RU2748180C1 - Apparatus for monitoring operation of soil-tilling implement (variants) - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: apparatus for monitoring the operation of a soil-tilling implement (variants) relates to agriculture, namely to apparatuses for controlling tillage depth. The apparatus according to the variant 1, rigidly fixed on the frame thereof with operating members and enclosed in a body containing a microcontroller (MC) providing continuous reception of data incoming from connected sensors with high accuracy and measurement frequency, and non-volatile memory with a volume allowing to record and save the described data, additionally contains a communication unit with a remote computer, a real-time clock unit, a position in space sensor, an RFID-tag reading unit, an ROM unit for storing data encryption parameters and identifiers of the proposed apparatus, a power supply unit, electrically connected with the MC unit and arranged on a printed circuit board fixed within the body of the apparatus. The apparatus therein contains a tillage depth sensor constituting an ultrasonic range finder, fixed on the body of the apparatus and electrically connected with the microcontroller. The RFID-tag reading unit therein is configured to receive a signal from the RFID-tag via a bidirectional radio channel. The apparatus according to the variant 2 differs from the variant 1 in that it does not contain an ROM, and the variant 3 does not contain an ROM and an RFID-tag.

EFFECT: invention allows improving accuracy of monitoring tillage depth in real time and providing possibility to transmit information in real time to a remote computer for processing and storage.

12 cl, 6 dwg

Description

The field of technology.

The invention relates to agriculture, namely to devices for controlling the depth of soil cultivation installed on agricultural implements, such as a plow, cultivator, harrow, mulcher, seeder, etc.

State of the art

In agriculture, maintaining optimal soil conditions for high yields is essential. The goal of the grower is to place the seeds in the soil at the same depth to achieve even germination. However, due to the heterogeneous topography of the field or the quality of the soil (dry, hard, stony soil, soft, wet or sandy soil), incorrect operation of tillage agricultural implements and other reasons, the depth of tillage may be different in different parts of the field.

Thus, the problem arises of constantly monitoring the depth of soil cultivation with a working tillage agricultural tool.

Devices for determining the depth of tillage are known from the prior art, such as, for example:

a device for determining the actual depth of travel of the working bodies of tillage machines and tools according to the RF patent for utility model No. 102108 (application 2010139193, IPC G01B 13/00. Published on 10.02.2011; not valid) [1], containing means for measuring the distance from the soil surface to untreated layer. The measuring device is rigidly fixed to a frame with working bodies mounted on rigid stands and has a rotary mechanism with a steering angle sensor connected by means of a bracket to a wheel equipped with a sensor for measuring the path. The depth of travel of the working bodies is determined by the value of the angle of rotation of the bracket 3 when the working bodies are buried in the soil and the wheel moves along the soil surface. The known device uses mechanical depth sensors. Mechanical sensors have low reliability and low accuracy in determining the depth of soil cultivation. In the known device, it is not possible to determine the position in space of an agricultural tool. Electronic devices based on a microcontroller are not provided and the transfer of measurement results to a remote server for their storage and processing is not provided, which does not allow storing complete information about the actual depth of travel of the working bodies of tillage implements on the traversed section of the path.

Known device for determining the depth of soil cultivation according to the patent for utility model No. 110476 (Application: 2011111469; IPC G01B 13/00. Published on 20.11.2011; not valid) [2]. The device is connected to the frame of the tillage machine or implement. The device contains a laser distance meter. In the initial position of the tillage implement, the vertical distance from the radiation source to the base of the working body is measured. The measured distance is specified according to the readings of the laser meter and the statistical average values of the measured distances from the radiation source to the surface of the treated soil. The disadvantages of the known device include the following: the complexity of implementation and a complex mathematical apparatus for processing the obtained data on the depth of soil cultivation; dependence of the measurement results on the sun illumination of the treated area and weather conditions. There is no possibility of determining the position in space of an agricultural tool.

Known device for measuring the depth of soil cultivation when testing tillage machines and tools for the utility model patent No. 191181 (Application 2019108378, IPC G01B 3/00, A01B 63/00. Published: 07/29/2019) [3], containing an electronic microcontroller unit, providing continuous process of recording data received from connected sensors, which allows recording and storing complete information about the actual depth of travel of the working bodies of tillage machines / implements on the traversed section of the path, in accordance with the technical and technological requirements for promising agricultural machinery.

The electronic measuring device consists of a distance traveled sensor - 1, an arm angle sensor - 2, an STM32F405 microcontroller - 3, an indication module - 4, a keyboard - 5, EN25F80 non-volatile memory with a capacity of 1 Mbit - 6, Li-Ion rechargeable battery 3.7 V - 7, battery charge control module - 8 and power supply module from the on-board network 12 ÷ 24 V - 9. Data received from the connected sensors are preprocessed by the STM32F405 microcontroller, recorded in non-volatile memory and displayed on the graphical display of the device to control the actual depth of travel working bodies.

The device uses mechanical sensors - a distance traveled sensor and a bracket rotation angle sensor. The disadvantages of mechanical sensors have been described above. The device does not provide for data transmission to a remote server for storage and processing.

A known system using ultrasonic sensors to control the depth of soil cultivation, for example, the ultrasonic proximity sensor Escort DGV-200 (https://www.fmeter.ru/infocenter/helpful/dgv-200-glubina-poseva/. Published 09/13/2019) ;

(https://www.fmeter.ru/download/_ftp/ultrazvukovoj-datchik-priblizhenija/eskort-DVG-200/User_Guide_DGV-200.pdf. Pages 8-9. Published on 09/13/2019) [4].

The specified sensor is intended for use in the transport monitoring system (SMT) to remotely monitor the quality of work on soil cultivation and the depth of plowing, cultivation, and seeding depth. Also, timely identify areas treated with violations of technology and take the necessary actions to eliminate them, which in the future will help to avoid unnecessary consumption of seeds, fertilizers, fuels and lubricants.

The proximity sensor Escort DGV-200 using an ultrasonic signal allows you to determine the exact distance to the object and, thereby, control the depth for uniform sowing of seeds (the lower the platform of the sowing complex, the deeper the sowing depth), fertilizer distribution.

Two ultrasonic distance sensors are attached to the right and left sections of the trailed unit. The sensors are configured to measure the required depth of the unit depending on the processing technology requirements. The signal cable from the sensors is connected to the on-board computer, which is installed on the towing vehicle.

The proximity sensor of the ultrasonic ESCORT DGV-200 (hereinafter referred to as the sensor) measures the distance and transmits the measured value via the RS-485 interface and in the form of a frequency signal. The meter is a complete non-separable product made in a cylindrical steel case. A control board is installed inside the case, which is filled with a compound. The housing has a sealed entrance with a permanently connected cable, on the opposite side there is a horn with an ultrasonic transducer installed inside.

