may be an RGB camera capable of acquiring color images, and may also include a two-dimensional camera capable of acquiring two-dimensional images, or a depth camera capable of acquiring image depth or distance information. It can be applied.

Meanwhile, Figure 1 shows an example in which two cameras 300 are positioned on both sides of the front lower part of the robot platform 100 to take pictures of the hose string 210 while looking at it from the front. However, this is an example of the installation of the camera 300, and the identification mark (M) present on the hose (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ) and the hose (210 ₁ , If it is possible to photograph the cultivation space passing through the distal end of the robot platform 100 (210 ₂ , 210 ₃ ..., 210 _N ), the position and number of cameras 300 can be changed and applied. For example, the camera 300 may be installed at the bottom of the rear of the robot platform 100 and positioned to view the hose string 210 from the rear.

The processing/control unit 400 recognizes the weeds to be weeded in the image captured through the camera 300, selects a hose capable of discharging the herbicide to the corresponding weeds from the hose string 210, and supplies the herbicide through the selected hose. Control it so that it is discharged. The processing/control unit 400 is a program capable of performing the above functions, that is, a program for performing image recognition and hose selection, and sending a control signal to the valve driving circuit 260 to discharge the herbicide through the selected hose. It can be implemented with a processor that executes.

FIG. 3 is a flowchart showing the operation of the processing/control unit 400 according to the embodiment of the present invention in FIG. 1. Referring to Figure 3, the processing/control unit 400 is a herbicide discharge port at the end of each hose (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ) through which the herbicide is discharged and the lower part of the robot platform 100. Crops and weeds are classified and recognized from images taken of the cultivation space, and the target for weeding is determined (S100).

The processing/control unit 400 may utilize an object recognition algorithm or object recognition model to recognize crops and weeds. The processing/control unit 400 can recognize crops and weeds through an AI model generated by performing deep learning or machine learning to classify crops and weeds based on various image recognition algorithms such as CNN (Convolutional Neural Network). . In addition, the processing/control unit 400 not only classifies crops and weeds to identify weeds, but also recognizes the type and size of the weeds. For reference, of course, the type and size of weeds can also be recognized based on the aforementioned AI model learned through machine learning and deep learning. The processing/control unit 400 may be implemented by including a plurality of high-speed GPUs that perform calculations in parallel to speed up calculation and control speed.

In addition, the processing/control unit 400 recognizes the herbicide discharge port of each hose (210 ₁ , 210 ₂ , 210 ₃ ,..., 210 _N ) photographed together in the video, and determines the relative positions of the recognized discharge port and the target weeds. Based on this, at least one hose capable of discharging herbicide to the target weeds is selected from the hose string 210 (S110).

At this time, the processing/control unit 400 can select the hose by considering whether the robot platform 100 is moving and the moving speed. For example, when the robot platform 100 is stopped, considering the position of the hose, such as being in contact with the target weeds or located at the top immediately adjacent to it, a hose capable of spraying herbicide on the target weeds in the current state can be selected. On the other hand, when the robot platform 100 is moving at a predetermined speed, according to the image, even if it is not yet close enough to discharge the herbicide to the target weeds, the target weeds are removed after a predetermined time according to the movement of the robot platform 100. A hose predicted to be capable of discharging herbicide is selected.

Meanwhile, when there are a plurality of cameras 300, a plurality of images captured at different angles through each camera 300 are individually analyzed to select a hose capable of discharging herbicide to the target weeds.

There may be one or more hoses selected through the processing/control unit 400. The number of hoses selected may be determined depending on the size or area of the target weed, type of weed, etc. For example, if the size or area of the weeds is large and it is difficult to weed the target weeds with only the herbicide discharged from one hose, or if the corresponding type of weed requires a relatively large amount of herbicide when weeding, multiple hoses may be selected. You can. Additionally, when there are multiple target weeds recognized in one image, of course, multiple hoses can be selected corresponding to the positions of each target weed.

As above, when a hose to discharge the weed killer solution is selected from the hose string 210, the processing/control unit 400 recognizes the identification mark (M) present on the selected hose through image processing (S120). The processing/control unit 400 is equipped with an algorithm that can recognize the identification mark (M) in the image according to the applied identification mark (M).

