KR101987454B1 - Perforation system device recognizing bottom crop of vinyl mulching using sensor fusion technology - Google Patents

Abstract

The present invention relates to a perforation system device for recognizing bottom crop of vinyl mulch using sensor fusion technology. More particularly, the present invention extracts and recognizes an image of crop from a sensor unit during movement along vinyl mulch, and operates a DC motor in a microcontroller and a PWM controller, wherein the DC motor controls a rotational speed of a rotating perforation mechanical unit by controlling a differential gear connected thereto, thereby perforating the vinyl mulch in accordance with the position of the crop without stopping the perforation system when moving. Therefore, the perforating operation time is shortened and work efficiency is thereby increased.

Description

TECHNICAL FIELD [0001] The present invention relates to a perforation system for recognizing a lower crop of vinyl mulching using a sensor fusion technique,

The present invention relates to a punching system for recognizing a lower crop of vinyl mulching using a sensor fusion technique. More particularly, the present invention relates to a punching system for extracting and recognizing an image of a crop at a sensor during movement along a vinyl mulch, And the DC motor controls the rotating speed of the rotating drilling machine unit by controlling the connected differential gear so that the drilling machine system is punched in the vinyl mulching according to the position of the crop without stopping during the movement of the drilling machine, To a perforated system device for recognizing a lower crop of vinyl mulching using a sensor fusion technique in which a work efficiency is increased.

Recently, environmental pollution, excessive use of pesticides, etc. have increased the demand for safe and high quality crops.

Technology has been developed to grow high quality crops in facilities that are isolated from external pollution such as greenhouse environments, plant farms, and where the impact on the external environment remains constant. However, the space of the facilities is limited. As the number of crops grown in confined spaces increases, technologies for automatically controlling the environment of facilities are being developed. The most important point in controlling the environment in which the crops grow is to control them differently depending on the growth stage of the crop, the growth status, and the degree of occurrence of the pests.

In the agricultural industry of Korea, the growth environment of the crops is not isolated from the outside environment, but more than 90% of the crops are occupied. There is no technology that helps grow crops in response to environmental changes such as temperature, humidity, and light. In order to solve this problem, a method of planting seeds on a cultivating area and vinegar mulching to create a growing environment for the crops is widely used.

However, if the vinyl mulching crop grows for a certain period of time, the vinyl mulching should be removed. In this process, it is difficult to remove Minil mulching without damaging crops under vinyl mulching. In addition, damage to the crop during the vinyl mulching removal process adversely affects crop yield.

Therefore, there is a need to develop a technology capable of eliminating vinyl mulching without damaging crops by recognizing the degree of growth of the crops grown in the vine mulching condition.

Korean Patent Registration No. 10-1686325, which was invented in response to this demand, includes a sensor unit for measuring infrared values from a cultivating area in a vinyl mulching state; A perforation for perforating a region covering the crop during the vinyl mulching; And generating infrared images for the plantation from the infrared values, extracting an image of the crop from the generated thermal image to recognize the degree of growth of the crop, and, depending on the degree of growth, A control section for controlling the operation of the perforation so as to perforate the area, and the planting area isolated from the outside environment such as a greenhouse or a plant plant, the open area exposed to the outside environment, and the plant growing area where the obstacle in which the crop grows in the state of vinyl mulching A vinyl mulching apparatus and method capable of recognizing the degree of growth of a crop and eliminating vinyl mulching.

However, in Korean Patent Registration No. 10-1686325, when the image of the crop is extracted from the sensor unit and recognized, the drilling system is moved to the position of the crop by the driving unit, There is a problem in that the system device repeats movement stop according to the position of the crop, so that it takes a long time to drill the work and the work efficiency is lowered accordingly.

Korean Patent Registration No. 10-1686325

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems,

The controller senses the image of the crop at the sensor unit while moving along the vinyl mulching, and operates the DC motor in the microcontroller and the PWM controller. The DC motor controls the rotational speed of the rotating drilling mechanism by controlling the connected differential gear , A perforation system device for recognizing the bottom crop of vinyl mulching using a sensor fusion technique that shortens the drilling operation time by perforating the vinyl mulching according to the position of the crop without stopping the punching system while moving, The purpose is to provide.

In order to accomplish the above object, the present invention provides a punching system device attached to a traction device (A) such as a management machine or cultivator to perforate a vinyl mulch according to the position of a crop,

A perforator unit for receiving power generated during traveling of the towing device A and perforating the jig for vinyl mulching;

A sensor control unit for controlling a punching speed of the perforating unit connected to the bottom of the vinyl mulch by recognizing the crop;

The present invention relates to a punching system for recognizing a lower crop of vinyl mulching using a sensor fusion technique.