However, the ultrasonic sensor in the above-mentioned system does not have the ability to filter out incorrect depth readings, arising, for example, when small objects, such as plants, enter the space between the sensor and the soil, which leads to significant distortion of the results of its work. The use in the field of a complex multi-wire data cable to connect such a sensor with a computer located in the cab of a towing vehicle reduces the reliability of the system and its operational characteristics. Also, this system does not contain an orientation sensor that allows detecting violations of soil cultivation technology and the facts of unauthorized changes in the parameters of agricultural implements.

The absence in the known devices of the possibility of transmitting data to a remote computer does not allow an agricultural enterprise to accumulate information containing information about the actual depth of soil cultivation in its fields. Such electronic recording and storage of the history of field work can help both in subsequent decision-making and in the preparation of special reporting on the production cycle, which is increasingly required by the legislation of developed countries.

According to the totality of features, the electronic measuring device according to the patent for a useful model No. 191181 [3] is taken as the closest analogue.

The technical result of the claimed invention is the creation of an electronic device for monitoring a tillage tool, which consists in determining the depth of tillage with this tool in order to obtain, using an ultrasonic sensor, with high accuracy and high frequency, continuously in time, a sequence of readings containing information about the depth of tillage, and with the binding of this sequence to real time and to the position of the specified electronic device in space, using a real time clock and an orientation sensor, with the possibility of recording the specified sequence in non-volatile memory and with the possibility of transferring it to a remote computer for processing and storage.

Disclosure of the invention.

The technical result is achieved by the fact that a device for monitoring the operation of a tillage tool according to option 1, rigidly fixed on its frame with working bodies and enclosed in a housing containing a microcontroller (MC), which provides continuous reception of data from connected sensors with high accuracy and measurement frequency , and a non-volatile memory with a volume that allows recording and storing the specified data, according to the invention additionally comprises a communication unit with a remote computer, a real-time clock unit, a position sensor in space, an RFID tag reading unit, a ROM unit for storing data encryption parameters and identifiers of the claimed devices, a power supply, which are electrically connected to the MK unit and located on a printed circuit board fixed inside the device body, while the device contains a soil cultivation depth sensor, which is an ultrasonic rangefinder attached to the device body and connected electrically connected to a microcontroller. moreover, the RFID tag reading unit is configured to receive a signal from the RFID tag via a bidirectional radio channel.

In this case, the power supply unit includes a power controller and a rechargeable battery.

In this case, the first input / output of the MK unit is connected to the input / output of the read-only memory (ROM) unit, the second input / output of the MK unit is connected to the input / output of the memory unit, the third input / output of the MK unit is connected to the first input / output of the communication unit, the fourth input / output of the MK unit is connected to the input / output of the clock unit PB, the fifth input / output of the MK unit is connected to the input / output of the orientation sensor, the sixth input / output of the MK unit is connected to the input / output of the tag reading unit, the output of the MK unit is connected to the control the input of the power supply, the first input of the MC unit is connected to the output of the state of the power supply, the second input of the MC unit is connected to the output of the ultrasonic range finder; the second input / output of the communication unit is connected to the communication channel with the remote computer, while the device contains a power connector, which is connected from the inside to the power supply input of the power supply, and its external side is designed to connect the on-board network cable to the device, and to the power output of the unit power supply is connected to the power bus connected to the power inputs of all units located on the board and to the ultrasonic rangefinder unit.

The technical result of the invention is also achieved by the fact that a device for monitoring the operation of a tillage tool according to option 2, rigidly fixed on its frame with working bodies and enclosed in a housing containing a microcontroller (MC), which provides continuous reception of data from connected sensors with high accuracy and measurement frequency, and a non-volatile memory with a volume that allows recording and storing the specified data, according to the invention additionally contains a communication unit with a remote computer, a real-time clock unit, an orientation sensor, an RFID tag reading unit, which are electrically connected to the MK unit and located on printed circuit board fixed inside the device body, while the device contains a sensor for the depth of soil cultivation, which is an ultrasonic rangefinder, fixed on the device body and electrically connected to the microcontroller, and the RFID tag reading unit is configured to receiving a signal from an RFID tag via a bi-directional radio channel.

In this case, the power supply unit includes a power controller and a rechargeable battery.

In this case, the first input / output of the MK unit is connected to the input / output of the memory unit, the second input / output of the MK unit is connected to the first input / output of the communication unit, the third input / output of the MK unit is connected to the input / output of the clock unit PB, the fourth input / output the MK unit is connected to the input / output of the orientation sensor, the fifth input / output of the MK unit is connected to the input / output of the label reading unit, the output of the MK unit is connected to the control input of the power supply, the first input of the MK unit is connected to the status output of the power supply, the second input of the MK unit connected to the output of the ultrasonic range finder; the second input / output of the communication unit is connected to a communication channel with a remote computer; in this case, the device contains a power connector on the inside connected to the power supply input of the power supply, and its external side is designed to connect the onboard network cable to the device, and a power bus is connected to the power output of the power supply, connected to the power inputs of all blocks located on the board and to unit 6 of the ultrasonic rangefinder.

In this case, to any of options 1 or 2, the RFID tag is installed on a platform rigidly fixed to the frame of the tillage implement, and the body of the device is connected by one of its walls to the platform, while the specified wall contains a niche, and the RFID tag fixed to the platform is closed by the specified niche.

The technical result of the invention is also achieved by the fact that a device for monitoring the operation of a tillage tool according to the option, rigidly fixed on its frame with working bodies and enclosed in a housing containing a microcontroller (MC), which provides continuous reception of data from connected sensors with high accuracy and frequency measurements, and a non-volatile memory with a volume that allows you to record and store the specified data, according to the invention additionally contains a communication unit with a remote computer, a real-time clock unit, a position sensor in space, a power supply, which are electrically connected to the MK unit and located on a printed circuit board , fixed inside the body of the device, while the device contains a sensor of the depth of soil cultivation, which is used as an ultrasonic rangefinder, fixed on the body of the device and connected with electrical connections to the microcontroller.

In this case, the power supply unit includes a power controller and a rechargeable battery.

In this case, the first input / output of the MK unit is connected to the input / output of the memory unit, the second input / output of the MK unit is connected to the first input / output of the communication unit, the third input / output of the MK unit is connected to the input / output of the clock unit PB, the fourth input / output the MK unit is connected to the input / output of the orientation sensor, the MK unit output is connected to the control input of the power supply, the first input of the MK unit is connected to the status output of the power supply, the second input of the MK unit is connected to the output of the ultrasonic range finder; the second input / output of the communication unit is connected to a communication channel with a remote computer; in this case, the device contains a power connector on the inside connected to the power supply input of the power supply, and its external side is designed to connect the onboard network cable to the device, and a power bus is connected to the power output of the power supply, connected to the power inputs of all blocks located on the board and to ultrasonic rangefinder unit.