Next, the processing/control unit 400 generates a control signal to open the valve 250 corresponding to the hose having the identification mark (M) recognized in the image (S130). The processing/control unit 400 stores information about the valve 250 corresponding to each identification mark (M), and based on this, a control signal to open the valve 250 corresponding to the recognized identification mark (M). Can be generated and transmitted to the valve driving circuit 260.

At this time, the processing/control unit 400 may determine the amount of herbicide discharged through the selected hose as well as the valve 250 that must be opened, and control the opening duration of the valve 250 according to the determined discharge amount. The processing/control unit 400 may determine the amount of herbicide discharged through the hose based on the size and type of the target weed. For example, when the size of the target weed is large, the opening duration of the valve 250 can be controlled so that the herbicide is discharged for a longer period of time, thereby increasing the discharge amount. Additionally, in the case of weeds that are difficult to weed with only a small amount of herbicide, the opening duration of the valve 26 can be controlled so that spraying occurs for a longer period of time. To this end, the processing/control unit 400 may store standard information for determining the amount of herbicide discharged in response to the size and type of the target weed.

In addition, the processing/control unit 400 may determine the timing of discharging the herbicide through the selected hose and perform control accordingly, considering the moving speed of the robot platform 100. When the robot platform 100 is stationary, the herbicide can be discharged directly through the selected hose. However, in a situation where the robot platform 100 is moving, the herbicide is applied to the target weeds based on the hose selected according to the moving speed. The time at which discharge is possible varies. Accordingly, the processing/control unit 400 determines a specific time to discharge the herbicide through the selected hose, taking into account the distance between the target weed recognized through the image and the herbicide discharge port of the hose, and the moving speed of the robot platform 100. Accordingly, control may be performed so that the valve 250 is opened.

Meanwhile, the processing/control unit 400 controls the herbicide to be discharged through the selected hose only when the selected hoses match each other according to the analysis results of each image captured at different angles through the plurality of cameras 300. can do. That is, in step S120, if the identification marks (M) recognized in each image are the same, the same hose is selected, so the herbicide is discharged through the corresponding hose. If the recognized identification marks (M) do not match, the selected hose is selected. Since the possibility of being discharged onto crops other than the weeding target cannot be ruled out, the herbicide solution is controlled so that it is not discharged. Through this, a hose capable of discharging herbicide can be more accurately found, and the risk of herbicide being discharged onto crops can be reduced.

The valve driving circuit 260 generates a control signal such as PWM to open the valve 250 corresponding to the hose selected according to the hose selected by the processing/control unit 400, the discharge time, and the discharge amount, so that the herbicide is applied to the target weeds. Allow it to be discharged.

For reference, in the above, the image-based processing for discharging the herbicide to target weeds in the processing/control unit 400 has been described as being performed within the processing/control unit 400, but this may be implemented differently depending on the design. It is obvious to those skilled in the art. That is, the processing/control unit 400 may be equipped with a CPU capable of high-speed processing, a high-speed GPU performing parallel operations, and memories, and may directly recognize or process images captured through the camera 300. In contrast, the processing/control unit 400 transmits the captured image through a communication module that performs communication such as WI-FI, LTE, 5G, etc. to an external processor or server of the weeding device such as a cloud server, so that image recognition and processing are performed on the weeding device. It may be implemented outside of the device, and the processing/control unit 40 may be implemented to perform control based on the image recognition and processing results performed by the external processor.

Figure 4 is a block diagram showing the configuration of a precision weeding device including a crop protection unit according to a second embodiment of the present invention, and Figure 5 is a precision weeding device including a crop protection unit according to a second embodiment of the present invention. This is an isolated perspective view showing the composition.

4 and 5, the precision weeding device according to the second embodiment of the present invention includes a robot platform 100, a weeding unit 200, a camera 300, a processing/control unit 400, and a crop protection unit. Includes 500.

In the precision weeding device according to the second embodiment, the configuration of the robot platform 100, the weeding unit 200, and the camera 300 are the same as the first embodiment described with reference to FIGS. 1 and 2. That is, the second embodiment differs from the first embodiment in that the configuration of the crop protection unit 500 is added and control for operation of the crop protection unit 500 is performed during the weeding process, and the remaining components are is the same as in the first embodiment. Therefore, the second embodiment will be described below with a focus on differences from the first embodiment.