Further, in the punching device of the present invention,

A frame body formed to be attachable to and detachable from the towing device (A);

A power generating part supported on one side of the frame body and generating rotational driving force by friction with the ground when the traction device A is running;

And a control unit for controlling the rotation driving force of the power generating unit based on a speed control signal transmitted from the sensor control unit and transmitting the rotation driving force to the sensor unit.

A perforating unit supported on one side of the frame body and connected to the secondary synchronous fisher unit, rotated by a driving force transmitted from the secondary synchronous fisher unit and directly pierced by vinyl mulching;

The present invention relates to a punching system for recognizing a lower crop of vinyl mulching using a sensor fusion technique.

The driving force generating unit includes a driving wheel connected to one side of the frame body by a rotating shaft and contacting a ground surface of the frame body and rotated by friction with a ground surface of the towing device A to generate rotational driving force;

A driving force transmitting member composed of gears and a chain, the driving force transmitting member being connected to one side of the driving wheel and the other side of the driving wheel to transmit rotational driving force of the driving wheel;

The present invention relates to a punching system for recognizing a lower crop of vinyl mulching using a sensor fusion technique.

Further, the perforations of the present invention include first and second links spaced apart from each other and rotatably disposed on the frame body;

A first perforation frame having one side connected to the first link tip and the other side connected to the second link tip;

A second perforation frame having one end connected to the rear end of the first link and the other end connected to the rear end of the second link;

A perforated bar disposed in each of the first perforation frame and the second perforation frame and capable of perforating the vinyl;

The punching bar is formed on the outer circumference of the punching bar, and when the punching bar is punched, the punching bar is prevented from being pushed by the plastic mulching. When the punching bar is lifted up by the first and second links after the punching of the punching bar, A pushing bar for pushing and removing a foreign substance adhered to the outer periphery of the perforated bar while being moved;

The present invention relates to a punching system for recognizing a lower crop of vinyl mulching using a sensor fusion technique.

Further, the first link of the present invention is power-connected to the power generating portion, and the rotation center of the first link and the second link is eccentric, and the first perforation frame and the second perforation frame are connected to the first And the second link is movable between the first link and the second link to adjust the position of the second link.

Further, the sensor control unit of the present invention includes a crop recognition sensor unit for measuring and recognizing a thermal image of a lower crop of the vinyl mulching;

A microcontroller for analyzing a signal of the crop recognition sensor and analyzing a traveling speed of the towing device;

A PWM control signal generator for adjusting a duty ratio by calculating a difference between a signal of the crop recognition sensor unit analyzed by the microcontroller and a running speed of the current drilling system and a drilling speed of the drilling machine;

A DC motor that is operated under the control of the PWM control signal generator and connected to the differential synchronizer of the punching unit to generate a torque to control the punching speed of the vinyl mulching;

The present invention relates to a punching system for recognizing a lower crop of vinyl mulching using a sensor fusion technique.

Further, a case for forming a crop recognition sensor unit, a microcontroller, and a PWM control signal generating unit of the present invention is further formed, and the case is selectively detachable from the lower end of the perforation system unit or the lower end of the perforation unit The present invention relates to a punching system for recognizing a lower crop of vinyl mulching using a sensor fusion technique.

Further, on the outer surface of the case of the present invention, a touch display connected to the microcontroller and capable of operating while displaying an image of the crop analyzed by the microcontroller, and a switch input unit capable of inputting a signal to the microcontroller are formed The present invention relates to a punching system for recognizing a lower crop of vinyl mulching using a sensor fusion technique.

As described above, the perforation system device for recognizing the lower crop of vinyl mulching using the sensor fusion technique of the present invention extracts and recognizes the image of the crop at the sensor part during the movement according to the vinyl mulching, And the DC motor controls the rotating speed of the rotating drilling machine unit by controlling the connected differential gear so that the drilling machine system is punched in the vinyl mulching according to the position of the crop without stopping during the movement of the drilling machine, Is shortened, thereby improving the work efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an organization chart showing a drilling system apparatus according to an embodiment of the present invention,
2 is a circuit diagram showing a sensor control unit according to an embodiment of the present invention,
FIG. 3 is a perspective view showing a state where a perforation system device according to an embodiment of the present invention is connected to a traction device,
4 is a side view of a perforation system according to an embodiment of the present invention,
5 is a perspective view of a frame body according to an embodiment of the present invention,
FIG. 6 is a schematic view showing an operating state of a perforation depth adjusting unit according to an embodiment of the present invention,
7 is a perspective view showing a perforation according to an embodiment of the present invention,
8 is a schematic view showing the operation of the perforation according to an embodiment of the present invention,
9 is a perspective view illustrating a perforation bar and a push bar according to an embodiment of the present invention.