In this case, according to any of the options 1, 2 or 3, the orientation sensor contains a triaxial accelerometer, a triaxial gyroscope and a triaxial magnetometer.

In this case, according to any of options 1, 2 or 3, the body of the device is made sealed and radio-transparent.

Abbreviations:

ZU - storage device;

ROM - read only memory;

MK - microcontroller;

Software - software;

РВ - real time.

List of figures.

FIG. 1. Block diagram of the proposed device according to option 1.

FIG. 2. Scheme of installing RFID-tags.

FIG. 3 Scheme for determining the depth of soil cultivation.

FIG. 4 Graphs of data from sensors 4 and 6: 4.- data from range finder 6; 4.b-data from the gyroscope; 4.v-data of the magnetometer; 4.g - accelerometer.

FIG. 5 Block diagram of the proposed device according to option 2.

FIG. 6 Block diagram of the proposed device according to option 3.

The list of items in FIG. one.

1 - microcontroller unit (MK);

2 - a communication unit with a remote computer 42;

3 - block of real time clock (RW);

4 - orientation sensor;

5 - RFID tag reading unit;

6 - ultrasonic range finder;

7 - power supply unit;

8 - read-only memory (ROM) unit;

9 - memory block;

10 - device body;

11 - printed circuit board;

12 - power connector;

13 - a niche for placing a tag;

14 - power bus;

15 - power controller;

16 - rechargeable battery;

17 - communication channel with a remote computer;

18 - radio channel;

19 - connection with the gravitational field of the earth;

20 - connection with the earth's magnetic field;

21 - acoustic channel;

21.1 and 21.2 - acoustic signal, respectively, emitted and reflected;

22 - onboard power supply network;

23 - first, 24 - second, 25 - third, 26 - fourth, 27 - fifth, 28 - sixth input / output of the MK unit;

29 - MK block output;

30, 31 - the first and second inputs of the MK block, respectively;

32 - platform;

33 - RFID tag;

34 - the first connection is rigid mechanical;

35 - the second connection is rigid mechanical;

36 - frame of agricultural implements;

37 - the claimed device;

38 - processing organs of agricultural tillage tools;

39 - adhesive connection of the tag to the platform;

40 - housing wall connected to platform 32;

41 - soil cultivated with agricultural implements;

42- remote computer.

The list of items in FIG. five.

1 - microcontroller unit (MK);

2 - a communication unit with a remote computer 42;

3 - block of real time clock (RW);

4 - orientation sensor;

5 - RFID tag reading unit;

6 - ultrasonic range finder;

7 - power supply unit;

9 - memory block;

10 - device body;

11 - printed circuit board;

12 - power connector;

13 - a niche for placing a tag;

14 - power bus;

15 - power controller;

16 - rechargeable battery;

17 - communication channel with a remote computer;

18 - radio channel;

19 - connection with the gravitational field of the earth;

20 - connection with the earth's magnetic field;

21 - acoustic channel;

21.1 and 21.2 - acoustic signal, respectively, emitted and reflected;

22 - onboard power supply network;

24 - the first, 25 - the second, 26 - the third, 27 - the fourth, 28 - the fifth input / output of the MK block;

29 - MK block output;

30, 31 - the first and second inputs of the MK block, respectively;

32 - platform;

33 - RFID tag;

34 - the first connection is rigid mechanical;

35 - the second connection is rigid mechanical;

36 - frame of agricultural implements;

37 - the claimed device;

38 - processing organs of agricultural tillage tools;

39 - adhesive connection of the tag to the platform;

40 - housing wall connected to platform 32;

41 - soil cultivated with agricultural implements;

42- remote computer.

The list of items in FIG. 6

1 - microcontroller unit (MK);

2 - a communication unit with a remote computer 42;

3 - block of real time clock (RW);

4 - orientation sensor;

6 - ultrasonic range finder;

7 - power supply unit;

9 - memory block;

10 - device body;

11 - printed circuit board;

12 - power connector;

14 - power bus;

15 - power controller;

16 - rechargeable battery;

17 - communication channel with a remote computer;

18 - radio channel;

19 - connection with the gravitational field of the earth;

20 - connection with the earth's magnetic field;

21 - acoustic channel;

21.1 and 21.2 - acoustic signal, respectively, emitted and reflected;

22 - onboard power supply network;

24 - the first, 25 - the second, 26 - the third, 27 - the fourth input / output of the MK block;

29 - MK block output;

30, 31 - the first and second inputs of the MK block, respectively;

32 - platform;

34 - the first connection is rigid mechanical;

35 - the second connection is rigid mechanical;

36 - frame of agricultural implements;

37 - the claimed device;

38 - processing organs of agricultural tillage tools;

41 - soil cultivated with agricultural implements;

42- remote computer.

Implementation of the invention.

The claimed device for monitoring the operation of a tillage tool (options) is intended for installation on an agricultural tillage tool in order to obtain in real time a sequence of readouts of digital values containing both information about the depth of tillage and information that allows to identify and record the facts of incorrect operation of an agricultural tillage tool , such as: non-observance of the rules for deepening, non-observance of the speed limit, non-observance of coordination when moving, etc., both during the course of the specified agricultural implement, and during its parking, by measuring the distance from the frame of the specified implement to the soil, registering the obtained distance readings and readings from the orientation sensor and transmitting these readings to a remote computer.

The inventive device 37 according to option 1 (Fig. 1, Fig. 2), rigidly fixed to the frame 36 of the tillage tool, contains:

block 1 of the microcontroller (MC), block 2 for communication with a remote computer 42, block 3 of the real time clock (RT), orientation sensor 4, block 5 for reading RFID tags, power supply 7, ROM 8, memory block 9 located on board 11 printed, fixed in the housing 10, with the power connector 12 located on it.

The power supply unit 7 may include a power controller 15 and a rechargeable battery 16 (Fig. 1).

The device 37 also contains a sensor 6 of the depth of soil cultivation 41, which is used as an ultrasonic range finder, fixed on the body 10 of the device 37 and connected with electrical connections to the block 1 MK.

Block 1 MK using electrical connections is connected to other blocks of the claimed device 37, namely: the first 23 input / output of block 1 of the MC is connected to the input / output of block 8 of ROM, the second 24 input / output of block 1 of the MC is connected to the input / output of block 9 memory, the third 25 input / output of block 1 MC is connected to the first input / output of block 2 of communication, the fourth 26 input / output of block 1 of MC is connected to the input / output of block 3 hours RV, the fifth 27 input / output of block 1 of MC is connected to input / the output of the orientation sensor 4, the sixth 28 input / output of the MC block 1 is connected to the input / output of the label reading unit 5, the output 29 of the MC block 1 is connected to the control input of the power supply unit 7, the first 30 input of the MC block 1 is connected to the status output of the power supply unit 7, the second 31 input of the MC unit 1 is connected to the output of the ultrasonic range finder 6. The second input / output of the communication unit 2 is connected to the communication channel 17 with the remote computer 42. The power connector 12 from the inside is connected to the power supply input of the power supply unit 7, and its external side is designed to connect the network cable 22 onboard to the device 37. To the power output of the unit 7 power supply is connected to the power bus 14 connected (not shown in the diagram) to the power inputs of all units located on the board and to the unit 6 of the ultrasonic range finder.