According to the present invention, the herbicide is discharged at a position that is in contact with or very close to the crops, so when the hoses come into contact with the crops and brush against them while the robot platform 100 is running, the residual herbicide remaining at the end of the hose will not harm the crops. You can. Accordingly, the agricultural weeding robot system according to the second embodiment includes a crop protection unit that protects the crops by shielding them so that they are not exposed to the herbicide solution on the traveling path of the robot platform 100 during the weeding process. It further includes (500). The crop protection unit 500 is installed at the bottom of the robot platform 100 and behind the hose row 210.

FIG. 6 is a diagram showing the configuration of the crop protection unit 500 according to an embodiment of the present invention, and FIG. 7 is a reference diagram for explaining the operation of the crop protection unit 500 according to an embodiment of the present invention.

Referring to FIGS. 6 and 7 , the crop protection unit 500 includes a first actuator 510, a second actuator 530, a crop protection frame 550, and a protrusion 570.

The first actuator 510 is to perform the transport function of the crop protection frame 550 in the transverse direction with respect to the moving direction of the robot platform 100, and is implemented as a linear actuator that performs linear movement. You can.

The first actuator 510 includes an actuator base 511 constituting the body of the first actuator 510, a screw motor 513, a ball screw 515, and a ball screw 515 coupled to the actuator base 511. It includes a lateral movement member 517 formed to move in a lateral direction while sliding the image. For reference, Figures 5 and 6 show that the ball screw 515 rotated by the screw motor 513 is composed of a ball screw type actuator that moves the lateral moving member 517 in the lateral direction, but is not limited to this. Various known actuators, such as a pneumatic moving mechanism with a pneumatic cylinder or a hydraulic moving mechanism with a hydraulic cylinder, may be applied as the first actuator 510.

The second actuator 530 is intended to perform a transport function of the crop protection frame 550 before and after the moving direction of the robot platform 100, and like the first actuator 510, it can be implemented as a linear actuator.

The second actuator 530 is a ball screw type actuator that includes an actuator base 531, a screw motor 533, a ball screw 535, and a longitudinal moving member 537, similar to the first actuator 510. It can be composed of: The actuator base 531 of the second actuator 530 is assembled to the lateral moving member 517 of the first actuator 510 in directions perpendicular to each other. Through this coupling relationship, when the ball screw 535 is rotated by the screw motor 533, the longitudinal moving member 537 can move forward and backward while sliding on the ball screw 535.

The crop protection frame 550 has a crop entrance and exit portion so that crops can pass inside the crop protection frame 550 as the robot platform 100 moves, and the left and right sides of the crops are protected from other adjacent objects such as weeding target weeds. It is formed in the form of a tunnel for isolation. Both sides 551 of the crop protection frame 550 surrounding the crop, that is, the left and right walls, can perform the function of blocking the herbicide from flowing into the crop protection frame 550, so that it flows into the crop protection frame 550. If the herbicide is discharged while the crop enters, it is possible to effectively prevent the crop from being exposed to the herbicide due to the herbicide being spread by the wind.

In addition, the crop protection frame 550 not only blocks the inflow of herbicide as described above, but both sides 551 of the crop protection frame 550 can act as lateral boundaries of crops. According to this, it is possible to achieve the effect of reducing the volume of the crop in response to the volume of the crop protection frame 550 by applying pressure in the lateral direction to the crop that has entered the crop protection frame 550. As a result, the lower surface of the crop that was covered by the branches or leaves of the crop is exposed, making it possible to accurately discharge the herbicide to the target weed.

The upper end of the crop protection frame 550 is coupled to the longitudinal moving member 537 of the second actuator 530. Accordingly, the crop protection frame 550 moves forward and backward in response to the movement of the longitudinal moving member 537, and as described above, the first actuator 510 and the second actuator 530 are combined to move the first actuator 537. 1 In response to the lateral movement of the lateral movement member 517 of the actuator 510, the crop protection frame 550 is moved in the lateral direction.

The upper part 551a of both sides 551 of the crop protection frame 550 is made of a non-flexible material, such as metal, plastic, etc., that can maintain rigidity enough to change the position by pushing the leaves or branches of the crop. It can be formed from a material. On the other hand, the lower portions 551b of both sides 551 of the crop protection frame 550 may be formed of a thin film, such as vinyl, or a flexible material that can be deformed in the form of a membrane so as not to physically damage the crops when in contact with them. At this time, the relative proportions formed by the inflexible material and the flexible material on both sides 551 may be applied differently depending on the height of the crops planted in the crop space or the shape of the crop space.

