KR20170014172A - soil hardness sensor device for planting robot - Google Patents

soil hardness sensor device for planting robot Download PDF

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Publication number
KR20170014172A
KR20170014172A KR1020150107063A KR20150107063A KR20170014172A KR 20170014172 A KR20170014172 A KR 20170014172A KR 1020150107063 A KR1020150107063 A KR 1020150107063A KR 20150107063 A KR20150107063 A KR 20150107063A KR 20170014172 A KR20170014172 A KR 20170014172A
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probe
pin
soil
coil base
unit
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KR1020150107063A
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Korean (ko)
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KR101767588B1 (en
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이헌호
석수일
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영남대학교 산학협력단
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N3/40—Investigating hardness or rebound hardness
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/2006—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
    • G01D5/2013—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils by a movable ferromagnetic element, e.g. a core
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/24—Earth materials
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/0001—Type of application of the stress
    • G01N2203/0003—Steady
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/0058—Kind of property studied
    • G01N2203/0076—Hardness, compressibility or resistance to crushing
    • G01N2203/0078—Hardness, compressibility or resistance to crushing using indentation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/02—Details not specific for a particular testing method
    • G01N2203/022—Environment of the test
    • G01N2203/0244—Tests performed "in situ" or after "in situ" use

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  • Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • Pathology (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Remote Sensing (AREA)
  • Food Science & Technology (AREA)
  • Medicinal Chemistry (AREA)
  • Investigating Or Analyzing Materials By The Use Of Electric Means (AREA)

Abstract

The soil hardness sensing device includes a probe portion configured to move in a linear direction upon contact with soil, a coil base accommodating the probe portion to provide a linear movement path, and a linear force supporting the probe portion And a controller for measuring a change in inductance induced in the coil base according to a moving distance of the probe and calculating a soil hardness based on the measured inductance value.

Description

A soil hardness sensor device for planting robots

The present invention relates to a soil hardness sensor, and more particularly, to a soil hardness sensor capable of calculating the soil hardness by sensing the moving distance of the probe in a non-contact manner without deeply penetrating the soil.

Good quality soil is composed of about 50% of the soil. High hardness soil means little or very little soil porosity. These soils inhibit the flow of water, nutrients and air, and accumulate toxins that are produced when organic matter decomposes in the absence of oxygen.

Therefore, when automatic planting of trees and crops using intelligent robots for forest planting, it is necessary to confirm the soil hardness (density of soil) and foreign matter under the soil surface. In other words, if the intelligent robot for forest planting senses the soil hardness at the position where the tree is to be planted and the foreign matter under the soil surface, if the soil hardness is within the set range or it is judged that the planting operation is not hindered by foreign matter, Automatically plant trees at the location.

On the other hand, the conventional soil hardness sensor uses a method of measuring soil hardness using a load cell. A load cell is usually referred to as a strain gauge load cell because its electrical output changes in proportion to its size when a load is applied.

The conventional soil hardness sensor is a method of directly sensing the load directly by penetrating the sensor into the soil, and if the load exceeds the measurement limit or a hard material such as rock is fixed under the surface of the soil, the soil may be damaged.

In particular, the soil hardness sensing device attached to the intelligent robot for planting materials is rapidly automated by the automatic method, so that when the soil hardness sensing device is broken, the intelligent robot for planting materials becomes difficult to operate efficiently.

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above-mentioned technical problems, and provides a soil hardness sensing device which is strong against vibration and impact by detecting the moving distance of the probe by using the non-contact inductance sensing method and then calculating the soil hardness.

According to an embodiment of the present invention, there is provided a probe comprising: a probe configured to move in a linear direction upon contact with soil; A coil base accommodating the probe unit to provide a linear movement path; A probe support unit that provides a linear force to support the probe unit and returns the probe unit to an initial position; And a controller for measuring a change in inductance induced in the coil base according to the moving distance of the probe and calculating a soil hardness based on the measured inductance value.

The probe may include a bar-shaped measurement pin; A pin fixing part for inserting one end of the measuring pin into the pin fixing part; And a pin head portion formed of a metal material and coupled to an upper portion of the pin fixing portion.

The probe support unit may include an elastic member inserted into the coil base to provide an elastic force to the probe unit.