The unit 5 for reading an RFID tag (radio frequency identification tag) is configured to receive a signal from an RFID tag via a bidirectional radio channel 18.

One or more of the claimed devices 37 can be installed on the frame 36 of the agricultural implement, in one or in different attachment points on the frame 37. The RFID tag 33 is intended to identify both the attachment point and the agricultural implement itself, on which this attachment point is located. The RFID tag 33 is fixed on the platform 32 using a non-separable connection 39, for example adhesive, and the platform 32 is fixed at the place of attachment of the claimed device 37 to the frame 36 of an agricultural implement using a non-separable connection 35 (Fig. 2).

The claimed device for monitoring the operation of the tillage tool according to option 2 (Fig. 5, Fig. 2), rigidly fixed to the frame 36 of the tillage tool, contains:

block 1 of the microcontroller (MC), block 2 of communication with a remote computer, block 3 of the real time clock (RT), orientation sensor 4, block 5 for reading RFID tags, power supply 7, memory block 9, located on the printed circuit board 11, fixed in housing 10, with a power connector 12 located on it.

The power supply unit 7 may include a power controller 15 and a rechargeable battery 16 (Fig. 5).

The device 37 also contains a sensor 6 of the depth of soil cultivation, which is used as an ultrasonic rangefinder, fixed on the body 10 of the device 37 and electrically connected to the block 1 MK.

Block 1 MK using electrical connections is connected to other blocks of the claimed device 37, namely: the first 24 input / output of block 1 of the MC is connected to the input / output of block 9 of the memory, the second 25 input / output of block 1 of the MC is connected to the first input / output of the block 2 communications, the third 26 input / output of block 1 MK is connected to the input / output of the block 3 hours RV, the fourth 27 input / output of block 1 MC is connected to the input / output of the orientation sensor 4, the fifth 28 input / output of block 1 of the MC is connected to the input / the output of the unit 5 for reading the label, the output 29 of the MC unit 1 is connected to the control input of the power supply unit 7, the first 30 input of the MC unit 1 is connected to the status output of the power unit 7, the second 31 input of the MC unit 1 is connected to the output of the ultrasonic range finder 6. The second input / output of the communication unit 2 is connected to the communication channel 17 with the remote computer. The power connector 12 from the inside is connected to the power input of the power supply unit 7, and its outer side is designed to connect the network cable 22 onboard to the device 37. The power bus 14 is connected to the power output of the power supply unit 7, which is connected (not shown in the diagram) to the power inputs all units located on the board and to unit 6 of the ultrasonic rangefinder.

The unit 5 for reading an RFID tag (radio frequency identification tag) is configured to receive a signal from an RFID tag via a bidirectional radio channel 18.

One or more of the claimed devices 37 can be installed on the frame 36 of the agricultural implement, in one or in different attachment points on the frame 37. The RFID tag 33 is intended to identify both the attachment point and the agricultural implement itself, on which this attachment point is located. The RFID tag 33 is fixed on the platform 32 using a non-separable connection 39, for example adhesive, and the platform 32 is fixed at the attachment point of the claimed device 37 on the frame 36 of the agricultural implement using a non-separable connection 35 (Fig. 5, 2).

The claimed device for monitoring the operation of the tillage tool according to option 3 (Fig. 6), rigidly fixed to the frame 36 of the tillage tool, contains:

block 1 of the microcontroller (MC), block 2 of communication with a remote computer, block 3 of the real time clock (RT), orientation sensor 4, power supply 7, memory block 9, located on a printed circuit board 11, fixed in the case 10, with located on it power connector 12.

The power supply unit 5 may include a power controller 15 and a rechargeable battery 16 (Fig. 6).

The device 37 also contains a sensor 6 of the depth of soil cultivation, which is used as an ultrasonic rangefinder, fixed on the body 10 of the device 37 and electrically connected to the block 1 MK.

Block 1 MK using electrical connections is connected to other blocks of the claimed device 37, namely: the first 24 input / output of block 1 of the MC is connected to the input / output of block 9 of the memory, the second 25 input / output of block 1 of the MC is connected to the first input / output of the block 2 communications, the third 26 input / output of block 1 MK is connected to the input / output of the block 3 hours RV, the fourth 27 input / output of block 1 of the MC is connected to the input / output of the orientation sensor 4, the output 29 of block 1 of the MC is connected to the control input of the power supply 7 , the first 30 input of the MC unit 1 is connected to the status output of the power supply unit 7, the second 31 input of the MC unit 1 is connected to the output of the ultrasonic range finder 6. The second input / output of the communication unit 2 is connected to the communication channel 17 with the remote computer 42. The power connector 12 from the inside is connected to the power supply input of the power supply unit 7, and its external side is designed to connect the network cable 22 onboard to the device 37. To the power output of the unit 7 power supply is connected to the power bus 14 connected (not shown in the diagram) to the power inputs of all units located on the board and to the unit 6 of the ultrasonic range finder.

The following is a more detailed description of the device blocks for all three device options.

Block 1 MK controls all blocks of the device 37 and exchange data between them. It runs under the control of software (SW) located in its internal ROM. Block 1 MK can be executed, for example, on the STM32F746ZG microcircuit (https://www.st.com/en/microcontrollers-microprocessors/stm32f746zg.html, published 06/05/2012) with the strapping necessary for its operation (strapping - elements and circuit required for connection and normal operation of the microcircuit as part of any device. Wikipedia).

The communication unit 2 carries out two-way communication via the physical communication channel 17 of the claimed device 37 with the remote computer 42. The physical communication channel 17 can be both wired and wireless. For example, a wireless channel can be built using Wi-Fi technology, while the ATWINC1510 module can be used as a communication unit 2 (https://www.digikey.com/product-detail/en/microchip-technology/ATWINC1510-MR210PB / ATWINC1510-MR210PB-ND / 5358401, published 04/11/2017). The technical solution using Wi-Fi technology to implement the communication channel 17 is given as a specific, but not limiting example. A person skilled in the art will understand that for the implementation of the communication channel 17, it is possible to use other technical solutions that do not change the claimed invention in essence, using both wireless and wired communication channels.

Block 3 hours RV counts the current time, which is used to link the data coming from the ultrasonic range finder 6 and from the orientation sensor 4 to the current time. The block of 3 hours RV can be executed, for example, on the DS1339A microcircuit (https://www.maximintegrated.com/en/products/analog/real-time-clocks/DS1339A.html, published on 02.24.2018) with the necessary for its operation strapping, including a quartz resonator and a power supply element.