The present invention having such characteristics can be more clearly described by the preferred embodiments thereof.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Before describing in detail several embodiments of the present invention with reference to the accompanying drawings, it is to be understood that the present invention is not limited to the details of construction and the arrangement of components shown in the following detailed description or illustrated in the drawings will be. The invention may be embodied and carried out in other embodiments and carried out in various ways. It should also be noted that the device or element orientation (e.g., "front," "back," "up," "down," "top," "bottom, Expressions and predicates used herein for terms such as "left," " right, "" lateral, " and the like are used merely to simplify the description of the present invention, Or that the element has to have a particular orientation. Also, terms such as " first "and" second "are used herein for the purpose of the description and the appended claims, and are not intended to indicate or imply their relative importance or purpose.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It should be understood that various equivalents and modifications may be present.

2 is a circuit diagram showing a sensor control unit according to an embodiment of the present invention. FIG. 3 is a block diagram of a drilling system according to an embodiment of the present invention. FIG. 4 is a side view of a drilling system according to an embodiment of the present invention, FIG. 5 is a perspective view of a frame body according to an embodiment of the present invention, FIG. 6 is a schematic view showing an operating state of the perforation depth adjusting unit according to an embodiment of the present invention, FIG. 7 is a perspective view showing a perforation according to an embodiment of the present invention, FIG. 8 is a cross- FIG. 9 is a perspective view showing a perforation bar and a push bar according to an embodiment of the present invention. FIG.

1 to 9, a perforation system device for recognizing a lower crop of vinyl mulching using the sensor fusion technique of the present invention is attached to a traction device A such as a management machine or cultivator, (EN) A punching system device for punching in vinyl mulching according to a location, comprising: a punching unit (10) for receiving power generated during traveling of the pulling device (A) And a sensor control unit 20 for controlling a piercing operation speed of the connected punching unit 10.

Here, when perforating the vinyl covering covering the crop, precisely drill the crop position and prevent the crop from being damaged when drilled. In addition, the rotational force transmitted from the power generating unit 30 to the perforation 50 is accelerated or decelerated by the control of the differential synchronizer 40 according to the interval of adjacent crops. Therefore, the perforation 50 can precisely puncture the vinyl part where the crop detected by the sensor control unit 20 is located, by increasing or decreasing the rotational force through the secondary synchronization unit 40 without being influenced by the running speed of the traction device. Here, the crops are covered with vinyl sheath (hereinafter referred to as "vinyl"), which is grown in a leafy state by being buried in soil in a seed state.

As shown in FIG. 1 or FIG. 3 to FIG. 6, the puncturing device 10 includes a frame body 11 formed to be removably attachable to the traction device A; A power generating part 30 supported on one side of the frame body 11 to generate rotational driving force by friction with the ground when the towing device A is traveling; The rotation driving force generated by the power generating unit 30 is transmitted to the perforation unit 50. The sensor unit 20 is connected to the sensor control unit 20, (40) for controlling and transmitting the rotational driving force of the driving unit (40); And a perforation (50) supported on one side of the frame body (11) and connected to the secondary synchronization unit (40) and rotated by driving force transmitted from the secondary synchronization unit (40) do.

3 to 6, the frame body 11 includes an installation frame 12 and a drilling depth adjustment unit 13 and may be connected to a traction device such as a cultivator or a manager, Thereby forming the base structure of the used vinyl perforating device. At this time, the frame body 11 includes a center frame 111, a first side frame 112, and a second side frame 113.

The center frame 111 has a predetermined length. The longitudinal direction of the center frame 111 is a direction perpendicular to the running direction of the traction device A. [ The center frame 111 is arranged in a direction perpendicular to the running direction of the towing device A. A towing connection part 115 protruding in the traveling direction of the towing device A is formed in the center frame 111 and the tow connection part 115 is connected to the towing device A. The inside of the central frame 111 penetrates along the longitudinal direction.