The probe support may include an electromagnet inserted into the coil base to provide an electromagnetic repulsive force to the probe, and the controller may adjust the repulsive force of the electromagnet.

The controller may be configured to measure the inductance value at initialization and then perform zero calibration by itself in comparison with the basic calibration data.

In addition, the controller may be configured to automatically change the measurement frequency and the measurement set value according to changes in the external temperature and humidity. When the initial measurement value of the inductance according to the change in the measurement frequency and the measurement set value exceeds the set range , The sensor failure is displayed.

According to another embodiment of the present invention, there is also provided a probe comprising: a probe configured to move in a linear direction on contact with soil; A coil base accommodating the probe unit to provide a linear movement path; A probe support unit that provides a linear force to support the probe unit and returns the probe unit to an initial position; A coil cover for accommodating the coil base therein and projecting the probe portion to one end face; A circuit board attached to a surface of the coil cover and measuring a change in inductance induced in the coil base according to a moving distance of the probe and calculating a soil hardness based on the measured inductance value; A case accommodating the coil cover and the circuit board therein, and protruding the probe unit with one end face; And a case cover coupled to the other end surface of the case and supporting the probe support and the coil base.

The probe may include a bar-shaped measurement pin; A pin fixing part for inserting one end of the measuring pin into the pin fixing part; And a pin head portion formed of a metal material and coupled to an upper portion of the pin fixing portion, wherein the measuring pin and the pin fixing portion are configured to pass through the opening formed in one end surface of the coil cover and the case, And the pin head portion is formed to be larger than the opening portion.

The probe support unit may include an elastic member inserted into the coil base to provide an elastic force to the probe unit.

The probe support may include an electromagnet inserted into the coil base to provide an electromagnetic repulsive force to the probe, and the controller may adjust the repulsive force of the electromagnet.

The controller may be configured to measure the inductance value at initialization and then perform zero calibration by itself in comparison with the basic calibration data.

In addition, the controller may be configured to automatically change the measurement frequency and the measurement set value according to changes in the external temperature and humidity. When the initial measurement value of the inductance according to the change in the measurement frequency and the measurement set value exceeds the set range , The sensor failure is displayed.

The soil hardness detecting apparatus according to the embodiment of the present invention calculates the soil hardness after detecting the moving distance of the probe by using the non-contact inductance sensing method without directly penetrating the probe into the soil. Therefore, even if it is attached to the intelligent robot for forest planting which is resistant to vibration and impact, high durability can ensure operation reliability. In addition, the soil hardness sensor can incorporate a gyro sensor and an acceleration sensor so that the measured value and the soil hardness of the sensor can be simultaneously supplied to intelligent robots for forest planting.

In addition, the soil hardness sensor can precisely measure the travel distance of the probe based on the change in inductance. In addition, the soil hardness sensor can automatically change the operating frequency and set value of the internal circuit in response to changes in temperature and humidity.

In addition, the soil hardness sensor can control the repulsive force of the probe, thereby improving the measurement range and the measurement accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an exploded perspective view of a soil hardness sensor according to an embodiment of the present invention. FIG.
2 is a perspective view of the soil hardness sensing device of FIG. 1;
3 is a front view of the soil hardness sensing device of FIG.
Figure 4 is a top view of the soil hardness sensing device of Figure 1;
Figure 5 is a side view of the soil hardness sensing device of Figure 1;
Figure 6 is a bottom view of the soil hardness sensing device of Figure 1;
FIG. 7 is a rear view of the soil hardness sensor of FIG. 1; FIG.
Figure 8 is a cross-sectional view of the soil hardness sensing device of Figure 1;
FIG. 9 is a first internal configuration diagram of the soil hardness sensing device of FIG. 1; FIG.
10 is a second internal constructional view of the soil hardness sensing device of FIG.
11 is a perspective view of a case of the soil hardness sensing device of FIG.
FIG. 12 is a perspective view of a case cover of the soil hardness detecting device of FIG. 1; FIG.
FIG. 13 is a view showing a configuration of a measurement pin and a pin fixing unit of the soil hardness sensing apparatus of FIG. 1;
FIG. 14 is a configuration diagram of a pin head portion of the soil hardness detecting device of FIG. 1; FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, in order to facilitate a person skilled in the art to easily carry out the technical idea of the present invention.