The orientation sensor 4 is designed to obtain information about the position of the claimed device 37 in space. The information received from the sensor 4 after processing on the remote computer 42 is used to control the quality of the work performed by the tillage agricultural implement, for example, to control the correctness of the lifting operation in the corresponding sections of the cultivated field. This information is also used to record the facts of unauthorized changes in the parameters of agricultural equipment. The orientation sensor 4 contains: a three-axis accelerometer, a three-axis gyroscope and a three-axis geomagnetometer. In his work, he uses the gravitational field 14 and the magnetic field 15 of the Earth. The orientation sensor 4 can be made, for example, based on the electronic module BNO055 (https://www.bosch-sensortec.com/products/smart-sensors/bno055.html, published 01/30/2016), which contains all of the above elements.

Block 5 reading RFID tags (options 1 and 2 devices) is designed to work over the radio channel 18 with RFID tag 33, mounted on a platform 32 mounted on the frame of an agricultural implement. As a block 5 for reading an RFID tag, a module designed for this can be used, for example, RFID-RC522 (https://3d-diy.ru/wiki/arduino-moduli/rfid-modul-rc522/, published on 01/30/2016), containing an electronic circuit and a transceiver antenna.

The ultrasonic range finder 6 is designed to measure the distance X _i from the attachment point of the inventive device 37 on the frame of agricultural implements to the soil processed by these agricultural implements. The X _i values are subsequently used at the remote computer 42 to calculate the tillage depth. In the claimed device 37, an ultrasonic rangefinder is used. mechanical devices used for such measurements have a complex design, have low reliability and have a large measurement error, and the readings of optical devices intended for such measurements are highly dependent on weather conditions. In the claimed device 37 can be used ultrasonic precision all-weather intelligent rangefinder brand MB7389 (https://www.maxbotix.com/Ultrasonic_Sensors/MB7389.htm, published 04.12.2015). It is attached to the lower end of the housing 10 of the claimed device 37 and is electrically connected to the input 31 of the MC unit 1.

The power supply unit 7 is designed to provide power to all units of the claimed device 37 through a power bus 14 connected to it, to which the power inputs (not shown in the diagram) of these units are connected. The power supply unit 7 consists of a power controller 15 and a rechargeable battery 16 (Figs. 1, 5, 6). The power controller 15 is designed to maintain continuously in time the required level of the stabilized supply voltage on the power bus 14 both during voltage fluctuations (U _BSP ) in the on-board power network 22, and when U _{BPS is} turned off in the network 22 and, if necessary, to charge the battery 16 rechargeable. To ensure the continuity of the power supply of the bus 14 in the event of the disappearance of U _BSP voltage of the on-board network 22, the power controller 15 is disconnected from the network 22 and connected to the battery 16. The rechargeable battery 16 is designed to provide power to the units of the claimed device 37 when there is no supply voltage U _BSP . The power controller 15 can be executed, for example, on series-connected microcircuits LM76003 (http://www.ti.com/product/LM76003, published on 10/28/2017), BQ24070 (http://www.ti.com/product/BQ24070 , published on 09/06/2011) and TPS63021 (http://www.ti.com/product/TPS63021, published on 07/20/2014) with the corresponding harness. One or more NCR18650B LiIon MH12210 batteries (http://batterex.com.ua/rechargeable-batteries/18650_batteries/18650_unprotected/18650_panasonic_ncr18650b_3400, published 05.11.2019.) Can be used as a battery 16 rechargeable.

ROM block 8 (device option 1) is designed to store digital certificates, cryptographic keys and other information necessary to encrypt information packets transmitted by the claimed device 37 to the remote computer 42, as well as to perform identification, authentication and authorization procedures for the claimed device 37 during establishing a connection with a remote computer 42. The specified information is recorded in ROM block 8 by the manufacturer of the claimed device 37. ROM block 8 can be executed, for example, on an AT25DF321A microcircuit (https://www.adestotech.com/wp-content/uploads/doc3686.pdf , published 02.2019), which is an electrically reprogrammable read only memory (EEPROM).

Memory unit 9, which is a non-volatile memory device, is intended for temporary storage of information packets sent to a remote computer 42. Information packets are formed by MC unit 1 from data received in real time from range finder 6, orientation sensor 4, RT clock unit 3, unit 5 reading the label and power supply 7. The memory unit 9 can be made, for example, in the form of an electronic unit, including a TS32GUSDC10I memory module, https://www.chipdip.ru/product/ts32gusdc10i-transcend-industrial-32gb published on 01/28/2017) and a connector (not shown ). In this case, the TS32GUSDC10I memory module is an EEPROM. It is made in microSD format. The connector (not shown) is designed to mechanically fix the specified module on the printed circuit board 11 and to connect this module to the circuits of the electrical circuit of the claimed device 37.

The body 10 is a sealed box. Inside the housing 10 there is a printed circuit board 11. A sealed power connector 12 is mounted in one of the walls of the case. In the wall 40 of the housing located on the side of the platform 32, a niche 13 is made for placing an RFID tag.

The housing 10 is made radio-transparent for free passage through it of electromagnetic radiation from the communication channel 17 and the radio channel 18.

The housing 10 contains fasteners. They are designed to install and fix the housing 10 on the platform 32 using the first 34 rigid connection, which is a bolted connection.

The platform 32 is designed to fix the inventive device 37 on the frame 36 (Fig. 1, 5.6) of the tillage tool. For this, the platform 32 is connected to the frame 36 by means of a second 35 rigid connection, which is a non-separable connection, for example, welded or glued. The platform 32 is made in the form of a flat metal plate and may have fastening holes for bolting the first rigid connection 34.

On the platform 32 (version 1, 2 of the device) from the side of the housing 10, an RFID tag 33 is fixed with an adhesive joint 39, which, when assembled, during the mounting of the housing 10 on the platform 32, is placed in a niche 13 in the wall 40 of the housing 10 of the device 37 (Fig. 2). Thanks to this arrangement, a minimum distance is achieved from the printed circuit unit 5 of the RFID tag located on the board 11 to the RFID tag 33, which ensures reliable communication between them via radio channel 18 in the presence of large reflections and shielding of the radio signal by metal structures of agricultural implements.

Work.

The device 37 can be mounted on the frame of a self-propelled vehicle or on the frame of a trailed agricultural tillage implement such as a plow, cultivator, harrow, mulcher, seeder, and the like.

On the frame of one tillage agricultural equipment, depending on its design and the tasks to be solved, from one to three or more of the claimed devices 37 can be placed.

After installing the inventive device 37 on the above agricultural implement (Fig. 3), the distance Y is measured from the frame 36 of the agricultural implement to the lower edge of the processing working bodies 38, such as a plow share, a cultivator paw, a disc of a harrow, a seed drill opener, etc. Further, the Y value is considered constant and known. The claimed device 37 using an ultrasonic range finder 6 measures the distance X from the frame 36 to the soil 41. The depth of tillage Z is the difference between the values of Y and X.

