KR20200104560A - Manure Spreader with Imbedded Monitering System - Google Patents

Abstract

According to the present invention, an existing manure spreader equipped with a load cell has a problem that the weight of manure measured by the load cell is inaccurately measured due to vibration from the ground and vibration from a driving device and a fertilizer spraying means. To solve the above problem, the present invention provides a device for accurately measuring the weight of the manure loaded in the manure spreading device during operation or a manure spreading process, and a device for remotely monitoring the measurement, by removing net force applied to the load cell by providing acceleration sensors on the load cell and at upper and lower portions of the load cell around a point where the load cell is installed.

Description

Manure Spreader with Imbedded Monitoring System {Manure Spreader with Imbedded Monitoring System}

The present invention relates to a technology related to a manure spreader and to a technology for remotely controlling and monitoring a manure spreading situation.

As a prior art prior to the present invention, the present invention relates to a fertilizer spreader and a trailer having a load cell, and a fertilizer spreader having a load cell so that an operator can accurately and easily check the remaining loading amount of fertilizer in the hopper of the spreader in real time, and Regarding the trailer, a load cell for measuring 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 installed on the upper part of the main frame to load 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 in real time, so that the operator can accurately and easily check the remaining amount of fertilizer loading in the hopper in real time. And a technology of a trailer is disclosed.

Another prior art is a compost spreader for tractors that has a means for supplying hydraulic pressure to the compost spreader itself in a compost spreader capable of carrying out the work of loading and spreading compost at the same time. A bucket that is detachably connected to one side of the tractor and loads compost, a swing arm pivotally coupled to both ends of the bucket by a first cylinder mechanism, and rotates at the tip of the swing arm A plurality of stirring blades are formed to extend in a radial direction at a uniform distance on the outer circumferential surface, and are formed by a rotor bait that rotates by a driving motor, and a link member and a second cylinder mechanism are formed inside the bucket. The compost spreader, composed of a push member that pushes the 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 capacity or model of the hydraulic system of the tractor body. Second, by configuring an oil tank and a dual hydraulic pump device in the manure spreader itself, a configuration capable of significantly reducing the length of a hydraulic hose supplying oil is disclosed.

Unexamined Patent Publication 10-2017-0045623 Registered Patent Publication 10-0847097

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

The present invention solves this problem 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, to remove the net force applied to the load cell, thereby driving the weight of the compost loaded in the compost spreading device or It provides a means to accurately measure even during composting and a means to monitor it remotely.

The present invention provides the following means to solve the above problems.

Four load cells are installed between the lower frame and the loading box to monitor the loading amount of compost and the amount of compost spread.

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 the load cell upper support part and the load cell lower support part each have a 6-axis acceleration sensor to calculate the net acceleration and force acting on the load cell.

In addition, 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 to be monitored. A manure spreader with an embedded monitoring system is provided.

The embedded monitoring system used in the present invention includes a Linux or Windows or other independently used operating system, or a microprocessor that operates as an independent program without such an operating system, memory, and peripheral devices and graphic users that can communicate with the outside. Like an interface, it refers to a device in which hardware and software with a human interface are combined.

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

The present invention eliminates external vibrations and shocks and power transmission noise and compost spraying noise generated from the inside by the above configuration, and by always measuring the weight of an accurate loading frame, it is possible to accurately monitor the spraying and spreading amount of compost. By providing a means, there is an effect that it is possible to spread compost that is not excessive or insufficient.

1 shows information that can be monitored by the ISOBUS system of the present invention.
2 is a screen for monitoring by an operator by connecting information on the manure 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 manure spreader of the present invention.
5 is a diagram showing the types and locations of sensors installed in the manure spreader of the present invention.
6 is a frame structure of the toby spreader of the present invention.
Fig. 7 is a view of a frame of a manure spreader according to the present invention and a rubber support portion of a fixing portion of the loading frame of the manure spreader.
8 is a load cell to measure the weight of the loading frame of the present invention.
9 is a partial perspective view of an acceleration sensor 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 kind of ICT (Information & Communication Technology) fusion compost spreader, and is a smart product combining the embedded system with the existing compost spreader. However, it is not enough to simply combine the embedded system, and through ideas and empirical experiments, it has a performance that cannot be expected from the existing compost spreader.

As for the basic performance, it provides a monitoring means to check and control the compost loading amount, application amount, spread width, and work order of the manure spreader. It provides a means for the operator to monitor the above information at once using standardized ISOBUS.

The term of ISOBUS used in the present invention means a communication standard such as ISO 11783 below. 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 generally used in automobiles.

Although the manure spreader is sometimes used as a self-propelled type, the manure spreader of the present invention is an equipment attached to a tractor. In the case of a tractor equipped with ISOBUS as shown in Fig. 1, all information other than the information of the manure spreader can be checked through ISOBUS. have.