1A to 1D are exploded perspective views of a soil hardness sensing apparatus 1 according to an embodiment of the present invention. FIG. 2 is a perspective view of the soil hardness sensing device 1 of FIG. 1, FIG. 3 is a front view of the soil hardness sensing device 1 of FIG. 1, and FIG. 4 is a front view of the soil hardness sensing device 1 of FIG. FIG. 5 is a side view of the soil hardness sensing device 1 of FIG. 1, FIG. 6 is a bottom view of the soil hardness sensing device 1 of FIG. 1, , And Fig. 8 is a sectional view of the soil hardness sensing device 1 of Fig.

The soil hardness sensing device 1 according to the present embodiment includes only a simple structure for clearly explaining the technical idea to be proposed.

1A to 1D and FIGS. 2 to 8, the soil hardness sensing device 1 includes a probe 100, a case 200, a coil cover 300, a probe support 400, A coil base 500, a circuit board 600, and a case cover 700.

The detailed structure and main operation of the soil hardness sensing device 1 constructed as above will be described below.

The probe 100 is configured to move in a linear direction upon contact with the soil. That is, the probe 100 is configured to move in the opposite direction of the soil surface, rather than being deeply penetrated into the soil upon contact with the soil.

The probe unit 100 includes a bar-shaped measurement pin 110, a pin fixing unit 120 for inserting and fixing one end of the measurement pin 110 therein, And a pin head part 130 formed of a material and coupled to an upper portion of the pin fixing part 120.

The measuring pin 110 in the form of a bar is configured such that its end portion is formed in a conical shape to contact the soil. The measuring pin 110 may be formed of a metal material such as spring steel. Further, the surface of the measurement pin 110 can be treated with electroless plating.

The pin fixing portion 120 is configured to insert and fix one end of the measuring pin 110 therein. Therefore, the measuring pins 110 having different shapes can be easily attached and detached depending on the type of the soil. The pin fixing portion 120 may be formed of a metal material such as stainless steel or the like.

The pin head portion 130 is coupled to the upper portion of the pin fixing portion 120. The pin head portion 130 may be formed in a cylindrical shape gradually increasing in diameter from the direction of being engaged with the pin fixing portion 120. [ The pin head portion 130 may be formed of a metal material such as stainless steel.

The measuring pin 110 and the pin fixing portion 120 are configured to penetrate the coil cover 300 and the opening formed in one end face of the case 200 respectively, .

The coil base 500 accommodates the probe unit 100 to provide a linear movement path. That is, a space for accommodating the probe unit 100 is formed inside the coil base 500. A portion of the pin head 130 of the probe unit 100 is inserted into the coil base 500 And moves in a linear direction.

The probe support unit 400 provides a linear force to support the probe unit 100 and returns the probe unit 100 to its initial position. That is, since the probe support unit 400 provides a linear force to support the pin head unit 130 of the probe unit 100, when the probe unit 100 is raised by the pressure of the soil and no pressure is applied thereto , And returns (drops) the probe unit 100 to the initial position.

The probe supporting unit 400 may include an elastic member inserted into the coil base 500 to provide an elastic force to the probe unit 100. That is, since the elastic member provides an elastic force to the pin head portion 130 of the probe unit 100, when the probe unit 100 is raised by the pressure of the soil and no pressure is applied, (Lowered) position. The elastic member is configured to be replaceable, and when replacing the elastic member, it is preferable to reset the magnitude of the elastic force of the elastic member to the control unit.

The probe supporting unit 400 may include an electromagnet inserted into the coil base 500 to provide an electromagnetic repulsive force to the probe unit 100. That is, since the repulsive force of the electromagnet is used to provide electromagnetic repulsive force to the pin head portion 130, when the probe portion 100 is raised by the pressure of the soil and no pressure is applied, (Lowered). The pin head 130 is preferably formed of a material capable of applying the repulsive force of the electromagnet. The control unit can regulate the repulsive force of the electromagnet, and regulates the repulsive force of the electromagnet for the soil material and the error correction.