In addition, the width between the sides 551 of the crop protection frame 550, that is, the width between both sides 551 of the crop protection frame 550 in a direction parallel to the ground surface, can be formed to be manually or automatically deformed. there is. For example, both sides 551 of the crop protection frame 550 are installed to be separable, and a plurality of grooves are formed at a predetermined distance apart from each other on the top of the crop protection frame 550, and both sides 551 are separated from each other. The lateral width can be changed depending on the position of the coupled groove, or the side 551 of the crop protection frame 550 can be implemented to slide left and right so that the lateral width can be changed depending on the degree of sliding. .

Meanwhile, the crop protection unit 500 is formed to protrude in the direction of the front part of the crop protection frame 550 where the crop exit part is located, that is, in the direction in which the crop protection frame 550 moves according to the movement of the robot platform 100. It may further include a protrusion 570. The protrusion 570 serves to secure a space where the crop protection frame 550 can be positioned within the hose row by tilting the hoses corresponding to the positions of the crops in the hose row 210 to the left and right. The protrusion 570 may be formed in a polygonal shape, such as a triangle or pentagon, using a plurality of rod members each connected to the side surfaces 551 so as to cross both sides 551 of the crop protection frame 550. There is no particular limitation to the structure as long as it can tilt a plurality of hoses to the left and right.

The above-described crop protection unit 500 changes its position as the first actuator 510 and the second actuator 530 are driven based on the control of the processing/control unit 400 during the weeding process, thereby protecting the crops around the target weeds. Protects from herbicides. Hereinafter, with reference to FIG. 8, we will look at the operation method of the crop protection unit 500 of the processing/control unit 400.

Figure 8 is a flowchart showing how the processing/control unit 400 operates the crop protection unit 500 during a weeding process according to an embodiment of the present invention. At this time, it is assumed that when weeding starts, the position of the crop protection frame 550 is at a preset initial position.

Referring to FIG. 8, the processing/control unit 400 processes images captured through the camera 300 to detect crops that need protection by the crop protection unit 500 (S200). At this time, as described above, the processing/control unit 400 can recognize crops and weeds in the image based on an AI model generated by performing deep learning or machine learning to classify crops and weeds. For reference, it goes without saying that recognition of crops and weeding targets can be achieved simultaneously through one image processing.

As a result of image processing, if the crop is not recognized, weeding is controlled to be performed according to the method described with reference to FIG. 3 without driving the crop protection unit 500 (S210, S260).

On the other hand, when a crop is recognized in the image, it is predicted which part of the hose string 210 the crop will pass through based on the position of the crop, that is, the passing position of the crop with respect to the hose string 210, and In response, the position where the crop protection frame 550 should move is determined (S220). For reference, since the crop and the hose string 210 are captured together in the video, the passing position of the crop with respect to the hose string 210 is determined by taking into account the running direction of the robot platform 100 and the relative position of the crop and the hose string 210. It can be predicted. Meanwhile, the position of the crop protection frame 550 is a position that allows crops to pass through the crop protection frame 550 as the robot platform 100 moves, and can be predicted based on the passing position of the crops. For example, if the crop is predicted to pass around

hoses

210 ₃ , 210 ₄ , and 210 ₅ among the hose rows 210, the position of the crop protection frame 550 is at a position corresponding to

hoses

210 ₃ , 210 ₄ , and 210 ₅ . can be decided.

Next, the processing/control unit 400 controls the driving of the first actuator 510 and the second actuator 530 in response to the determined position of the crop protection frame 550, so that the crop protection frame 550 moves in the horizontal and vertical directions. It is moved forward and backward so that it can be located at a determined position (S230).

At this time, if the direction corresponding to the traveling direction of the robot platform 100 is expressed as the Y-axis direction and the direction perpendicular to the traveling direction is expressed as the X-axis direction, the processing/control unit 400 operates the first actuator 510. The crop protection frame 550 is moved laterally to first adjust the position on the The position can be adjusted.

When the crop protection frame 550 reaches the determined position through the above operation, weeding work can be performed while the crop is protected by the crop protection frame 550 (S240).

