KR101767588B1 - soil hardness sensor device for planting robot - Google Patents
soil hardness sensor device for planting robot Download PDFInfo
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- KR101767588B1 KR101767588B1 KR1020150107063A KR20150107063A KR101767588B1 KR 101767588 B1 KR101767588 B1 KR 101767588B1 KR 1020150107063 A KR1020150107063 A KR 1020150107063A KR 20150107063 A KR20150107063 A KR 20150107063A KR 101767588 B1 KR101767588 B1 KR 101767588B1
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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
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- 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
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- 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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- Chemical & Material Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Immunology (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
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- Remote Sensing (AREA)
- Food Science & Technology (AREA)
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- 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
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
The soil
1A to 1D and FIGS. 2 to 8, the soil
The detailed structure and main operation of the soil
The
The
The
The
The
The measuring
The
The
The
The
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
The
The
That is, when the
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
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
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
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
The
The
For reference, the soil
In addition, the soil
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
The soil
Referring to Figures 8-14,
Since the
Referring to the
A
In addition, a plurality of engaging holes for engaging with each other are formed in the end surface of the
The configuration of the
An opening for inserting the measuring
An opening for coupling with the
At this time, a fixing hole for fixing the connecting member is formed on the upper side of the
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 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
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,
The probe support portion
And an electromagnet inserted into the coil base to provide an electromagnetic repulsive force to the probe,
Wherein,
At initialization, the inductance value is measured and then configured to perform its own zero calibration in comparison to the basic calibration data
When the probe section is divided into a first moving section in which the probe section is lifted in contact with the soil surface, a second moving section after the first moving section, and a third moving section after the second moving section, The first repulsive force is provided in the first movement section, the second repulsive force is stronger than the first repulsive force in the second movement section, and the third repulsive force is stronger than the second repulsive force in the third movement section. Soil hardness sensor.
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 probe support portion
And an elastic member inserted into the coil base to provide an elastic force to the probe unit.
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 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
And a case cover coupled to the other end surface of the case and supporting the probe support portion and the coil base
The probe support portion
And an electromagnet inserted into the coil base to provide an electromagnetic repulsive force to the probe,
Wherein,
At initialization, the inductance value is measured and then configured to perform its own zero calibration in comparison to the basic calibration data
When the probe section is divided into a first moving section in which the probe section is lifted in contact with the soil surface, a second moving section after the first moving section, and a third moving section after the second moving section, The first repulsive force is provided in the first movement section, the second repulsive force is stronger than the first repulsive force in the second movement section, and the third repulsive force is stronger than the second repulsive force in the third movement section. Soil hardness sensor.
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.
The probe support portion
And an elastic member inserted into the coil base to provide an elastic force to the probe unit.
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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Cited By (1)
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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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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 |
Citations (2)
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JP2007327263A (en) | 2006-06-08 | 2007-12-20 | Fujita Corp | Portable cone penetration testing device |
JP2010014683A (en) * | 2008-06-30 | 2010-01-21 | Daiki Rika Kogyo Kk | Digital type soil hardness meter |
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Publication number | Priority date | Publication date | Assignee | Title |
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JP2007327263A (en) | 2006-06-08 | 2007-12-20 | Fujita Corp | Portable cone penetration testing device |
JP2010014683A (en) * | 2008-06-30 | 2010-01-21 | Daiki Rika Kogyo Kk | Digital type soil hardness meter |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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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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