The operation of the device 37 according to any of the options consists in the fact that it measures the distance X while the agricultural tillage implement is moving across the field, in real time, with an accuracy of ± (10) mm. In this case, the data received from the range finder 6 and the orientation sensor 4 by the MC unit 1 is packed, compressed, encrypted and written by it to the memory unit 9, after which, using the communication unit 2 and the communication channel 17 connected to it, this data is transmitted to the remote computer 42.

Tasks solved by the claimed device according to any of the options in the process of work:

1. Obtaining information containing information about the actual depth of soil cultivation by 41 agricultural tillage tools.

2. Obtaining information that allows for the identification and recording of the facts of incorrect operation of agricultural tillage tools (no sinking of the specified tool during turns, high speed of its movement on the tracks, high and low speed of soil cultivation 41 with this tool, etc.).

3. Obtaining information allowing to identify and record the facts of unauthorized changes in the parameters of agricultural implements, in cases where these changes affect the depth of soil cultivation.

The operation of the claimed device 37 is as follows.

When the supply voltage U of the _{BSP of the} network 22 is turned on, the onboard power supply unit 7 starts to operate and a voltage is generated at its power output, which is supplied to the power bus 14, from which it is supplied to all units of the device 37. In this case, the MC unit 1 starts operating under software control ( Software) located in its internal ROM. At the beginning of operation, block 1 MK sets all electronic units of the claimed device 37 to their original state and initializes their work. In the future, block 1 MK controls several simultaneous processes that ensure the operation of the claimed device 37. The main ones are:

a) reception, processing and registration of data from the ultrasonic range finder 6;

b) receiving, processing and recording data from the orientation sensor 4;

c) data transmission to a remote computer 42;

d) power supply control.

Process (a) starts after receiving the next count X _i from the range finder 6. The indicated count is formed as follows. The range finder 6, with the help of its emitter, generates an acoustic signal into the surrounding airspace, which is a pulse-modulated acoustic vibration with a carrier frequency of 42 kHz, located in the ultrasonic range. The radiation pattern of the emitter has a small width, which allows you to concentrate a significant fraction of the energy emitted by the range finder 6 signal 21.1 in one direction, namely in the direction of the soil 41, the distance to which must be measured (Fig. 1, 5, 6). Further, the acoustic signal 21.2, reflected from the soil 41, is captured by the receiving path of the ultrasonic range finder 6, the electronic unit of which records the time interval Δt between the moment of emission of the acoustic signal 21.1 and the moment of arrival of the reflected acoustic signal 21.2. Based on the obtained value of Δt, the ultrasonic range finder 6 calculates the distance from it to the soil 41 and receives the next _{distance count X i} , using which the processing system can determine the depth of soil cultivation 41. The resulting count X _{i is} fed to the output of the ultrasonic range finder 6 and then to the input 31 of the microcontroller unit ... When used in the claimed device 37 as a rangefinder 6 of the ultrasonic above-mentioned ultrasonic precision all-weather rangefinder brand MB7389, the frequency of receipt of samples X _i at its output is equal to 6.67 Hz.

The next count X _i from the output of the rangefinder 6 is fed to the input 31 of block 1 MK. In this case, the MC block 1 through the fourth input / output 26 reads the contents of the internal registers of the real-time clock block 3 containing the current time T _i , packs and encrypts the received samples X _i and T _i into an information packet P _i and sends it through the input / output 24 in the block 9 of memory for recording and subsequent storage until it is sent to the remote computer 42. This completes the process (a). Several such processes can exist simultaneously, because, for example, a new sample X _{i + 1} can arrive before the completion of processing of the sample X _i .

Process (b) starts when the next sample V _j from the orientation sensor 4 arrives. The next _{readout V j} consists of the next readings of the values from the gyroscope, magnetometer and accelerometer. They come from the corresponding internal registers of the orientation sensor 4 to its input / output and then to the input / output 27 of the MC block 1. In this case, the MC block 1 through the input / output 26 reads the contents of the internal registers of the real-time clock block 3 containing the current time T _j , packs and encrypts the received samples V _j and T _j into an information packet P _j and sends it through the input / output 24 to block 9 of memory for recording and subsequent storage until it is sent to the remote computer 42. This completes the process (b). Several such processes can exist simultaneously, since, for example, a new sample V _{j + 1} can arrive before the completion of processing the sample V _j .

Process (c) starts at the beginning of the device 37. It monitors the presence of information packets in the memory unit 9 intended to be sent to the remote computer 42. If there are such packets, the process (c) initiates the communication unit 2 to connect it to the communication channel 17. Process (c) then establishes communication with the remote computer 42.

Establishment and maintenance of communication occurs using identification, authentication and authorization procedures, during which the information stored in the block 8 of the ROM is used (for options 1 and 2).

After the connection is established, the information packets ready for transmission are transmitted by the MC block 1 from the memory block 9, through the path / output 24 of the MC block 1 and through the input / output 25 of the MC block 1 to the first input / output of the communication unit 2, which transfers them further to communication channel 17. After completing the transmission of the last packet that needs to be sent to the remote computer 42, communication over the communication channel 17 ends and the process (c) goes into a state of waiting for new information packets ready for transmission to the remote computer 42.

The process (d), which controls the power supply unit 7, starts at the beginning of the operation of the claimed device 37 and exists until the end of its operation. In this case, the operation of device 37 is subject to the following rules:

1. The device 37 operates (collects information from sensors, processes it and transfers it via the communication channel 17 to the remote computer 42) whenever the voltage U _BSP is present on the power connector 12 (the onboard network 22 is on).

2. If the charge of the battery 16 is not full, and the voltage U _BSP is present at the power connector 12 (the onboard network 22 is on), the power controller 15 charges the battery 16.

3. If the voltage U _{BSP is} turned off at the power connector 12, the claimed device 37 switches to operation from the battery 16 rechargeable battery. In this case, the inventive device 37 collects information from the sensors, processes it and writes it to the memory unit 9, but the information is not transmitted via the communication channel 17. When the battery 16 is discharged to a predetermined value, the inventive device 37 terminates all processes and turns off.

4. If there is no U _BSP on the power connector 12 (the onboard network 22 is off), and the device 37 operates from the battery 16, and if it is motionless for more than a specified time interval (T _C1 ), for example, more than 4 hours, then the MC unit 1 completes all processes and turns off the device 37. The presence of movement of the inventive device 37 or its absence is determined by the MC unit 1 based on the data received from the range finder 6 and the orientation sensor 4.

