KR102290059B1 - Manure Spreader with Imbedded Monitering System - Google Patents

Abstract

In the present invention, in the conventional compost spreader equipped with a load cell, there has been a problem in that the weight of the compost measured in the load cell is not accurately measured due to vibration from the ground and vibration from the driving device and the fertilizer spreading means.
The present invention solves this problem by removing the net force applied to the load cell by providing an acceleration sensor at the upper and lower portions of the load cell and the point at which the load cell is installed, respectively, while operating or A means for accurately measuring even during composting and a means for remote monitoring are provided.

Description

Manure Spreader with Imbedded Monitoring System

The present invention relates to a technology for remotely controlling and monitoring a composting situation as a technology for a composting machine.

As a prior art prior to the present invention, the present invention relates to a fertilizer spreader and a trailer equipped with a load cell, and a fertilizer spreader equipped with a load cell so that an operator can accurately and easily check the remaining amount of fertilizer in the hopper of the spreader in real time and Regarding the trailer, a load cell that measures the weight of the fertilizer loaded in the hopper is installed between the main frame that can be driven by receiving traction from the tractor, and the hopper that is installed on the upper part of the main frame and loads the fertilizer. Fertilizer spreader equipped with a load cell that measures the change in weight when fertilizer is applied and displays the change in weight on the display unit in real time, so that the operator can accurately and easily check the remaining amount of fertilizer in the hopper in real time and trailer technology.

In another prior art, a compost spreader for a tractor that is equipped with a means for supplying hydraulic pressure to the compost spreader itself in a compost spreader capable of performing the task of loading and spraying compost at the same time to facilitate the spreading operation of compost A bucket detachably connected to one side of the tractor and loaded with compost by a technology related to the invention, a swing arm pivotally coupled to both ends of one side of the bucket by a first cylinder mechanism, and rotation at the tip of the swing arm A rotor bater that is shaft-coupled as possible and is formed with a plurality of stirring blades extending in the radial direction at regular intervals on the outer circumferential surface and rotated by a driving motor, is configured inside the bucket and is formed by a link member and a second cylinder mechanism The compost spreader, which is composed of a push member that pushes compost while moving back and forth, can operate each operating member (drive motor, first cylinder mechanism, second cylinder mechanism) smoothly and stably regardless of the hydraulic system capacity or model of the tractor body. Second, by configuring the oil tank and the double hydraulic pump device in the compost spreader itself, a configuration that can significantly reduce the length of the hydraulic hose for supplying oil is disclosed.

Laid-Open Patent Publication No. 10-2017-0045623 Registered Patent Publication 10-0847097

In the present invention, in the conventional compost spreader equipped with a load cell, there has been a problem in that the weight of the compost measured in the load cell is not accurately measured due to vibration from the ground and vibration from the driving device and the fertilizer spreading means.

The present invention solves this problem by removing the net force applied to the load cell by providing an acceleration sensor at the upper and lower portions of the load cell and the point where the load cell is installed, respectively, while operating or A means for accurately measuring even during composting and a means for remote monitoring are provided.

The present invention provides the following means to solve the above problems.
An embedded monitoring system having a proximity sensor, a load cell for measuring the degree of opening of the hydraulic valve and measuring the weight of the loading box; and
By measuring the rotation speed of the rotating gear using the proximity sensor, accurate compost spreading is controlled by measuring the moving speed of the fertilizer spreading device, the compost transporting speed of the compost transporting device, and the rotational speed of the beater in charge of composting,
By measuring the degree of opening of the hydraulic valve, the degree of opening of the rear door of the compost spreader is monitored by measuring the degree of opening of the hydraulic valve,
In the compost spreader equipped with an embedded monitoring system that can measure and monitor the weight of the loading box by installing the four load cells under the loading box of the compost spreader,

To measure the amount of compost per area, or to determine the amount per area and dynamically move to spray, measure the weight of the loading box using the four load cells and calculate the change amount. , Since it is difficult to accurately measure the weight of the loading box using a load cell because a lot of noise such as vibration by driving the compost chain is operating, a 6-axis acceleration sensor is installed in the vertical upper and lower parts where the four load cells are combined. It provides a compost spreader equipped with an embedded monitoring system, characterized in that each provided to measure the weighing noise removed.

