KR101926267B1 - System for measurment of soil resistance, for testing transplanting hopper of automatic transplanter - Google Patents

Abstract

The present invention relates to a system for measurement of soil resistance to test performance of a transplanting hopper of an automatic transplanter and, more specifically, relates to a system for measurement of soil resistance to test performance of a transplanting hopper of an automatic transplanter, which comprises: a control unit controlling operation of a device; a soil tank unit having soil to measure soil resistance; a load cell load data processing unit attached to a lower portion of the soil tank unit to measure a change in a load; and a transplant depth analysis unit controlling a transplant depth based on the measured load change.

Description

TECHNICAL FIELD [0001] The present invention relates to a soil resistance measurement system for evaluating the performance of an automatic transplanting hopper,

The present invention relates to a soil resistance measuring system for evaluating the performance of an automatic transplanting machine hopper, and more particularly, to a system for evaluating the performance of a transplanting hopper according to soil characteristics, .

Generally, there are two methods of planting crops: direct seeding method in which the seedlings are squeezed in the seedlings, and transplantation methods in which the seedlings are planted in the pods and the seedlings grown in a certain size are transferred to the nodules in order to grow the crops quickly and effectively.

Traditionally, direct seeding or transplanting of seedlings through seeding or grafting has traditionally been performed manually by the operator, but in recent years, seeding or transplanting machines that mechanically perform such directing or transplanting have been developed and distributed, .

When sowing or transplanting is carried out through a sowing machine or a transplanting machine, the convenience of operation due to sowing transplantation is ensured. In particular, a large quantity of nursery or seedlings can be mass-produced by transplanting.

Here, the seeding / transplanting machine basically allows the hopper units disposed in the elevating unit or the drum unit to enter the ground to a predetermined depth, opens the feeding path, and discharges the seedlings or seedlings stored in the receiving space to the ground, Sowing is transplanted.

Wherein the hopper unit for the seeding / feeding machine is configured such that a storage space is formed between the hopper members to which the hopper members are tightly joined, so that when the hopper member is pivoted outward by the drive unit, Seedlings or seedlings supplied in the space fall down by self-falling through the open input path and are direct wave or implanted to the ground at a predetermined depth.

However, due to the characteristics of the hopper unit, it is difficult to prevent the entry into the soil or the outflow of the seedlings or seedlings stored in the storage space, It is difficult to maintain the shortage rate and the daytime distance according to the moving speed of the automatic grabber and the speed of the graft hopper.

If frequent soaking occurs, it is difficult to guarantee the reliability due to direct wave or transplantation, and if the depth of direct wave or transplantation is not uniform, it may cause disruption of the germination and growth of crops.

Therefore, it is required to evaluate the performance of the transplant hopper according to the characteristics of the soil of the automatic transplanting hopper.

Patent patents related to a soil property measuring device and a soil shear strength measuring device have been filed in the related patents. However, unlike the present invention in which the automatic transplanting machine hopper is tested according to the characteristics of the soil, There is a difference in monitoring the soil stability through soil strength measurement, and there is a difference between the structure and the system of the test equipment.

Korean Patent Publication No. 10-2017-0064571 Korean Patent No. 10-1742107 Korean Patent No. 10-1382535 Korean Patent No. 10-1229398

SUMMARY OF THE INVENTION The present invention has been made in an effort to solve the problems and disadvantages of the prior art as described above, and it is an object of the present invention to provide a soil preparation system, The present invention provides a soil resistance measuring system for evaluating the performance of an automatic grafting hopper, which comprises a driving device 200 and a device control unit 300 for controlling the graft hopper driving device.

In addition, the load applied to the transplant hopper is evaluated in advance according to the type of soil, the soil hardness, the depth of transplantation, and the distance of the day during actual work, and the work performance of the automatic transplanting machine is evaluated in advance, To improve performance.

 It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.

One aspect of the present invention provides a soil resistance measurement system for evaluating the performance of an automatic grafting hopper.

The present invention relates to a soil resistance measuring system for evaluating the performance of a hopper of an automatic implanter, comprising: a controller for controlling driving of the apparatus; A soil portion including soil for measuring soil resistance; A load cell load data processor attached to a lower portion of the tiller to measure a load change; And an implant depth analyzer for adjusting the implant depth based on the measured load change.

The present invention may further include a soil flattening unit for filling the soil with the soil and planarizing the surface.