In addition, the first side frame 112 and the second side frame 113 have predetermined lengths. The longitudinal direction of the first side frame 112 and the second side frame 113 is the direction perpendicular to the longitudinal direction of the center frame 111 in the running direction of the traction device A. The first side frame 112 and the second side frame 113 are located behind the center frame 111 and face each other at an interval. One side of the first side frame 112 and one side of the second side frame 113 are bent toward the center frame 111. One side of the first side frame 112 is slidably engaged with one side of the center frame 111 and one side of the second side frame 113 is slidably engaged with the other side of the center frame 111. The first side frame 112 and the second side frame 113 can be slidably moved with respect to the center frame 111. The gap between the first side frame 112 and the second side frame 113 can be changed . ≪ / RTI > The first side frame 112 and one side of the central frame 111 and the second side frame 113 and the other side of the center frame 111 are overlapped and the overlapped portion is passed through the fixing means 114 to the first side frame 112 and the second side frame 113 are not separated from the central frame 111.

The installation frame 12 has a predetermined width and is positioned between the first side frame 112 and the second side frame 113 and connected to the center frame 111. The installation frame 12 includes a connection bar 121 connected to the center frame 111, a first bar 122 and a second bar 123 facing each other with a gap therebetween, One side of the two bars 123 is connected to the connecting bar 121.

6, the perforation depth adjusting portions 13 are formed as a pair and are disposed on the first side frame 112 and the second side frame 113, respectively. Since the pair of puncture depth adjusting portions 13 are the same, the puncturing depth adjusting portion 13 connected to the first side frame 112 will be described below. The puncture depth adjusting unit 13 includes a depth adjusting frame 131 and an adjusting lever 134. The puncturing depth adjusting unit 13 adjusts the depth of the perforation 50 inserted into the ground when the perforation 50 is punched.

In addition, the depth adjusting frame 131 has a predetermined length and a predetermined point is connected to the other side of the first side frame 112 and the hinge 132. The depth adjusting frame 131 may be rotated about the hinge 132. The upper side of the depth adjusting frame 131 is extended to the upper side of the first side frame 112 with the hinge 132 as a reference, and the lower side extends toward the vinyl covered floor. The driving wheel 31 of the power generating unit 30 is coupled to the lower end of the depth adjusting frame 131. The driving wheel 31 is in contact with the ground and is rotated along the ground by the running of the towing device A to generate rotational force.

Since the gap G2 between the perforation 50 and the ground surface is distant from the gap G1 between the hinge 132 and the rotation center 33 of the drive wheel 31 and the hinge 132, 50) penetrates the ground is thin. In order to deepen the piercing depth, the center of rotation of the hinge 132 is close to the center of rotation. When the piercing depth is to be reduced, the hinge 132 and the center of rotation are spaced apart from each other. At this time, the control lever 134 includes a hinge block 134b, a nut 134a, a screw 134c, and a lever 134d, and rotates the depth adjusting frame 131.

The first side frame 112 is provided with a bracket 133 protruding upward and the hinge block 134b is movably disposed on the bracket 133. [ The center of the hinge block 134b is penetrated, and the nut 134a is movably arranged on the top of the depth adjusting frame 131. [ The hinge block 134b and the nut 134a are spaced apart from each other and located on the same line when viewed from the plane of the perforator unit 10. [

The screw 134c has a predetermined length and is fastened to the nut 134a so that the tip of the screw 134c is coupled to the hinge block 134b. No screw is formed on the inner periphery of the hinge block 134b and the screw 134c portion passing through the hinge block 134b. The screw 134c and the hinge block 134b are in surface contact with each other, and the nut 134a and the screw 134c are screwed to each other. The screw 134c does not disengage by engagement with the hinge block 134b and rotates in place. The nut 134a can move in the forward or rearward direction of the screw 134c in accordance with the rotation direction of the screw 134c when the screw 134c is rotated. At this time, the depth adjusting frame 131 can move with respect to the hinge 132 according to the movement of the nut 134a. When the nut 134a moves in the direction of the tip of the screw 134c, the distance G1 between the center of rotation of the drive wheel 31 and the hinge 132 is narrowed so that the distance between the perforation 50 and the ground surface is narrowed. At this time, since the perforation bar 55 of the perforation 50 is inserted deep into the ground, the perforation depth is deep. Conversely, when the nut 134a moves in the unidirectional direction after the screw 134c, the gap G1 between the rotation center of the drive wheel 31 and the hinge 132 is distant, and the gap G2 between the perforation 50 and the ground is distant . At this time, since the perforation bar 55 of the perforation 50 is inserted thinly on the ground, the perforation depth is thin. At this time, the lever 134d is connected to the rear end of the screw 134c, and an operator can rotate the screw 134c.