Based on the foregoing, the inclusion of the inoperative claimed device 37 always occurs when the supply voltage U of the _BSP is turned on in the onboard network 22. At the same time, during subsequent operation, the power controller 15 independently monitors the voltage level of the battery 16 and, if necessary, turns on its charging. When the supply voltage U _BSP in the network 22 is turned off, the on-board power controller 15 is independently disconnected from it and connected to the battery 16. In this case, the voltage on the power bus 14 does not change. Process (d) controls the state of the power supply unit 7 using logical and analog signals coming from the power supply unit 7 to the input 30 of the MC unit 1. The analog signals are voltages that characterize the operation of the power supply 7. They, at specified time intervals, are measured by the internal analog-to-digital converter (ADC) of the 1 MK unit. The obtained values of these voltages are packed, compressed and encrypted, after which the MC block 1 forms information packets from them, which are then written into the memory block 9 for subsequent transmission to the remote computer 42. Process (d) also compares the obtained values of these voltages with the standard and if these values go beyond the permissible values, the MC unit 1 fixes an emergency situation, after which it terminates all processes and turns off the device 37. One of the logical signals arriving at the input 30 of the MC unit 1 is a signal indicating the presence of a supply voltage U _BSP in the network 22 onboard. Turning off the voltage in the network 22 means that the tractor towing the agricultural implement is stopped and its engine is turned off. In this case, as mentioned above, the power controller 15 independently switches to the rechargeable battery 16, and the energy to power the claimed device 37 begins to flow from it. Block 1 MK begins to control the immobility time of the device 37 by the content of the readings coming from the range finder 6 and the orientation sensor 4. When the immobilization time reaches a predetermined value T _C1 , the MC unit 1 terminates all processes and turns off the claimed device 37. The time T _{C1 is} necessary to record the facts of unauthorized changes in the parameters of agricultural implements. It is set when configuring the claimed device 37. If the device 37 was turned on and operated from the battery 16, then when the supply voltage U of the _BSP in the onboard network 22 is turned on, the power controller 15 is independently disconnected from the battery 16 and is connected to the onboard network 22, and unit 1 MK turns on the power supply unit 2 communication, after which the operation of the device 37 is fully restored.

All information packets, except for the readout values themselves, such as the readout from the range finder 6, readouts from the orientation sensor 4, readings of the voltage values from the power supply 7, contain an identifier of the readout type, a time stamp and an identifier of the information packet, including the identifier of the serial number of the claimed device 37 and RFID-tag identifier 33. The identifier of the serial number of the claimed device 37 is read by block 1 of the MK from the register of the serial number of the microcircuit of the STM32F746ZG microcontroller of block 1 of the MK. In variants 1 and 2 of the device, the tag identifier is read by the tag reading unit 5 on command from the MK unit 1 from the RFID tag 33 fixed on the platform 32 of the frame 36.

The process of forming information packets by block 1 MK from data coming from sensors and from other sources of information includes compression and encryption operations. Compression is performed in order to reduce the amount of information transmitted through the communication channel 17, which is necessary due to its limited bandwidth. Encryption of the incoming information is performed to exclude the possibility of unauthorized access to it both during storage of this information in the memory unit 9 and during the transmission of this information through the communication channel 17. In the device according to option 1, when performing the above operations of compressing and encrypting the received information, the MC unit 1 uses the data stored in the ROM unit 8.

FIG. 4 shows graphs constructed from data representing the measured values of the parameters obtained from the range finder 6 and from the orientation sensor 4 when processing the soil 41 with an agricultural implement (cultivator). In these graphs, the abscissa axes are the axes of time t in seconds, and the ordinate axes correspond to specific measured parameters. The duration of the given fragments is 110 seconds. All charts are synchronized with each other in time. After processing this data by the remote computer 42, experts draw conclusions about the quality of soil 41 cultivation by a cultivator. If it detects incorrectly processed areas of the field (or the field as a whole), the owner can start processing again.

FIG. 4.a shows a graph plotted according to the data received from the range finder 6; in fig. 4.b is a graph plotted according to the data received from the gyroscope; in fig. 4.c is a graph based on the data received from the magnetometer; in fig. 4.d is a graph plotted according to the data received from the accelerometer. All these data were received during the movement of the cultivator during the processing of the field. The characteristic moment of the cultivator's movement was chosen, namely, the movement at the moment of turning the cultivator by 180 degrees at the end of the field. The graphs show the original, unprocessed data. The charts clearly show the characteristic moments when turning the gun:

1) 0 - 10 seconds. Linear movement of the cultivator at the end of the field. Distance meter 820 mm above the ground 41.

2) 10 - 35 seconds. The beginning of sinking, lifting the cultivator's cultivating organs 38 from the soil 41. In this case, the range finder 6 rises to a height of 1050 mm above the soil 41.

3) 35 - 55 seconds. Departure of a tractor with a cultivator from the current lane outside the cultivated area of the field, turning it 180 ° and entering a new lane of the cultivated area of the field.

4) 55 - 65 seconds. Lowering the processing bodies 38 to the soil 41, the range finder 6 is lowered from a height of 1050 mm to a height of 870 mm.

5) 65 - 100 seconds. The movement of the cultivator's working bodies 38 on the soil surface 41. Rangefinder 6 at a height of 870 mm above the soil 41.

6) 100 - 110 seconds. Deepening of the cultivator's processing organs 38 to the required depth. At the end of the operation, the range finder 6 is located at a height of 820 mm above the soil 41.

The rotation of the cultivator by 180 ° and changes in the position of the inventive device 37 relative to the earth's magnetic field are clearly visible from the readings of the magnetometer in FIG. 4.c.

Changes in the position of the claimed device 37 during these operations are clearly visible from the readings of the gyroscope of FIG. 4.b.

The accelerations experienced by the inventive device 37 during lifting and turning operations are clearly visible in the graph of FIG. 4.d.

Shown in FIG. 4 graphs show the practical value of the claimed device 37, namely:

- obtaining information about the actual depth of soil cultivation by 41 agricultural tillage tools;

- Revealing and fixing the facts of incorrect operation of agricultural tillage tools, for example, the absence of sinkholes during turns, high speed of movement of the tool on the hauls, high and low speed of tillage 41;

- identification and recording of the facts of unauthorized changes in the parameters of agricultural implements.

All this allows the agricultural enterprise to ultimately improve the quality of its products, raise labor productivity and increase its economic efficiency.

Industrial applicability.

The claimed device for monitoring the operation of a tillage tool according to any of the options allows for continuous fixation with high accuracy and frequency of the process of measuring the depth of tillage and saving on the remote computer of the owner of the field the entire sequence of measurements, with the identifier of the processing agricultural tool and other important parameters, thus making it possible receive the most reliable information about the quality of the technological process by tillage machines, tools, allowing you to make subsequent decisions.

The inventive device allows the farmer to study information about the quality of soil cultivation during agricultural work, allows you to save the measured values determined by the sensors, depending on a specific location, and thus create a topological map of the state of the soil.

The claimed device will find application in the precision (coordinate) farming system.

Information sources.