The load cell load data processing unit includes a first numerical value acquiring unit and a second numerical value acquiring unit, wherein the first numeric acquiring unit acquires a first numerical value relating to the vertical load of the grafting hopper based on the load change, The second numerical value acquiring unit may acquire a second numerical value relating to the horizontal load of the graft hopper based on the load change.

The load cell load data processing unit may further include a soil information obtaining unit that obtains soil information indicating the type and rigidity of the soil based on the first numerical value and the second numerical value.

The present invention may further include a display unit for outputting the first numerical value, the second numerical value, and the soil information.

In the present invention, the controller controls driving of the apparatus through a control item displayed on the display unit, and the display unit displays RUN, ALARM, angle, RPM setting, COUNT setting, SERVO OFF, ORIGIN, SERVO START, JOG CW, SERVO STOP, RESET and EMERGENCY items are displayed and SAVE FOLDER, FILE NAME and PORT items are displayed on the lower left side of the main screen, and READY, STOP and QUIT items are displayed on the lower right side of the main screen .

According to another embodiment of the present invention, there is provided a soil resistance measuring system for evaluating the performance of a hopper of an automatic grafting machine, the system comprising: a controller for controlling driving of the apparatus; A soil portion including soil; An image information acquisition unit for acquiring a motion image related to a motion locus of the implantation hopper; And an operation unit for obtaining stop sign information of the graft hopper based on the image information.

The present invention may further include a soil flattening unit for filling the soil with the soil and planarizing the surface.

In the present invention, the stop sign information may include radius information of the motion trajectory of the graft hopper and the graft depth information.

The present invention may further include a locus analyzing unit that determines a rotational speed and an angle of the graft hopper based on the stop locus information.

The present invention may further include a display unit for outputting the stop sign information.

According to another embodiment of the present invention, there is provided a soil resistance measuring system for evaluating the performance of a hopper of an automatic grafting machine, the system comprising: a controller for controlling driving of the apparatus; A soil portion including soil for measuring soil resistance; A load cell load data processor attached to a lower portion of the tiller to measure a load change; An implant depth analyzer for adjusting the implant depth based on the measured load change; An image information acquisition unit for acquiring a motion image related to a motion locus of the implantation hopper; And an operation unit for obtaining stop sign information of the graft hopper based on the image information.

According to the embodiment of the present invention, the load applied to the automatic transplanting hopper is changed according to the type of soil, the hardness of the soil, the depth of grafting, and the distance of the day, The performance evaluation of the graft hopper is required. According to the soil characteristics, preliminary evaluation of automatic transplanting machine hopper has made it possible to evaluate beforehand the problems that could lead to growth disorder of the crop due to the increase of the shortage rate or the inconsistent weekly distance according to soil characteristics, It can be used for improvement.

In addition, the soil resistance measurement system for automatic hopper hopper performance evaluation can be used to precisely measure the stop trajectory of a transplant hopper with a high-speed camera, so that the automatic distance of the automatic transporter can be accurately measured.

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the technical features of the invention.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view of a soil resistance measuring device for evaluating the performance of a hopper of an automatic grafting machine. FIG.
FIG. 2 is a view showing a control unit of the transfer hopper performance evaluation system of the automatic implanter of the present invention.
FIG. 3 is a block diagram of a soil resistance measuring system for evaluating the performance of an automatic grafting hopper.
4 is a driving sequence diagram of a soil resistance measuring system for evaluating the performance of the automatic grafting hopper of the present invention.
5 is a view showing a configuration of a display unit of a soil resistance measuring apparatus / system for evaluating the performance of an automatic implanter implanting hopper.
6 is a graph showing the result of measuring the soil resistance of sand using a soil resistance measuring apparatus / system for evaluating the performance of the automatic grafting hopper of the present invention.
Fig. 7 is a diagram showing the change of the vertical / horizontal load according to the rotational speed of the transfer hopper.
8 is a diagram illustrating an operation of the load cell load data processing unit of the present invention.
Fig. 9 is a diagram illustrating the operation of the image information acquisition unit of the present invention.
10 is an analysis of the stop trajectory of the graft hopper using the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following detailed description, together with the accompanying drawings, is intended to illustrate exemplary embodiments of the invention and is not intended to represent the only embodiments in which the invention may be practiced. The following detailed description includes specific details in order to provide a thorough understanding of the present invention. However, those skilled in the art will appreciate that the present invention may be practiced without these specific details.

In some instances, well-known structures and devices may be omitted or may be shown in block diagram form, centering on the core functionality of each structure and device, to avoid obscuring the concepts of the present invention.