The screw 134c is rotated by the operation of the operator and the nut 134a is moved in the forward or rearward direction of the screw 134c in accordance with the rotation direction of the screw 134c so that the depth adjusting frame 131 is rotated by the hinge 132 The gap between the rotation center of the drive wheel 31 and the hinge 132 is narrowed or distanced so that the interval between the perforation bar 55 of the perforation 50 and the ground surface is narrowed or distanced. Accordingly, the depth of the pore of the ground can be deepened or thinned depending on the distance between the perforation bar 55 and the ground.

The power generating unit 30 is connected to one side of the frame body 11 by a rotation shaft and is brought into contact with a ground surface of the frame body 11. The driving force generating unit 30 is rotated by friction with the ground surface of the towing device A, 31); And a driving force transmitting member 32 having one side connected to the driving wheel 31 and the other side connected to the differential synchronizing unit 40 and configured to transmit rotational driving force of the driving wheel 31 to the gear and the chain.

The differential synchronizer 40 is connected to the power generating unit 30 to control the rotational force provided to the perforator 50. The differential synchronizer 40 is connected to the DC motor 240 of the sensor controller 20 and a connecting member such as a chain belt so that the speed of the power generator 30 is controlled by the speed control transmitted from the sensor controller 20. [ And controls the rotation driving force to transmit the rotation driving force to the perforation (50). A detailed description will be given in the following sensor control unit 20.

4 to 9, the perforation 50 is disposed on the lower surface of the installation frame 12 and faces the ground. The perforation 50 receives the rotational force of the power generating unit 30, It punches. The perforation 50 includes a first link 51, a second link 52, a first perforation frame 53, a second perforation frame 54, a perforation bar 55 and a push bar 56 .

The first link 51 and the second link 52 face each other at an interval and the first link 51 is rotatably installed in the first bar 122 in the bearing housing. 52 are rotatably mounted on the second bar 123 as a bearing housing. The first link (51) is connected to the belt of the power generating section (30). The rotation centers of the first link 51 and the second link 52 are spaced apart from each other and are eccentric.

A first link rod 511 protrudes toward the second link 52 at one end of the first link 51 and a second link rod 512 is provided at the other end of the first link 51, (52). The third link rod 521 protrudes toward the first link 51 at one end of the second link 52 and the fourth link rod 522 contacts the first link 51 at the other end of the second link 52. [ Respectively. The third link rod 521 is located between the first link rod 511 and the second link rod 512 when the first to fourth link rods 511 to 522 are positioned on a straight line , The second link rod 512 is located between the third link rod 521 and the fourth link rod 522. The ends of the first link rod 511 and the second link rod 512 are spaced from the second link 52 and the ends of the third link rod 521 and the fourth link rod 522 are spaced apart from the first link 51, Respectively.

In addition, the first perforation frame 53 and the second perforation frame 54 have predetermined widths. The first perforation frame 53 has one end connected to the first link rod 511 at a clearance and the other end connected at a clearance to the third link rod 521. The first perforation frame 53 moves along the longitudinal direction of the rod, Lt; / RTI > The second drilling frame 54 is spaced apart from the first drilling frame 53 and has one end connected to the second link rod 512 at a clearance and the other end connected to the fourth link rod 522 at a clearance And its position can be adjusted by moving along the longitudinal direction of the rod. The virtual rotation centers C1 of the first drilling frame 53 and the second drilling frame 54 are located between the rotation centers of the first link 51 and the second link 52. [ The first drilling frame 53 and the second drilling frame 54 are rotated based on the rotation center of the first drilling frame 53 and the second drilling frame 54. Both ends of the first drilling frame 53 and the second drilling frame 54 are connected to the link rod. The lower surfaces of the first punched frame 53 and the second punched frame 54 are always directed to the ground where the vinyl is located.

The perforation bars 55a and 55b are disposed on the lower surface of the first perforated frame 53 and the second perforated frame 54 respectively and the push bars 56a and 56b are engaged with the perforated bars 55a and 55b, . When the first perforated frame 53 and the second perforated frame 54 are rotated, the bottom surface of the perforated bar 55a or 55b is always directed toward the ground. The perforation bar 55 and the push bars 56a and 56b coupled to the first perforation frame 53 and the second perforation frame 54 are the same so that the perforation bar 55 coupled to the first perforation frame 53, .

In addition, the perforation bar 55a includes a connecting member 551 and a perforated member 552. The connecting member 551 and the perforating member 552 are integrally formed and the connecting member 551 is connected to the lower surface of the first perforation frame 53. The outer peripheral diameter of the perforated member 552 is larger than the outer peripheral diameter of the connecting member 551. The perforation member 552 is formed with a perforation region 552a having a perforation edge through which vinyl is perforated and whose interior is penetrated in a downward direction and in which a vinyl can be pierced. The perforated region 552a is formed by passing through the lower outer periphery of the perforated member 552 in the running direction of the pulling apparatus A and has a triangular shape. The lower portion of the perforated member 552 is not caught by the plastic when the perforated member 552 is punched by the triangular shape of the perforated area 552a and inserted into the ground after the vinyl is punched.