For reference, the repulsive force of the electromagnet can be set differently for each of a plurality of sections. That is, the electromagnet always provides a repulsive force to the pin head portion 130. The electromagnet has a first movement section in which the probe section 100 rises in contact with the soil surface, a second movement section after the first movement section, When the moving section of the probe section 100 is divided into the third moving section after the second moving section, the electromagnet provides a first repelling force in the first moving section and a second repelling force stronger than the first repelling force in the second moving section And to provide a third repulsive force that is stronger than the second repulsive force in the third movement interval. With this configuration, since the range in which the soil hardness can be measured is increased, the probe can be continuously used without replacement of the probe unit 100 even in a region where the soil hardness varies greatly.

The coil cover 300 accommodates the coil base 500 and is configured to protrude the probe 100 with one end face. That is, the coil cover 300 protrudes through the measurement pin 110 and the pin fixing portion 120 of the probe unit 100 through the opening formed in one end face. The coil cover 300 may be formed of synthetic resin such as acetyl.

The circuit board 600 is attached to the surface of the coil cover 300 and has a control unit in the form of a semiconductor chip. The control unit measures the change in inductance induced in the coil base 500 according to the moving distance of the probe unit 100, and calculates the soil hardness based on the measured inductance value.

That is, when the pin head portion 130 of the probe unit 100 moves inside the coil base 500, the inductance of the coil base 500 changes corresponding to the moved distance. Therefore, the control unit measures the change in inductance induced in the coil base 500 according to the moving distance of the probe unit 100, and calculates the soil hardness based on the measured inductance value and the elastic force or the repulsive force of the probe support unit 400 . When the repulsive force of the electromagnet is adjusted, the control unit automatically calculates the soil hardness by automatically considering the change of the repulsive force.

The control unit may be configured in the form of a digital chip that converts an inductance value into a digital value and outputs the digital value. The inductance resonance circuit converts the inductance change into an impedance change amount, calculates a position change amount of the probe unit 100, The soil hardness is finally calculated based on the calculated results.

The control unit is configured to measure the inductance value at the time of initialization and perform zero calibration by itself in comparison with the basic calibration data. That is, in order to correct the error, the soil hardness sensing apparatus 1 may periodically perform an initialization operation. After the current inductance value is measured, the control unit compares the current inductance value with the basic calibration data, .

In addition, the control unit is configured to automatically change the measurement frequency and the measurement set value in accordance with changes in the external temperature and humidity. That is, since the change of the inductance value may occur depending on the change of the external temperature and humidity,

The control unit automatically changes the measurement frequency and the measurement set value in consideration of changes in temperature and humidity. Here, the measurement frequency means a measurement frequency oscillating internally in the control unit, and the measurement set value means a correction value. For reference, the soil hardness sensing device 1 may include a sensor for sensing a change in external temperature and humidity.

On the other hand, when the initialization operation is periodically performed, the controller displays a sensor failure when the measurement value of the inductance according to the change of the measurement frequency and the measurement set value exceeds the set range. That is, the soil hardness sensing apparatus 1 is configured to periodically perform an initialization operation. In the initialization operation, the controller sequentially calculates the current inductance measurement value while changing the measurement frequency and the measurement set value sequentially, If the set range is exceeded, it indicates that the sensor has failed.

The case 200 is formed with a space for receiving the coil cover 300 and the circuit board 600 therein, and a groove for fixing the circuit board is formed. In addition, the case 200 penetrates the probe unit 100 through an opening formed in one end face. The case 200 may be formed of a metal such as aluminum. Further, the case 200 may be an anodized surface treatment.

The case cover 700 is coupled to the other end surface of the case 200 and protects the components housed inside the case 200 while supporting the probe support unit 400 and the coil base 500. The case cover 700 may be formed of a metal such as aluminum. Further, the case cover 700 may be an anodized surface treatment.

For reference, the soil hardness sensing apparatus 1 may include a display unit for displaying an operating state, a defective state, and a measured soil hardness. The display unit may be composed of a light emitting element, a liquid crystal display apparatus, or the like.

In addition, the soil hardness sensing device 1 can incorporate a gyro sensor and an acceleration sensor in a control unit, and simultaneously provide the measured value and the soil hardness of the sensor to the intelligent robot for forestry material.