Throughout the specification, when an element is referred to as " comprising " or " including ", it is meant that the element does not exclude other elements, do. In addition, the term " "... Quot ;, " module " and the like refer to a unit for processing at least one function or operation, which may be implemented by hardware, software, or a combination of hardware and software. Also, the terms " a or ", " one ", " the ", and the like are synonyms in the context of describing the invention (particularly in the context of the following claims) May be used in a sense including both singular and plural, unless the context clearly dictates otherwise.

The specific terminology used in the following description is provided to aid understanding of the present invention, and the use of such specific terminology may be changed into other forms without departing from the technical idea of the present invention.

The present invention relates to a soil resistance measuring system for evaluating the performance of a hopper of an automatic grafting machine, and an embodiment of the present invention will be described in detail with reference to the accompanying drawings. Particularly, the present invention relates to a soil resistance measuring system for evaluating the performance of an automatic implanted hopper. However, since the transplanting hopper is used in a variety of agricultural machinery such as a weaning machine and a seeding machine, It can be used in a soil resistance measurement system for the evaluation of graft hopper performance.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view of a soil resistance measuring device for evaluating the performance of a hopper of an automatic grafting machine. FIG.

Referring to FIG. 1, the apparatus for measuring soil resistance for evaluating the performance of an automatic implanter hopper includes a soil part 100 for forming a test environment including soil, a graft hopper driving device 200 for driving a graft hopper, A control unit (not shown) for controlling the graft hopper driving device, and an image acquisition unit (not shown). The grabber 100 includes a load cell for measuring a load, And may include a servomotor 210 for driving the mounted transfer hopper.

However, since the present invention is not limited to the components shown in FIG. 1, it is possible to use the performance evaluating apparatus of the automatic grafting hopper having fewer or fewer components than the components shown in FIG. 1 .

The load cell is attached to the lower portion of the tiller 100 to measure the load change. The obtained load data is a first numerical value obtained by digitizing the vertical load in the load data through the load cell load data processor, The soil type and hardness determination result are obtained from the first numerical value and the second numerical value, and the load cell load data result value is output in a lump when the experiment number set for the first time is completed.

The image acquiring unit is attached to a soil resistance measuring apparatus for evaluating the performance of the automatic grafting hopper, specifically, the graft hopper driving apparatus 200 to obtain operation image information indicating the continuous operation state of the graft hopper.

In addition, the trough 100 serves to simulate the ground by filling the soil in the form of a cube, and is located at the lower support of the graft hopper driving device.

The graft hopper is mounted on the graft hopper driving unit 200 and a servomotor 210 is mounted on the servomotor holder. The servomotor 210 is connected to the graft hopper, The graft hopper is operated to move up and down, and the graft hopper, which moves up and down, simulates the movement of the automatic grafting hopper in the trough 100.

The graft hopper provided in the graft hopper driving apparatus 200 is controlled by the control unit and is controlled according to the initial set value, the graft hopper RPM, the graft hopper angle, and the number of experiments, which are input by the display unit.

The supporting portion of the transplant hopper driving device 200 includes a bottom support 223, an intermediate support 222, an upper support 221, a lower support column 227 connecting the bottom support 223 and the intermediate support 222 An upper support column 226 for connecting the intermediate layer support 222 and the upper layer support 221 and a support bar coupling 228 for connecting the support bars 221, 222 and 223 to the support columns 226 and 227 ).

The intermediate layer support unit 222 may include an implantation hopper mounting unit including a predetermined amount of empty space to mount the implantation hopper, and the servo motor mounting unit may be mounted on the transfer hopper mounting unit in a direction perpendicular to the y- It can be provided with a predetermined width.

Also, two or more graft hopper supports for fixing the graft hopper to the graft hopper grab and the z-axis perpendicular direction may be included. In addition, the upper layer support 221 includes a predetermined width of void space to prevent interference when coupling the implantation hopper.

The lower support column 227 has a predetermined height at which the trough 100 can be installed between the bottom support 223 and the intermediate support 222.

FIG. 2 is a view showing a control unit of the transfer hopper performance evaluation system of the automatic implanter of the present invention.

Referring to FIG. 2, the controller includes a servo driver 310 for controlling the operation of the graft hopper, an inverter 340 for controlling the motor for driving a tiller, a control unit 340 for controlling the servo driver 310 and the inverter 340, A PLC 320 for controlling the servo driver 310 and the inverter 340, a power supply transformer 330, a magnet switch 350 for controlling the current, and a breaker 360, And a touch panel display for outputting result information.