The pressing bar 56a includes a pressing body 561 and a pressing flange 562. The pusher bar 56a has a predetermined weight and is engaged with the perforation bar 55a so as to press the peripheries of the perforation bar 55a when the perforation bar 55a punctures the scales.

Here, the pressing body 561 surrounds the outer periphery of the perforated member 552, and the inner periphery of the pressing body 561 and the outer peripheries of the perforated member 552 are spaced apart from each other. The connecting member 551 penetrates the upper surface of the pressing body 561 and the upper surface of the pressing body 561 has a step formed by a difference in diameter between the connecting member 551 and the puncturing member 552. The vertical length of the pressing body 561 is longer than the vertical length of the perforated member 552. When the upper surface of the pressing body 561 is kept at a stepped position, the puncturing member 552 is positioned inside the pressing body 561.

The pressing flange 562 has a predetermined width and is arranged along the outer periphery of the lower end of the pressing body 561. The pressing flange 562 contacts the vinyl first than the puncturing member 552 and presses the peripheries of the perforated member 552 to perforate the vinyl so that the vinyl remains tight. So that when the perforation member 552 punctures the vinyl, the vinyl can be punched without being pushed.

The first link 51 and the second link 52 are coupled to the first perforation frame 53 and the second perforation frame 54 by rotation of the first link 51 and the second link 52, The perforation bar 55b can sequentially perforate the vinyl.

As shown in FIGS. 1 to 3, the sensor control unit 20 recognizes a crop under the vinyl mulching to control the punching speed of the punching unit 10 connected thereto. A crop recognition sensor unit 210 for measuring and recognizing the crops; A microcontroller (220) for analyzing signals of the crop recognition sensor unit (210) and analyzing the traveling speed of the towing device (A); The microcontroller 220 calculates the difference between the signal of the crop recognition sensor 210 and the traveling speed of the current drilling system and the drilling speed of the drilling machine 10 to adjust the duty ratio A PWM control signal generator 230; A DC motor 240 which is operated under the control of the PWM control signal generator 230 and is connected to the differential sync unit 40 of the drilling unit 10 to generate a torque to control the punching speed of the vinyl mulching, .

Here, the crop recognition sensor unit 210 measures thermal image pixel information of 80x60 size at an angle of 59.9 degrees FOV (Field of View). Theoretically, 9 crops per second can be measured and transmitted. However, A delay occurs somewhat, so that an average of 8.5 images per second is acquired and transmitted to the microcontroller 220. In addition, SPI communication performs communication through three signal lines called SCK, MOSI, and MISO. In addition, CS line and VCC / GND for chip select use a total of six wires. In addition, it is common to use wiring in a circuit because it is highly likely to be influenced by EMI generated at the time of high-speed communication. However, in the present invention, the SPI connection is extended to fit the composition of the perforation system.

The microcontroller 220 is a main processor capable of analyzing a thermal image recognition sensor unit to acquire two-dimensional thermal image information of a lower portion of the vinyl packaging and performing speed adjustment of the corresponding perforation mechanism unit. The SPI communication with the crop recognition sensor unit is performed. After analyzing the thermal distribution corresponding to 80x60 pixels at 9 frames per second at a digital transmission speed of 16Mhz or less, a real-time two-dimensional array analysis program .

In addition, the pulse width modulation (PWM) control signal generator 230 analyzes the signal of the thermal image recognition sensor unit, calculates the difference between the current running speed and the subsequent puncturing speed to adjust the duty ratio , The reference speed is set to 50%. If the position of the recognized crop is near, the PWM control signal is generated by adjusting the value by 5% in units of 5% To the motor (240). At this time, the PWM control signal generating unit 230 is supplied with power by an external power source.

The DC motor 240 is rotationally operated under the control of the PWM control signal generator 230 to transmit a rotational force to control the punching speed of the vinyl mulching to the differential synchronizer 40, ).

A case (not shown) having therein the crop recognition sensor unit 210, the microcontroller 220 and the PWM control signal generator 230 is further formed, The frame body 11 is formed to be detachably attachable to the lower end of the frame body 11.

A touch display 250 connected to the microcontroller 220 and capable of displaying an image of the crop analyzed by the microcontroller 220 and a signal input to the microcontroller 220 A switch input unit 260 is formed.