In other words, the soil hardness sensor (1) simultaneously transmits the measurement values of the gyro sensor and the acceleration sensor as well as the soil hardness (soil density) to the intelligent robot for the forest planting. Therefore, the intelligent robot for the forest- The soil hardness and the slope of the soil can be confirmed so that the tree can be automatically planted at the correct position and depth.

FIG. 8 is a cross-sectional view of the soil hardness sensing device 1 of FIG. 1, FIG. 9 is a first internal structural view of the soil hardness sensing device 1 of FIG. 1, FIG. 11 is a perspective view of a case 200 of the soil hardness sensing device 1 of FIG. 1, and FIG. 12 is a perspective view of the case cover 700 of the soil hardness sensing device 1 of FIG. Fig. 13 is a configuration diagram of the measurement pin 110 and the pin fixing unit 120 of the soil hardness sensing device 1 of Fig. 1, and Fig. 14 is a perspective view of the pin 1 of the soil hardness sensing device 1 of Fig. And a head unit 130. Fig.

The soil hardness sensing device 1 according to the present embodiment includes only a simple structure for clearly explaining the technical idea to be proposed.

Referring to Figures 8-14,

Since the pin fixing portion 120 of the probe unit 100 is provided with the fixing hole for fixing the fixing pin 110 after the insertion of the measuring pin 110 into the pin fixing portion 120, A fixing member is inserted into the fixing hole to fix the measuring pin 110. With this structure, the measuring pins 110 can be easily attached and detached.

Referring to the first perspective view 201 and the second perspective view 202 of the case 200 of the soil hardness sensing device 1 shown in Figs. 11 and 12 and the perspective view of the case cover 700,

A groove 210 is formed in the end face of the case 200 to be coupled with the case cover 700 to be coupled with the waterproof bushing. The groove 210 is formed along the circumference of the cross section of the case 200. A waterproof bushing or a sealing member made of rubber / synthetic resin may be inserted into the groove 210 formed in the case 200.

In addition, a plurality of engaging holes for engaging with each other are formed in the end surface of the case 200 coupled with the case cover 700 and the case cover 700. In this embodiment, since the coupling holes are formed at each corner of the rectangular shape, the case cover 700 and the case 200 are coupled by the coupling member inserted into the coupling hole.

The configuration of the measurement pin 110 of the soil hardness sensing device 1 shown in Figs. 13 and 14, the first structural view 121 and the second structural view 122 of the pin fixing portion 120, Referring to the first, third, and third configuration diagrams 131, 132, and 133 of the head portion 130,

An opening for inserting the measuring pin 110 is formed in the lower portion of the pin fixing portion 120 and a fixing hole for fixing the measuring pin 110 when the measuring pin 110 is inserted into the opening is formed .

An opening for coupling with the pin head portion 130 is formed in the upper portion of the pin fixing portion 120. An opening portion for coupling with the pin fixing portion 120 is formed in the protruding region of the pin head portion 130 A connecting member is inserted into these two openings to couple the pin fixing portion 120 and the pin head portion 130 together.

At this time, a fixing hole for fixing the connecting member is formed on the upper side of the pin fixing part 120, and a fixing hole for fixing the connecting member is formed on the side surface of the protruding area of the pin head part 130, The fixing member can be inserted into the fixing hole of the connecting member.

The soil hardness detecting apparatus according to the embodiment of the present invention calculates the soil hardness after detecting the moving distance of the probe by using the non-contact inductance sensing method without directly penetrating the probe into the soil. Therefore, even if it is attached to the intelligent robot for forest planting which is resistant to vibration and impact, high durability can ensure operation reliability. In addition, the soil hardness sensor can incorporate a gyro sensor and an acceleration sensor so that the measured value and the soil hardness of the sensor can be simultaneously supplied to intelligent robots for forest planting.

In addition, the soil hardness sensor can precisely measure the travel distance of the probe based on the change in inductance. In addition, the soil hardness sensor can automatically change the operating frequency and set value of the internal circuit in response to changes in temperature and humidity.

In addition, the soil hardness sensor can control the repulsive force of the probe, thereby improving the measurement range and the measurement accuracy.