The PLC 320 controls the system based on the information input by the display, and the PLC 320 includes a power supply module, a CPU module, a digital input module, an output module, a position module, and a communication module can do.

The control unit may include a display unit for receiving a set value and outputting a result value.

FIG. 3 is a block diagram of a soil resistance measuring system for evaluating the performance of an automatic grafting hopper.

The soil resistance measuring system for evaluating the performance of the automatic grafting machine hopper includes a display unit 400 for obtaining set value information and outputting a result value, a control unit 500 for controlling driving of the apparatus and calculating a result value, A load cell load data processing unit 600 for measuring a change in load, an operation unit 700 for obtaining experimental data and detecting and calculating information, an implantation depth analyzing unit for adjusting the implantation depth according to the load applied to the transfer hopper 1000), a soil flattening unit 800 for filling the soil and flattening the surface after each experiment, a trajectory analysis unit 900 for calculating the result of measuring the rotation speed of the transplanting hopper and the stop trajectory, And an image information acquiring section 1100 for acquiring a motion image of the hopper.

The display unit 400 acquires setting value information and outputs a result value, and a detailed description thereof will be described later with reference to FIG.

The control unit 500 controls the driving of the apparatus and calculates the resultant value.

The load cell load data processing unit 600 obtains load data by a load cell attached to the lower portion of the feeder hopper in operation of the graft hopper driving apparatus and calculates a first numerical value obtained by digitizing the vertical load in the load data, Calculates the type and hardness of the soil through the first and second numerical values, and outputs the result of the load cell load data collectively to the display unit 400 when the first set experiment number is completed.

The operation unit 700 measures the stop trajectory of the implantation hopper based on the image information acquired from the image information acquisition unit 1100. The transplantation hopper trajectory analysis unit 900 analyzes the stop trajectory The transplanting hopper RPM and the transplantation hopper angle are determined through the transplantation depth analyzer 1000. The transplantation depth analyzer 1000 determines the depth of the second transplantation hopper according to the load applied to the transplantation hopper, The process of filling the gravel with the planarization unit 800 and planarizing the surface is performed and the same procedure as in the first experiment is carried out during the operation of the second experiment. When the first set experiment number is completed, the load cell load data and the stop trace The result is output in a lump.

 The graft depth analyzer 1000 determines the angle of the second reciprocating hopper according to the result of the load applied to the graft hopper.

The soil-leveling unit 800 includes gravel and charges the gravel to the trough 100 after each experiment.

The trajectory analysis unit 900 determines the second transplantation hopper RPM and the transplantation hopper angle through the continuous image obtained by the image information acquisition unit 1100. [

4 is a driving sequence diagram of a soil resistance measuring system for evaluating the performance of the automatic grafting hopper of the present invention.

The driving sequence of the soil resistance measuring system for evaluating the performance of the automatic grafting hopper is performed by receiving the initial set values of the weekly distance, the graft hopper RPM, the graft hopper angle, and the number of experiments in the main screen of the display unit 400 (S401) The control unit 500 transmits the initial set value to each device in operation S402, drives the first experiment one time in operation S403, and controls the image information acquisition unit 1100, The load cell load data processing unit 600 obtains the load information to be applied to the soil erosion, and the arithmetic unit 700 calculates the numerical value from the image information acquired by the image information acquiring unit 1100 The trajectory analysis unit 900 determines the second reciprocal hopper RPM and the transplant hopper angle through the trajectory calculated in the first experiment, The portion 1000 determines the depth of the second transfer hopper according to the load applied to the transfer hopper and then the soil is leveled by the soil planarization unit 800 after the first experiment operation and the surface is planarized (S405).

When the second experiment is run, the same procedure as in the first experiment is performed. When the first experiment is completed, the load cell load data and the stop trajectory result are collectively output.

5 is a view showing a configuration of a display unit of a soil resistance measuring apparatus / system for evaluating the performance of an automatic implanter implanting hopper.

The display unit 400 displays the load cell graph obtained through the load cell load data processing unit 600 on the left half of the main screen and displays RUN, ALARM, angle, RPM, COUNT, SERVO OFF , SAVE FOLDER, FILE NAME, and PORT items are displayed on the lower left side of the display main screen, READY, STOP, and STOP are displayed on the lower right side of the display main screen, QUIT item.