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

2 is a screen monitored by mounting information that can be checked on the manure spreader on ISOBUS, and it is possible to check the progress of the tractor, the rotational speed of the manure spreader, and the transfer speed of the manure transfer unit.

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

Figure 4 is an exploded perspective view of the present invention showing information that can be monitored through ISOBUS. This is a diagram that checks the measured value of the load cell through the monitor to know the feed rate of the compost transfer chain, the open state of the rear gate, the rotation speed of the hydraulic drive gear box, and the like, and the amount of compost loading.

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

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

In addition, the degree of opening of the rear view of the manure spreader was monitored by measuring the degree of opening of the hydraulic valve.

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

Fig. 6 is a perspective view of a lower frame supporting the compost spreader loading frame of the present invention, and includes a rubber suspension elastically supporting the loading frame.

The present invention connects information such as the three proximity sensors of the manure spreader of the present invention, the hydraulic valve opening degree detection sensor, and four load cells to the ISOBUS bus system provided in a conventional tractor through an embedded controller, and monitors all of them. The controllable controller provides a means of controlling remotely or through a monitoring system.

Data communication such as Wi-Fi, LoRa communication, and CDMA communication is essential for the remote monitoring and control, and monitoring and control can be performed using equipment such as laptops and smartphones, and for this purpose, a dedicated app or utility is used. to be.

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

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

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

However, in the case of measuring the spreading amount per area of compost, or determining the spreading amount per area, in the case of measuring the weight of the loading frame using the load cell while moving dynamically and calculating the amount of change thereof, vibration from the drawing, beater There is a lot of noise, such as vibration caused by the rotation of the machine and the vibration caused by the drive of the compost transfer chain, so it is difficult to measure the exact weight of the loading frame using the load cell. Being a problem.

Moreover, in the case of sloped lands other than flat lands, the weight acting on the load cell includes the force in the shear direction rather than vertical, which is a further problem for measurement.

In order to solve this problem, the present invention has developed a method for removing weighing noise and accurately measuring weight by providing 6-axis acceleration sensors in the vertical upper and lower portions to which the load cell is coupled, respectively.

The six-axis acceleration sensor measures the acceleration in the X, Y, Z, and rotation in the X, Y, and Z directions, and uses this for correction of the load cell. It is a composition that is different from the compost spreader to be measured.

Fig. 8 is an exterior view of the load cell of the present invention, which is composed of a load cell upper support portion, a load cell lower support portion, and a load cell body at the center.

9 shows the X axis parallel to the front of the wheel at the center of the load cell upper support part and the load cell lower support part, the Y axis perpendicular to the X axis and the right side + direction, and the z axis + direction from the ground to the sky direction. Each of the 6-axis acceleration sensors is installed and used to calibrate the weight.

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

To this end, the 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 actually measured loading frame is calculated from the signals measured in each of the four load cells, and a calibration equation is made for each load cell.

Now, by applying side vibration, back-and-forth 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, the eight acceleration values provided in the load cell upper support and the load cell lower support are measured, from which the load cell The net acceleration acting on is calculated, and a calculation formula for measuring the weight of the loading box is obtained 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 load cell. The calculation formula can be obtained, or the value of each load cell and the value of each acceleration sensor can be stored so that the same measured value can be retrieved without calculation when the same or similar signal is input. In addition, it is possible to use an artificial neural network that learns from an artificial neural network and always outputs the weight of the loading box through inputs of 8 accelerations and 4 load cells.

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

The measured weight is connected to the ISOBUS and monitored by a monitoring controller, and the speed of the compost transfer 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. You can control the amount of compost spread,

By controlling the rotational speed of the spreading bit module to control the spreading range of the compost, it provides a means by which the user can evenly spray the desired amount of compost to a desired area.

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

The compost spreader of the present invention installs four load cells between the lower frame and the loading box to monitor the loading amount of compost and the spreading 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 the load cell upper support part and the load cell lower support part each have a 6-axis acceleration sensor to calculate the net acceleration and force acting on the load cell.

In addition, 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 to be monitored. A manure spreader with an embedded monitoring system is provided.

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

200 load cell
210 Load cell upper support
220 Load cell lower support
230 load cell body
240 upper acceleration sensor
250 lower acceleration sensor

Claims (3)

Four load cells are installed between the lower frame and the loading box to monitor the loading amount of compost and the amount of compost spread.
The load cell is composed of a load cell upper support part, a load cell lower support part, and a load cell main body, and a 6-axis acceleration sensor is provided in each of the load cell upper support part and the load cell lower support part to calculate net acceleration and force acting on the load cell. Manure spreader with embedded monitoring system. The method of claim 1,
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 and monitored by a separate embedded system through ISOBUS. The method of claim 2,
The embedded monitoring system includes a calculation formula or artificial neural network circuit that calculates the net acceleration and force acting on the load cell, and calculates the weight of the loading frame from the measured values of the four load cells and the acceleration measured values of the eight acceleration sensors. A manure spreader equipped with an embedded monitoring system characterized by.

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