Thus, those skilled in the art will appreciate that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the embodiments described above are to be considered in all respects only as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100:
110: measuring pin
120: pin fixing portion
130: pin head part
200: Case
210: Home
300: Coil cover
400: probe support
500: Coil base
600: circuit board
700: Case cover

Claims (12)

A probe configured to move in a linear direction upon contact with the soil;
A coil base accommodating the probe unit to provide a linear movement path;
A probe support unit that provides a linear force to support the probe unit and returns the probe unit to an initial position; And
A control unit measuring a change in inductance induced in the coil base according to a moving distance of the probe unit and calculating a soil hardness based on the measured inductance value;
/ RTI >
The method according to claim 1,
The probe unit includes:
Measuring pins in the form of bars;
A pin fixing part for inserting one end of the measuring pin into the pin fixing part; And
And a pin head portion formed of a metal material and coupled to an upper portion of the pin fixing portion.
The method according to claim 1,
The probe support portion
And an elastic member inserted into the coil base to provide an elastic force to the probe unit.
The method according to claim 1,
The probe support portion
And an electromagnet inserted into the coil base to provide an electromagnetic repulsive force to the probe,
Wherein the control unit controls the repulsive force of the electromagnet.
The method according to claim 1,
Wherein,
Wherein the inductance value is measured at initialization, and then the zero calibration is performed by itself in comparison with the basic calibration data.
The method according to claim 1,
Wherein,
The measurement frequency and the measurement set value are automatically changed according to the change of the external temperature and humidity,
Wherein when the inductance measurement value exceeds a set range when the initialization frequency and the measurement set value change at the time of initialization, a sensor defect is displayed.
A probe configured to move in a linear direction upon contact with the soil;
A coil base accommodating the probe unit to provide a linear movement path;
A probe support unit that provides a linear force to support the probe unit and returns the probe unit to an initial position;
A coil cover for accommodating the coil base therein and projecting the probe portion to one end face;
A circuit board attached to a surface of the coil cover and measuring a change in inductance induced in the coil base according to a moving distance of the probe and calculating a soil hardness based on the measured inductance value;
A case accommodating the coil cover and the circuit board therein, and protruding the probe unit with one end face; And
A case cover coupled to the other end surface of the case and supporting the probe support and the coil base;
/ RTI >
8. The method of claim 7,
The probe unit includes:
Measuring pins in the form of bars;
A pin fixing part for inserting one end of the measuring pin into the pin fixing part; And
And a pin head portion formed of a metal material and coupled to an upper portion of the pin fixing portion,
Wherein the measuring pin and the pin fixing portion comprise:
Wherein the pin cover is formed to pass through the coil cover and an opening formed on one end face of the case, and the pin head is formed larger than the opening.
8. The method of claim 7,
The probe support portion
And an elastic member inserted into the coil base to provide an elastic force to the probe unit.
8. The method of claim 7,
The probe support portion
And an electromagnet inserted into the coil base to provide an electromagnetic repulsive force to the probe,
Wherein the control unit controls the repulsive force of the electromagnet.
8. The method of claim 7,
Wherein,
Wherein the inductance value is measured at initialization, and then the zero calibration is performed by itself in comparison with the basic calibration data.
8. The method of claim 7,
Wherein,
The measurement frequency and the measurement set value are automatically changed according to the change of the external temperature and humidity,
Wherein when the inductance measurement value exceeds a set range when the initialization frequency and the measurement set value change at the time of initialization, a sensor defect is displayed.
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EP3900513A1 (en) * 2020-04-23 2021-10-27 CNH Industrial Belgium N.V. System and method for monitoring tilled floor conditions using a tilled floor sensing assembly

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CN108802331A (en) * 2018-05-29 2018-11-13 深圳源广安智能科技有限公司 Soil quality safety monitoring system

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EP3900513A1 (en) * 2020-04-23 2021-10-27 CNH Industrial Belgium N.V. System and method for monitoring tilled floor conditions using a tilled floor sensing assembly
US11852621B2 (en) 2020-04-23 2023-12-26 Cnh Industrial Canada, Ltd. System and method for monitoring tilled floor conditions using a tilled floor sensing assembly

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