Hereinafter, an operation method of the sensor control unit 20 will be described.

First, in the sensor part, the thermal imaging camera 210, which is the crop recognition sensor unit 210, provides data to the microcontroller 220 to recognize and determine the presence of the crop, recognize the received data, and send the data to the user screen in real time.

Here, the microcontroller 220 is supplied with a 5V micro 5-pin auxiliary battery power so as to be stable and free from the influence of vibration. The microcontroller 220 outputs a signal for controlling the speed of the perforator device to the PWM control signal The PWM power source amplifies the signal by using a separate external power source to the working machine, which is a power device, and transmits the amplified signal to the DC motor 240.

Then, the DC motor 240 transmits the signal to the motor power unit, thereby adjusting the speed according to the crop in real time, and installing an LCD board together with the LCD panel 240 in order to facilitate the user's convenience. And the duty ratio and the motor speed are adjusted within the range of 10 to 100 and -50 to 50, respectively, through the touch input unit for easy operation.

In this way, the integrated control system device is classified into three separate switches, that is, the thermal image acquisition point, the motor drive control point, and the microcontroller power source, so that the user operates the system at a desired timing.

Hereinafter, experimental methods and experimental results of the motor performance using the above-described punching system will be described.

[Motor performance test method]

1. To test the motor power control part, set the duty ratio and adjust the motor control speed from -50 to -35.

2. Accordingly, it is confirmed that the running distance of the gear of the working machine is increased from -50 to -35 by controlling the speed of the drilling operation of the controller while maintaining the first gear.

3. Adjust the duty ratio to 50 and check the drilling distance by controlling the motor speed range.

4. A difference of about 19.24 cm is observed between 50 and 40.

[Motor performance test result]

Like the motor performance evaluation data in the following [Table 1]

1st stage 2nd stage 3rd stage One test 30.33 (cm) 27.55 (cm) 26.13 (cm) Motor speed Duty ratio Distance between perforations (cm) 2 tests -50 10 29.6 -45 10 31.85 -40 10 33.25 -35 10 41.21 3 times test 40 50 49.24 30 50 48.14 20 50 47.58 10 50 47.12 0 50 46.10 -10 50 45.75 -20 50 42.22 -30 50 41 -40 50 35 -50 50 30

As a result of the motor performance evaluation, in the initial test, the punching distance was measured only by the power of the working machine, which is a pure power device, and data obtained by reducing the gap between the first stage and the third stage was obtained. It is confirmed that the control is possible in real time, and it proves that the distance difference is clear.

Hereinafter, an experiment method and an experimental result of the puncturing performance using the puncturing system described above will be described.

[Experimental Method for Drilling Performance]

1. The results of the drilling performance evaluation showed that the crops were recognized five times in total and the items to be acquired were total drilling time, actual cropping distance, actual drilled distance, error of actual crop distance and perforation distance, Measure the status.

2. For the first two experiments, the test was performed without vinyl wrapping to test the crop recognition rate, and then the environment was tested in the actual field covered with vinyl.

3. The distance error was partially observed in the course of one to two experiments and the maximum value of the error range appeared 6.3cm.

4. Partially corrected programming in the thermal image recognition area and measured in three tests showed a distance error of -0.2, after which the recognition rate was measured after covering the vinyl with 4-5 times.

[Results of drilling performance test]

Like the puncture performance evaluation data shown in the following [Table 2]

Drilling time Distance
(Unit: cm) Perforation distance
(Unit: cm) Distance error
(Unit: cm) Packing condition Distance from ground to sensor control
(Unit: cm) One test 40.67 (s) 32.71 36.81 4.10 Vinyl (X) 8 2 tests 36.48 (s) 33.26 39.63 6.3 Vinyl (X) 8 3 times test 34.23 (s) 33.36 33.13  -0.2 Vinyl (X) 15 4 times test 11.51 (s) 32.56 32.06 -0.5 Vinyl (O) 15 5 tests 32.51 (s) 32.68 32.31  -0.3 Vinyl (O) 15

In this way, the maximum value of the distance error does not deviate from -0.5 cm, and it may be applied to actual field.