The operation of each item of the display unit 400 is performed by the RUN item on the right middle side of the main screen of the display unit 400. When an error occurs during driving, an ALARM item is displayed, The RPM of the first hopper is determined by the RPM setting item, the experiment count is inputted by the COUNT setting item, the SERVO START is converted to the SERVO START when the SERVO OFF item is selected, The servo motor is switched to the manual operation mode by the JOG CW item, the servo motor is stopped by the SERVO STOP item, the system is initialized by the RESET item, and the abnormal operation of the servo motor is displayed in the EMERGENCY item.

In addition, a data file location to be stored through the SAVE FOLDER item may be selected on the lower left side of the main screen of the display unit 400, a data file name may be set using the FILE NAME item, and a storage location may be set through the PORT item.

A READY item is displayed at the lower right of the display main screen at the time of communication connection, a STOP item is displayed at the time of system stop, and a QUIT item is displayed at the time of system stop during the experiment.

In addition, the load cell graph obtained through the load cell load data processing unit 600 on the left half of the main screen can be displayed in real time during the experiment.

6 is a graph showing the result of measuring the soil resistance of sand using a soil resistance measuring apparatus / system for evaluating the performance of the automatic grafting hopper of the present invention.

Referring to FIG. 6, the soil resistance of the sand was measured using a soil resistance measuring apparatus / system for evaluating the performance of the automatic grafting hopper of the present invention. As the rotational speed of the graft hopper increases, the vertical load decreases appear. The reason for the above result is that as the rotational speed of the transplanting hopper increases, the horizontal load of the transplanting hopper largely acts to plant the seedlings while the transplanting hopper enters the soil.

Fig. 7 is a diagram showing the change of the vertical / horizontal load according to the rotational speed of the transfer hopper.

As described above with reference to Fig. 6, when the graft hopper rotates at a low speed, the vertical load becomes large and the horizontal load becomes small. When the graft hopper rotates at high speed, the vertical load becomes small and the horizontal load becomes large . This is because, as described above, as the rotational speed of the graft hopper increases, the horizontal load of the graft hopper largely acts to plant the seedlings in the state that the graft hopper enters the soil.

In order to solve such a problem, the apparatus / system for measuring soil resistance for evaluating the performance of the automatic grafting hopper of the present invention simultaneously measures the vertical load and the horizontal load to accurately check the load characteristics according to the soil characteristics and working conditions It is possible.

8 is a diagram illustrating an operation of the load cell load data processing unit of the present invention.

The load cell load data processing unit 600 obtains load data by a load cell attached to the lower portion of the trough when the graft hopper driving apparatus operates, and the first value obtaining unit 610 obtains load data from the load cell, The second numerical value obtaining unit 620 obtains a second numerical value obtained by digitizing the horizontal load from the load data, and the soil information obtaining unit 630 obtains the second numerical value based on the first numerical value and the second numerical value, And outputs the result of the load cell load data collectively to the display unit 400 when the number of experiments for the first time is completed.

Fig. 9 is a diagram illustrating the operation of the image information acquisition unit of the present invention.

In general, the motion trajectory analysis of the graft hopper is an important factor that determines the performance of the graft hopper. To accurately measure the graft hopper, expensive high-speed cameras, lighting devices, and analysis programs are required.

On the other hand, according to the present invention, the number of revolutions of the graft hopper can be adjusted to a unit of 1 rpm by using the servo motor, so that the motion trajectory of the graft hopper can be measured using a general camera.

That is, the image information acquiring unit 1100 of the present invention acquires a motion image of the implantation hopper, and the arithmetic unit 700 acquires radial information of the motion trajectory of the implantation hopper and the implantation depth information from the continuously obtained motion image , Determines the graft hopper angle of the next round experiment based on the graft depth information, and collectively outputs the result of the trajectory of the graft hopper according to the graft hopper angle at the end of the experiment to the display unit (400).

10 is an analysis of the stop trajectory of the graft hopper using the present invention.

As can be seen from FIG. 10, the image information acquiring unit 1100 of the present invention can acquire the motion image of the implantation hopper, thereby acquiring the radius information of the motion locus of the implantation hopper and the implantation depth information Do.

Accordingly, the present invention preliminarily determines the operation performance of the transplanting hopper according to the characteristics of the soil (kind of soil, hardness of soil, etc.), working mode (transplanting depth, working speed, Allow the unit to determine the performance of the graft hopper.

The embodiments of the soil resistance measurement system for evaluating the performance of the automatic grafting hopper of the present invention described above are merely illustrative and those skilled in the art will appreciate that various modifications and equivalent It will be appreciated that other embodiments are possible.