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In addition, it provides a compost spreader with an embedded monitoring system, characterized in that the measured values of the four load cells and the measured values of the eight acceleration sensors are transmitted to a separate embedded system through ISOBUS and monitored.

The embedded monitoring system used in the present invention is equipped with a Linux or Windows or other independently used operating system, or a microprocessor and memory operating as an independent program without such an operating system, and peripheral devices and graphic users that can communicate with the outside. It refers to a device that combines hardware and software with a human interface, such as an interface.

In addition, the embedded monitoring system has a built-in calculation formula or an artificial neural network circuit to calculate the net acceleration and force acting on the load cell, and calculates the weight of the loading box from the measured values of the four load cells and the acceleration measured values of the eight acceleration sensors. It provides a compost spreader equipped with an embedded monitoring system, characterized in that.

The present invention removes external vibration and shock and internally generated power transmission noise and composting noise by the above configuration, and by always measuring the exact weight of the loading box, means for monitoring accurate composting and spraying amount It has the effect that compost spraying is possible without excessive or insufficient by providing.

1 shows information that can be monitored by the ISOBUS system of the present invention.
Figure 2 is a screen for monitoring the operator by connecting the information on the compost spreader of the present invention to ISOBUS communication.
3 is an actual wiring diagram of the ISUBUS system of the present invention.
Figure 4 is an exploded perspective view of the compost spreader of the present invention.
Figure 5 is a view of the type and position of the sensor installed in the compost spreader of the present invention.
6 is a frame structure of the toby spreader of the present invention.
7 is a view related to the rubber support portion of the frame of the compost spreader and the fixing part of the compost spreader loading box of the present invention.
8 is a load cell for measuring the weight of the loading frame of the present invention.
9 is a partial perspective view in which an acceleration sensor is coupled to the upper and lower portions of the load cell of the present invention.

The compost spreader equipped with the embedded monitoring system of the present invention is a type of ICT (Information & Communication Technology) convergence compost spreader and is a smart product that combines an embedded system with the existing compost spreader. However, simply combining the Embedith system is not enough, and through ideas and empirical experiments, it has a performance that cannot be expected from the existing compost spreader.

As for basic performance, it provides a monitoring means to check and control the compost loading amount, application amount, application width, and work order of the compost spreader. The standardized ISOBUS provides a means for the operator to monitor such information at one time.

The term ISOBUS used in the present invention refers to a communication standard such as the following ISO 11783. ISO 11783, also known as agricultural and forestry tractors and machinery, is a serial control and communication data network commonly referred to as "ISO Bus" or "ISOBUS". This network protocol is a communication protocol for the agricultural industry based on the SAE J1939 protocol and is compatible with CANbus, which is commonly used in automobiles, etc.

Although the compost spreader is sometimes used as a self-propelled type, the compost spreader of the present invention is an equipment that is attached to a tractor, and in the case of a tractor equipped with ISOBUS as shown in FIG. there is.

Therefore, the present invention developed an embedded system that allows the user to check the compost loading amount, application amount, spray width, work order, etc. of the compost spreader through the ISOBUS, and attached it to the compost spreader.

Figure 2 is a screen that monitors the information that can be checked from the compost spreader mounted on the ISOBUS, and it is possible to check the progress speed of the tractor, the rotation speed of the compost spreader, the transport speed of the compost transfer unit, and the like.

3 is a wiring diagram of the ISOBUS of the present invention.