10: perforator unit 11: frame body
111: central frame 112: first side frame
113: second side frame 114: fixing means
115: pull connection 12: installation frame
121: connecting bar 122: first bar
123: the second bar 13:
131: Depth adjusting frame 132: Hinge
133: Bracket 134: Control lever
134a: Nut 134b: Hinge block
134c: screw 134d: lever
20: sensor control unit 210: crop recognition sensor unit
220: micro controller 230: PWM control signal generating unit
240: DC motor 250: Touch display
260: Switch input part
30: Power generating unit 31:
32: driving force transmitting member 33c:
40:
50: Perforation 51: First link
511: first link rod 512: second link rod
52: second link 521: third link load
522: fourth link rod 53: first perforated frame
54: second perforated frame 55a, 55b: perforated bar
551: connecting member 552: perforated member
552a: perforated areas 56a, 56b: push bars
561: pressing body 562: pressing flange

Claims (8)

A perforation system device attached to a traction device (A) such as a managment machine or cultivator and perforated in a vinyl mulch according to the position of the crop,
A punching unit 10 for receiving the power generated during traveling of the towing device A and perforating the vehicle through vinyl mulching;
And a sensor control unit (20) for controlling a punching speed of the punching unit (10) connected to the lower part of the vinyl mulch by recognizing the crop,
The puncturing device 10 includes a frame body 11 formed to be removably attachable to the towing device A;
A power generating part 30 supported on one side of the frame body 11 to generate rotational driving force by friction with the ground when the towing device A is traveling;
The rotation driving force generated by the power generating unit 30 is transmitted to the perforation unit 50. The sensor unit 20 is connected to the sensor control unit 20, (40) for controlling and transmitting the rotational driving force of the driving unit (40);
A perforator 50 supported on one side of the frame body 11 and connected to the secondary synchronous fisher 40 and rotated by the driving force transmitted from the secondary synchronous fisher 40 to directly perforate the vinyl mulching; ≪ / RTI >
The sensor control unit 20 includes a crop recognition sensor unit 210 for measuring and recognizing a thermal image of a lower crop of the vinyl mulching;
A microcontroller (220) for analyzing signals of the crop recognition sensor unit (210) and analyzing the traveling speed of the towing device (A);
The microcontroller 220 calculates the difference between the signal of the crop recognition sensor 210 and the traveling speed of the current drilling system and the drilling speed of the drilling machine 10 to adjust the duty ratio A PWM control signal generator 230;
A DC motor 240 which is operated under the control of the PWM control signal generator 230 and is connected to the differential sync unit 40 of the drilling unit 10 to generate a torque to control the punching speed of the vinyl mulching, ;
And a sensor for detecting the bottom of the vinyl mulching.
The method according to claim 1,
The power generation unit (30)
A driving wheel 31 connected to one side of the frame body 11 by a rotation shaft and contacting with the ground surface and rotated by friction with the ground surface of the towing device A to generate rotational driving force;
A driving force transmitting member 32 having one side connected to the driving wheel 31 and the other side connected to the secondary synchronizing member 40 and configured to transmit rotational driving force of the driving wheel 31 to the gear and the chain;
And a sensor for detecting the bottom of the vinyl mulching.
The method according to claim 1,
The perforation (50)
First and second links (51, 52) spaced apart from each other to face each other and disposed rotatably in the frame body;
A first perforation frame 53 having one side connected to the tip of the first link 51 and the other side connected to the tip of the second link 52;
A second perforation frame 54 having one end connected to the rear end of the first link 51 and the other end connected to the rear end of the second link 52;
A perforation bar (55a, 55b) disposed in the first perforation frame (53) and the second perforation frame (54) and capable of perforating the vinyl mulching;
When the perforation bars 55a and 55b are formed at the outer circumferences of the perforation bars 55a and 55b, vinyl mulching is performed to prevent the perforation bars 55a and 55b from piercing. After the perforation of the perforation bars 55a and 55b, When the perforation bars 55a and 55b are lifted upward by the two links 51 and 52, the push bars 56a and 56b push the foreign substances attached to the outer circumferences of the perforation bars 55a and 55b, , 56b);
The apparatus of claim 1 or 2, wherein the sensor is a sensor.
The method of claim 3,
The first link 51 is connected to the power generating unit 30 and the rotational center of the first link 51 and the second link 52 is eccentric. ) And the second perforation frame (54) are movable between the first link (51) and the second link (52) to adjust the position of the second perforation frame (54) System device.
The method according to claim 1,
A case for forming the crop recognition sensor unit 210, the microcontroller 220 and the PWM control signal generator 230 is further formed in the frame body 11 ) Of the lower part of the vinyl mulching process using the sensor fusion technique.
6. The method of claim 5,
A touch display 250 connected to the microcontroller 220 and capable of operating while displaying an image of the crop analyzed by the microcontroller 220 and a controller 260 for inputting a signal to the microcontroller 220 And a switch input unit (260) for detecting the bottom of the vinyl mulching by using the sensor fusion technique.
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