When the weeding operation on the weeding target near the crop is completed and the passage of the crop through the crop protection frame 550 is completed, the processing/control unit 400 moves the crop protection frame 550 to the preset initial position or initial state. The driving of the first actuator 510 and the second actuator 530 is controlled to return (S250).

At this time, the preset initial position may be set in a state in which the second actuator 530 is fully retracted toward the rear, but is not necessarily limited to this and may be set differently in consideration of the planting position and planting density of crops in the crop space. Of course it can be done.

In the step described through FIG. 8, that is, the crop protection frame 550 is made to cover the crop depending on whether or not the crop is detected in the image, and when the weeding operation for the corresponding weeding target is completed, the crop protection frame 550 is returned to the initial position. The series of restoration processes is repeated until all weeding work is completed.

The above-described steps in FIG. 8 may be changed or other steps may be added depending on the situation. For example, in the above embodiment, it was assumed that the position of the crop protection frame 550 is at the preset initial position before weeding is performed on the corresponding weeding target. However, due to the continuous appearance of crops, etc., the crop protection frame 550 is A situation may arise where there is insufficient time to return to the initial position. In this case, step S250, in which the crop protection frame 550 returns to its initial position, is omitted, and control to protect subsequent crops can be performed continuously. At this time, since the crop protection frame 550 has already been advanced to the position of the hose string 210 to protect the previously appearing crops, the position of the crop protection frame 550 can only be changed in the horizontal direction to protect the subsequent crops. It may be necessary. At this time, if the position is moved in the horizontal direction, the hoses of the hose row 210 become an obstacle to the movement of the crop protection frame 550. Therefore, when the crop protection frame 550 needs to move in the lateral direction to move to a determined position while entering between the hoses of the hose string 210, the processing/control unit 400 uses the second actuator 530. First, the crop protection frame 550 is moved backwards to the rear of the hose row 210, and then the first actuator 510 is driven to move the crop protection frame 550 in the horizontal direction, and then the second actuator 530. By driving the crop protection frame 550 forward, it can be controlled to re-enter between the hose rows 210.

On the other hand, when there are a plurality of crops in the image and it is not possible to protect all or simultaneously a plurality of crops through the crop protection frame 550, considering the location of the crops and the distance between the crops, the processing/control unit 400 uses a plurality of crops. The crop protection unit 500 may be controlled to provide selective protection by selecting crops that require priority protection among crops. For example, in order to discharge the herbicide to the corresponding herbicide target, crops that are closer to the location of the selected hose or are larger in size and are more likely to be exposed to the herbicide than other crops are selected, and the selected crop is given priority. You can protect it.

According to the weeding robot system according to the present invention described above, the problem of conventional weeding robots that perform weeding while spaced apart from the target weeds can be overcome by precisely discharging the herbicide at a very close position to the weeding target. there is.

In addition, by protecting crops through the crop protection unit 500, damage to crops and environmental impacts due to the spread of herbicide can be minimized. Meanwhile, the weeding robot system according to the present invention is capable of economical design and operation due to its configuration, and is expected to greatly contribute to the achievement and spread of smart agriculture by reducing the cost burden on farmers.

Terms such as “include,” “comprise,” or “have,” as used above, unless specifically stated to the contrary, mean that the corresponding component may be present, and do not exclude other components. It should be interpreted that it may further include other components. All terms, including technical or scientific terms, unless otherwise defined, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains. Commonly used terms, such as terms defined in a dictionary, should be interpreted as consistent with the contextual meaning of the related technology, and should not be interpreted in an idealized or overly formal sense unless explicitly defined in the present invention.

The configuration and operation of the unmanned cultivation robot system for facility farms according to an embodiment of the present invention described above have been described, but this is illustrative and those skilled in the art will understand the scope without departing from the technical spirit of the present invention. It will be appreciated that it is possible to substitute and modify some of the above-described embodiments.

Therefore, the scope of protection of the present invention should be understood to extend to the invention described in the patent claims and equivalents thereof.