4 is an exploded perspective view of the present invention showing information that can be monitored through ISOBUS. It is a view to check the measured values of the load cell that can know the conveying speed of the compost conveying chain, the open state of the rear gate, the rotational speed of the hydraulic drive gearbox, and the amount of composting through the monitor.

5 shows the types and installation positions of the sensors used in the present invention.

In the present invention, by measuring the rotational speed of the rotating gear using the proximity sensor, accurate compost spreading can be controlled by measuring the moving speed of the fertilizer spreading device, the compost transporting speed of the compost transporting device, and the rotational speed of the beater in charge of composting. made it possible When using a sensor other than the proximity sensor, there are problems such as the limitation of the installation location of the sensor and the contamination of the sensor by the compost loaded in the compost spreader. It has the advantage of being able to accurately measure without having to worry too much about problems such as contamination.

In addition, the degree of opening of the rear door of the compost spreader can be monitored by measuring the degree of opening of the hydraulic valve.

In addition, four load cells were installed under the loading box of the compost spreader to measure and monitor the weight of the loading frame.

Figure 6 is a perspective view of the lower frame for supporting the compost spreader loading box of the present invention, it is provided with a rubber suspension for elastically supporting the loading frame.

The present invention connects the three proximity sensors of the compost spreader of the present invention, the hydraulic valve opening degree sensor, and four load cells to the ISOBUS bus system provided in an existing tractor, etc., through an embedded controller, and monitors and A controllable controller provides a means to control remotely or through a monitoring system.

For the remote monitoring and control, data communication such as Wi-Fi, LoRa communication, and CDMA communication is essential, and monitoring and control can be performed using equipment such as a laptop computer and a smartphone, and for this purpose, of course, a dedicated app or utility is used. am.

In addition, the most essential monitoring element of the present invention is to accurately calculate the compost loading amount and the compost spraying amount using the four load cells provided in the compost spreader, and to inform the user thereof.

Measurement of weight using the load cell is very simple. If a load cell is installed between the loading box and the lower frame and the load cell deformation is read as an electric value and summed, the weight of the compost loaded in the loading box and the loading box can be measured together.

If the weight is measured using the load cell in a state in which the compost is not loaded, the weight of only the loading box can be measured, and thus the weight of the compost can be measured after subtracting the weight of the loading box from the total weight.

However, in the case of measuring the amount of compost per area, or determining the amount of spray per area to spray, the weight of the loading box is measured using the load cell in a dynamically moving state and the amount of change must be calculated. It is difficult to accurately measure the weight of the loading box using a load cell because a lot of noise such as vibration by rotation and vibration by driving the compost transport chain is operating. is becoming

Moreover, in the case of a slope that is not flat, the weight acting on the load cell includes a force in the shear direction rather than vertical, which is more problematic in measurement.

In order to solve this problem, in the present invention, a 6-axis acceleration sensor is provided in the vertical upper part and the lower part to which the load cell is coupled, respectively, to remove the weighing noise and to develop an accurate weighing method.

The 6-axis acceleration sensor measures the acceleration in X, Y, Z, and rotation in the X-axis, Y-axis, and Z-axis directions and uses this for calibration of the load cell. It is a configuration that is different from the compost spreader that measures.

8 is an external view of the load cell of the present invention, and it is composed of an upper support part of the load cell, a lower support part of the load cell, and a central load cell body.

9 shows the X axis parallel to the front part of the wheel at the center of the load cell upper support part and the load cell lower support part, the Y axis is perpendicular to the X axis and the right side is in the + direction, and the z axis is + direction from the ground to the sky. Each of the six-axis acceleration sensors is installed and used for weight correction.

In other words. A net force acting on the load cell body is calculated by measuring the accelerations of the upper and lower portions of the load cell, and the weight of the loading box is measured from the value of the measured load cell by using the net force as a weight measurement error.

To this end, four load cells of the present invention are installed in a flat space between the lower frame and the loading frame, and the weight of the loading frame actually measured from the signals measured by each of the four load cells is calculated, and a calibration formula is made for each load cell.