1. RF patent for useful model No. 102108 Device for determining the actual depth of travel of the working bodies of tillage machines and tools. Application No. 2010139193, IPC G01B 13/00. Patent holder of GNU SKS VIM of the Russian Agricultural Academy (RU). Published on February 10th, 2011. Has ceased to act.

2. RF patent for useful model No. 110476. A device for determining the depth of soil cultivation. Application No. 2011111469; IPC G01B 13/00. The patent holder is FGNU "Rosinformagrotech" (RU). Published: 20.11.2011.

3. RF patent for a useful model No. 191181 Device for measuring the depth of soil cultivation during testing of tillage machines and tools. Application No. 2019108378; IPC G01B 3/00, A01B 63/00. The patent holder is the Federal State Budgetary Scientific Institution "Rosinformagrotech" (RU). Published: 29.07.2019. The closest analogue.

4. Ultrasonic proximity sensor Escort DGV-200. Internet resource https://www.fmeter.ru/infocenter/helpful/dgv-200-glubina-poseva/. Published on 09/13/2019;

https://www.fmeter.ru/download/_ftp/ultrazvukovoj-datchik-priblizhenija/eskort-DVG-200/User_Guide_DGV-200.pdf. Published on September 13th, 2019.

Claims (12)

1. A device for monitoring the operation of a tillage tool, rigidly fixed on its frame with working bodies and enclosed in a housing containing a microcontroller (MC), characterized in that it additionally contains a communication unit with a remote computer, a real-time clock (RW) unit, a position sensor in space, an RFID tag reading unit, a read-only memory (ROM) unit for storing data encryption parameters and identifiers of the claimed device, a power supply, which are electrically connected to the MK unit and located on a printed circuit board fixed inside the device case, while the device contains a soil cultivation depth sensor, which is an ultrasonic rangefinder, fixed on the device body and electrically connected to a microcontroller, and the RFID tag reading unit is configured to receive a signal from an RFID tag via a bidirectional radio channel. 2. The device according to claim 1, characterized in that the power supply unit includes a power controller and a rechargeable battery. 3. The device according to claim 2, characterized in that the first input / output of the MK block is connected to the input / output of the ROM block, the second input / output of the MK block is connected to the input / output of the memory block, the third input / output of the MK block is connected to the first input / output of the communication unit, the fourth input / output of the MK unit is connected to the input / output of the clock unit PB, the fifth input / output of the MK unit is connected to the input / output of the orientation sensor, the sixth input / output of the MK unit is connected to the input / output of the RFID tag reading unit , the output of the MK unit is connected to the control input of the power supply, the first input of the MK unit is connected to the status output of the power supply, the second input of the MK unit is connected to the output of the ultrasonic range finder, and the second input / output of the communication unit is connected to the communication channel with the remote computer, while the device contains a power connector, which is connected from the inside to the power supply input of the power supply, and its external side is designed to connect the on-board network cable to the device, and the bus is connected to the power output of the power supply power supply connected to the power inputs of all units located on the board and to the ultrasonic rangefinder unit. 4. A device for monitoring the operation of a tillage tool, rigidly fixed to its frame with working bodies and enclosed in a housing containing a microcontroller (MC), which provides continuous reception of data from connected sensors with high accuracy and measurement frequency, and non-volatile memory with a volume, allowing to record and save the specified data, characterized in that it additionally contains a communication unit with a remote computer, a real-time clock (RT) unit, an orientation sensor, an RFID-tag reading unit, which are electrically connected to the MK unit and located on a printed circuit board fixed inside the body of the device, while the device contains a sensor for the depth of soil cultivation, which is an ultrasonic rangefinder fixed on the body of the device and electrically connected to the microcontroller, and the RFID tag reading unit is configured to receive a signal from the RFID tag via a bidirectional radio channel. 5. The device according to claim 4, characterized in that the power supply unit includes a power controller and a rechargeable battery. 6. The device according to claim 5, characterized in that the first input / output of the MK unit is connected to the input / output of the memory unit, the second input / output of the MK unit is connected to the first input / output of the communication unit, the third input / output of the MK unit is connected to the input / output of the clock unit PB, the fourth input / output of the MK unit is connected to the input / output of the orientation sensor, the fifth input / output of the MK unit is connected to the input / output of the RFID-tag reading unit, the output of the MK unit is connected to the control input of the power supply, the first input of the unit The MC is connected to the status output of the power supply, the second input of the MC is connected to the output of the ultrasonic rangefinder, and the second input / output of the communication unit is connected to the communication channel with the remote computer, while the device contains a power connector, which is connected to the power input of the power supply from the inside , and its outer side is designed to connect the on-board network cable to the device, and a power bus is connected to the power output of the power supply unit, connected to the power inputs of all those units and to the unit of the ultrasonic rangefinder. 7. A device according to any one of claims 1 or 4, characterized in that the RFID tag is installed on a platform rigidly fixed to the frame of the tillage implement, and the body of the device is connected with one of its walls to the platform, while the said wall contains a niche, and the RFID the mark, fixed on the platform, is covered by the indicated niche. 8. A device for monitoring the operation of a tillage tool, rigidly fixed to its frame with working bodies and enclosed in a housing containing a microcontroller (MC), which provides continuous reception of data from connected sensors with high accuracy and measurement frequency, and a non-volatile memory with a volume, allowing to record and save the specified data, characterized in that it additionally contains a communication unit with a remote computer, a real time clock (RW) unit, a position sensor in space, a power unit, which are electrically connected to the MK unit and located on a printed circuit board fixed inside the body of the device, while the device contains a sensor of the depth of soil cultivation, which is used as an ultrasonic rangefinder, fixed on the body of the device and connected by electrical connections to the microcontroller. 9. The device according to claim 8, characterized in that the power supply unit includes a power controller and a rechargeable battery. 10. The device according to claim 9, characterized in that the first input / output of the MK unit is connected to the input / output of the memory unit, the second input / output of the MK unit is connected to the first input / output of the communication unit, the third input / output of the MK unit is connected to the input / output of the clock unit PB, the fourth input / output of the MK unit is connected to the input / output of the orientation sensor, the output of the MK unit is connected to the control input of the power supply, the first input of the MK unit is connected to the status output of the power supply, the second input of the MK unit is connected to the output of the ultrasonic range finder , and the second input / output of the communication unit is connected to a communication channel with a remote computer, while the device contains a power connector, which is connected from the inside to the power supply input of the power supply, and its external side is designed to connect the on-board network cable to the device, and to the power the power supply output is connected to a power bus connected to the power inputs of all units located on the board and to the ultrasonic rangefinder unit. 11. Device according to any one of claims 1, 4 or 8, characterized in that the orientation sensor comprises a triaxial accelerometer, a triaxial gyroscope and a triaxial magnetometer. 12. A device according to any one of claims 1, 4 or 8, characterized in that the body of the device is sealed and radio-transparent.

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