Claims

In a precision weeding device for an agricultural weeding robot system,

A robot platform designed to travel through the cultivation area where crops are grown;

A hose row including a plurality of hoses arranged in a row at the bottom of the robot platform;

One or more cameras mounted on the robot platform to photograph the distal end of the hose through which herbicide is discharged and the cultivation space below the robot platform; and

It includes a processing/control unit that recognizes weeds to be weeded in the image captured through the camera, selects a hose capable of discharging herbicide to the weeds from among the hose strings, and controls the herbicide to be discharged through the selected hose. A precision weeding device characterized in that.
According to paragraph 1,

A herbicide supply unit that supplies herbicide liquid;

a main line hose that transfers the herbicide supplied by the herbicide supply unit to the hose row;

a plurality of valves that are individually installed on each hose of the hose row and open and close each hose according to the control of the processing/control unit; and

A precision weeding device further comprising a nozzle connected to an end of each hose to adjust the discharge area of the herbicide.
According to paragraph 2,

There is an identification mark on the hose to identify each hose,

The processing/control unit selects at least one hose from the hose string based on the relative position of the hose with respect to the weeds, recognizes the identification mark of the selected hose in the image, and corresponds to the hose having the identification mark. A precision weeding device characterized in that the valve is controlled to open.
According to paragraph 1,

A precision weeding device, characterized in that each hose of the hose row is formed to be flexible so as not to cause physical damage when contacting the crop.
According to paragraph 1,

The processing/control unit,

The first image and the second image taken at different angles are individually analyzed to select a hose capable of discharging the herbicide to the weeds, and the hose selected according to the analysis results of the first image and the second image is selected. A precision weeding device characterized in that it is controlled so that the herbicide is discharged through the selected hose only when they match each other.
According to paragraph 1,

The processing/control unit,

A precision weeding device characterized in that it recognizes the size and type of weeds in the image and determines the amount of herbicide discharged through the hose selected based on the recognized size and type of weeds.
According to paragraph 1,

The processing/control unit,

A precision weeding device characterized in that it processes the image through an artificial intelligence model learned to identify the weeds and recognize the type of the weeds.
According to paragraph 1,

The processing/control unit,

A precision weeding device that controls the timing of discharging the herbicide through the selected hose in consideration of the moving speed of the robot platform.
According to paragraph 1,

A precision weeding device further comprising a crop protection unit that protects the crops by shielding them from exposure to the herbicide on the traveling path of the robot platform.
According to clause 9,

The Crop Protection Department,

A first actuator that performs a transfer function in the transverse direction with respect to the moving direction of the robot platform;

a second actuator coupled to the first actuator and performing a transport function back and forth in the moving direction of the robot platform; and

A precision weeding device coupled to the second actuator and comprising a crop protection frame formed in the shape of a tunnel to isolate the left and right sides of the crop and having a crop entrance and exit portion to allow the crop to pass inside.
According to clause 10,

The Crop Protection Department,

A protrusion is formed to protrude in the direction of the crop outlet of the crop protection frame, and secures a space where the crop protection frame can be positioned within the hose row by bending the hose corresponding to the position of the crop in the hose row. A precision weeding device comprising:
According to clause 10,

A precision weeding device, characterized in that the upper side of the crop protection frame is formed of a non-flexible material, and the lower side of the crop protection frame is formed of a deformable flexible material.
According to clause 10,

A precision weeding device, characterized in that the width between both sides of the crop protection frame is formed to be changeable.
According to clause 10,

The processing/control unit,

The crop is recognized in the image, the position of the crop protection frame is determined so that the crop can pass through the crop protection frame as the robot platform moves, and the first crop protection frame is selected in response to the determined position of the crop protection frame. A precision weeding device characterized in that it controls the operation of the actuator and the second actuator.
According to clause 14,

The processing/control unit,

When it is necessary to change the position of the crop protection frame in the horizontal direction to move the crop protection frame to the determined position while the crop protection frame is advanced to the position of the hose row, the second actuator is driven to protect the crop. A precision weeding device, characterized in that the frame is moved backwards and then driven in the horizontal direction by driving the first actuator, and then the crop protection frame is moved forward by driving the second actuator and controlled to re-enter between the hose rows.
According to clause 10,

The processing/control unit,

A precision weeding device, characterized in that when the passage of the crop through the crop protection frame is completed, the driving of the first actuator or the second actuator is controlled to return the crop protection frame to a preset initial position.
According to paragraph 1,

The processing/control unit,

Including CPU, GPU, and memory, directly perform recognition and processing of the image for dispensing herbicide solution on the weeds, or

A precision weeding device characterized in that it is configured to transmit the image to the outside through a communication module, allow image recognition and processing to be performed externally, and then receive the results of the image recognition and processing from the outside.