Now, by applying lateral vibration, forward and backward vibration, and vertical vibration to the loading box, the sensor values of each of the four load cells are measured, and at the same time, eight acceleration values provided in the upper support part of the load cell and the lower support part of the load cell are measured, and from this, the load cell Calculate the net acceleration acting on the , and obtain a formula for measuring the weight of the loading box from the net acceleration and the load cell value using the net acceleration value, the weight measurement value of the load cell, and the weight value of the loading box. It is possible to obtain a calculation formula or to store the value of each load cell and the value of each acceleration sensor so that the same measured value can be retrieved without calculation when the same or similar signal is input. In addition, it is also possible to use an artificial neural network that learns from an artificial neural network and always outputs the weight of the loading box with eight acceleration inputs and four load cells inputs.

By doing this, compost is spread in the field during work, and mechanical noise caused by external vibration and shock and power transmission can be removed from the load cell, and the weight of the loading box can be accurately measured. In addition, various measurement data are arranged in time series through an inaccurate measurement noise removal algorithm and used for learning and verification of the artificial neural network, except for a sudden change in measurement values.

The measured weight is connected to the ISOBUS to be monitored by the monitoring controller, and the speed of the compost transport chain and the degree of opening of the rear gate are adjusted using the moving speed of a vehicle such as a tractor that can be obtained from the ISOBUS, per unit area. You can control the amount of compost spraying,

By controlling the rotation speed of the spraying bit module to adjust the spraying range of the compost, it provides a means for evenly spraying the desired amount of compost on the desired area by the user.

To this end, the present invention provides means for solving the following problems.

The compost spreader of the present invention installs four load cells between the lower frame and the loading box in order to monitor the loading amount of compost and the application amount of compost,

The load cell is composed of a load cell upper support part, a load cell lower support part, and a load cell body,

It provides a compost spreader with an embedded monitoring system, characterized in that each of the load cell upper support part and the load cell lower support part is provided with a 6-axis acceleration sensor to calculate the net acceleration and force acting on the load cell.

In addition, it provides a compost spreader with an embedded monitoring system, characterized in that the measured values of the four load cells and the measured values of the eight acceleration sensors are transmitted to a separate embedded system through ISOBUS and monitored.

In addition, the embedded monitoring system has a built-in calculation formula or an artificial neural network circuit to calculate the net acceleration and force acting on the load cell, and calculates the weight of the loading box from the measured values of the four load cells and the acceleration measured values of the eight acceleration sensors. It provides a compost spreader equipped with an embedded monitoring system, characterized in that.

200: load cell
210: load cell upper support part
220: load cell lower support part
230: load cell body
240: upper accelerometer
250: lower accelerometer

Claims (3)

An embedded monitoring system having a proximity sensor, a load cell for measuring the degree of opening of the hydraulic valve and measuring the weight of the loading box; and
By measuring the rotation speed of the rotating gear using the proximity sensor, accurate compost spreading is controlled by measuring the moving speed of the fertilizer spreading device, the compost transporting speed of the compost transporting device, and the rotational speed of the beater in charge of composting,
By measuring the degree of opening of the hydraulic valve, the degree of opening of the rear door of the compost spreader is monitored by measuring the degree of opening of the hydraulic valve,
In the compost spreader equipped with an embedded monitoring system that can measure and monitor the weight of the loading box by installing the four load cells under the loading box of the compost spreader,
To measure the amount of compost per area, or to determine the amount per area and dynamically move to spray, measure the weight of the loading box using the four load cells and calculate the change amount. Since it is difficult to accurately measure the weight of the loading box using a load cell because a lot of noise such as vibration and vibration caused by the drive of the compost transport chain is working, a 6-axis acceleration sensor is installed in the vertical upper and lower parts where the four load cells are combined. A compost spreader equipped with an embedded monitoring system, characterized in that each provided to measure the weighing noise removed. delete delete

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