Therefore, it is to be understood that the present invention is not limited to the above-described embodiments. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims. It is also to be understood that the invention includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

100:
200: Implantable hopper drive device
300:
400:
500:
600: load cell load data processor
700:
800: Sodis planarization part
900: Trajectory analysis section
1000: Portion depth analysis section
1100: Image information acquisition unit

Claims (17)

1. A soil resistance measurement system for evaluating the performance of an automatic grafting hopper,
A control unit for controlling driving of the apparatus;
A soil portion including soil for measuring soil resistance;
A load cell load data processor attached to a lower portion of the tiller to measure a load change; And
And an implant depth analyzer for adjusting the implant depth based on the measured load change,
Wherein the load cell load data processing unit includes a first numerical value acquiring unit and a second numerical value acquiring unit, the first numeric acquiring unit acquiring a first numerical value concerning a vertical load of the grafting hopper based on the load change, And the obtaining unit obtains a second value relating to the horizontal load of the grafting hopper based on the load change.
The method according to claim 1,
And a soil planarizing unit for filling the soil with the soil and planarizing the surface of the soil.
delete The method according to claim 1,
Wherein the load cell load data processing unit further comprises a soil information obtaining unit for obtaining soil information indicating the type and hardness of the soil based on the first numerical value and the second numerical value. Soil resistance measurement system.
5. The method of claim 4,
Further comprising a display unit for outputting the first numerical value, the second numerical value, and the soil information.
6. The method of claim 5,
The control unit controls driving of the apparatus through a control item displayed on the display unit,
The display unit displays RUN, ALARM, angle, RPM setting, COUNT setting, SERVO OFF, ORIGIN, SERVO START, JOG CW, SERVO STOP, RESET and EMERGENCY items on the right half of the main screen,
The SAVE FOLDER, FILE NAME, and PORT items are displayed on the lower left of the main screen,
Wherein READY, STOP and QUIT items are displayed on the lower right of the main screen.
1. A soil resistance measurement system for evaluating the performance of an automatic grafting hopper,
A control unit for controlling driving of the apparatus;
A soil portion including soil;
An image information acquisition unit for acquiring a motion image related to a motion locus of the implantation hopper;
An operation unit for obtaining the stop sign information of the graft hopper based on the image information; And
And a soil planarizing unit for filling the soil with the soil and planarizing the surface of the soil.
delete 8. The method of claim 7,
Wherein the stop trajectory information includes radius information of a motion trajectory of the implantation hopper and implantation depth information.
10. The method of claim 9,
Further comprising a trajectory analyzer for determining a rotational speed and an angle of the graft hopper based on the stop trajectory information.
11. The method of claim 10,
And a display unit for outputting the stop sign information. The system for measuring soil resistance for evaluating the performance of a graft hopper of an automatic implanter.
12. The method of claim 11,
The control unit controls driving of the apparatus through a control item displayed on the display unit,
The display unit displays RUN, ALARM, angle, RPM setting, COUNT setting, SERVO OFF, ORIGIN, SERVO START, JOG CW, SERVO STOP, RESET and EMERGENCY items on the right half of the main screen,
The SAVE FOLDER, FILE NAME, and PORT items are displayed on the lower left of the main screen,
Wherein READY, STOP and QUIT items are displayed on the lower right of the main screen.
1. A soil resistance measurement system for evaluating the performance of an automatic grafting hopper,
A control unit for controlling driving of the apparatus;
A soil portion including soil for measuring soil resistance;
A load cell load data processor attached to a lower portion of the tiller to measure a load change;
An implant depth analyzer for adjusting the implant depth based on the measured load change;
An image information acquisition unit for acquiring a motion image related to a motion locus of the implantation hopper; And
And an operation unit for acquiring stop trajectory information of the graft hopper based on the image information,
Wherein the load cell load data processing unit includes a first numerical value acquiring unit and a second numerical value acquiring unit, the first numeric acquiring unit acquires a first numerical value concerning the vertical load of the grafting hopper based on the load change, And the obtaining unit obtains a second value relating to the horizontal load of the grafting hopper based on the load change.
delete 14. The method of claim 13,
Wherein the load cell load data processing unit further comprises a soil information obtaining unit for obtaining soil information indicating the type and hardness of the soil based on the first numerical value and the second numerical value. Soil resistance measurement system.
16. The method of claim 15,
Wherein the stop trajectory information includes radius information of a motion trajectory of the implantation hopper and implantation depth information.
17. The method of claim 16,
Further comprising a trajectory analyzer for determining a rotational speed and an angle of the graft hopper based on the stop trajectory information.

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