KR100743566B1 - The slope detecting sensor of the agricultural machinery working machine - Google Patents

Abstract

A slope detecting sensor of an agricultural machinery working machine is provided to measure inclination information of the agricultural machinery working machine promptly and correctly. The slope detecting sensor includes a case(10), an acceleration detecting unit(20), a temperature detecting unit(30) and a control unit(40). The acceleration detecting unit(20) is mounted on a substrate installed inside the case and comprises an acceleration sensor. The temperature detecting unit(30) comprises a temperature sensor which detects the temperature of the acceleration sensor(22) and outputs a temperature value signal. The control unit(40) compensates temperature characteristics of the acceleration signal output from the acceleration sensor based on the temperature signal output from the temperature detecting unit and calculates and outputs an output angle value.

Description

Tilt detection sensor of agricultural machinery work machine {THE SLOPE DETECTING SENSOR OF THE AGRICULTURAL MACHINERY WORKING MACHINE}

1 is a perspective view showing a part of the horizontal sensing device of the agricultural work machine according to an embodiment of the present invention cut away.

Figure 2 is a circuit diagram of a horizontal sensing device of the agricultural work machine according to the present invention.

3 is a graph showing a sensitivity change rate according to the temperature of the acceleration sensor according to the present invention.

* Explanation of symbols for main parts of the drawings

10.Case 12.Support Plate

20. Acceleration sensing means 22. Acceleration sensor

24. Low pass filter 30. Temperature sensing means

32. Temperature sensor 40. Control means

41. Signal Amplifier 42. A / D Converter

43. Microprocessor 44. D / A Converter

45. Memory 46. Output Level Adjuster

47. Shock detection unit

The present invention relates to an inclination sensor for measuring the inclination of the agricultural machinery work in an environment where the change of inclination is severe, and more particularly, by attaching an acceleration sensor to one side of the agricultural machinery working machine, it is inclined so that the ground and the working machine can always be horizontal. The present invention relates to an inclination sensor of a farm machinery working machine that monitors and compensates for errors in disturbance.

In general, when farming by attaching a working machine to agricultural machinery, because the ground is not flat, the degree of tilling will vary depending on the state of the paddy field. This inclination of the work machine and the ground reveals limitations in the efficiency of agricultural machinery, thereby degrading the performance and reliability of the work machine. Particularly in agricultural lands with a lot of mountains and low plains like Korea, the working efficiency of agricultural machines such as tractors, combines, and general management will be further reduced.

To solve this problem, the inclination sensor was attached to control the operation of the work machine.

Conventional inclination sensor is made of a conductor, the lower part is connected to the input terminal so that the power applied from the battery is conducted, the upper part of the conductor is measured in accordance with the strength of the current flowing in accordance with the degree of inclination of the conductive liquid contained therein The left output terminal and the right output terminal are provided. Therefore, when the conductive liquid is inserted between the two output terminals and the inclination occurs between the contacts, the conductive liquid is moved to detect the inclination by detecting the output current that changes according to the degree of inclination.

Inside the inclination sensor, conductive liquids such as mercury, hydrogen chloride, sodium chloride, potassium sulfate, and ethylene glycol are used.These liquids do not move smoothly due to their cohesion, that is, their viscosity due to viscosity. The response speed is very slow (at least about 200ms). For this reason, when the working speed is fast, the control is not smooth due to the slow reaction speed, and there is a risk of leakage due to the nature of the liquid.In addition, when mercury is leaked to the outside as a toxic substance, pollution of the environment and equipment, pollution of the rice fields There was a disadvantage of having to take another loss, such as.

Accordingly, an object of the present invention is to solve the above problems, and to provide an inclination sensor that can quickly and accurately measure the inclination information of the agricultural work machine used for tilling.

In addition, the present invention has another object to reduce the error caused by the temperature compensation and output level setting of the acceleration sensor.

The inclination detection sensor of the agricultural machinery work machine according to the present invention for realizing the above object, and a case attached to the agricultural machinery work machine; Acceleration sensing means mounted on a substrate provided inside the case and provided with an acceleration sensor for detecting acceleration; Temperature sensing means having a temperature sensor for sensing a temperature of the acceleration sensor of the acceleration sensing means and outputting a temperature value signal; And control means for calculating an output angle value by compensating the temperature characteristic by the temperature value signal output from the temperature sensing means and outputting the acceleration signal output from the acceleration sensor of the acceleration sensing means. .

Preferably, the control means, the signal amplification unit for receiving the acceleration signal output from the acceleration sensor of the acceleration sensing means and amplified to the required angle band value; An A / D converter converting an analog signal output from the signal amplifier and the temperature sensing means into a digital signal; A memory unit for storing the acceleration signal received from the A / D converter and the temperature value signal received from the temperature sensing means at regular time intervals; Read or write the signal stored in the memory unit, calculate the integration twice through two integrators implemented in software using the acceleration signal stored in the memory unit as a data value and input the calculated angle value to the temperature value signal. A microprocessor for compensating for the deviation and outputting the output angle value signal; And a D / A converter converting a digital signal, which is an output angle value calculated by the microprocessor, into an analog signal and outputting the analog signal to the outside.

Preferably, the microprocessor reads the A / D conversion value every predetermined time and stores the acceleration signal output from the acceleration sensor as a data value in a memory unit, and then averages a predetermined number of data values according to Equation (1). It is desirable to detect the input angle value obtained by minimizing ripple.

[Equation 1]

Where K is the number of data, N + 0 is the data value currently read, and N + L is the data value read L hours ago.

Preferably, the microprocessor compensates the temperature deviation by Equation 2 with an input angle value according to the acceleration signal output from the acceleration sensor based on the temperature value signal of the temperature sensor.

[Equation 2]

Here, G is a gain value and O is an offset value.

In addition, the inclination detection sensor of the agricultural machinery work machine according to another preferred embodiment of the present invention, the control means is connected to the A / D conversion unit output level adjusting unit for setting the output level in accordance with the output specifications of the agricultural machinery work machine; Characterized in that it comprises a.

Preferably, the output level adjusting unit amplifies the output signal of the acceleration sensor by the OP AMP in the signal amplifying unit and adjusts the level by using a variable resistor to amplify the value amplified to the required angle band value. It is preferable to output by.

In order to describe the present invention in more detail below, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a perspective view showing a part of the horizontal sensing device of the agricultural work machine according to an embodiment of the present invention cutaway, Figure 2 is a circuit configuration of the horizontal sensing device of the agricultural work machine according to the present invention.

1 and 2, the horizontal sensing device of the agricultural work machine according to the present invention includes a case 10, acceleration sensing means 20, temperature sensing means 30 and the control means 40 It is composed.

First, the case 10 is to be installed in the agricultural machinery working machine, the shape of the case shown in Figure 1 is only an example and the case 10 can be changed to a suitable size according to the agricultural machinery and all sides are preferably sealed. Do. In the case 10, an acceleration sensor 22 of the acceleration sensing means 20 described below is attached and fixed to the inner surface of the case 10 through the support plate 12, and epoxy in the case 10 is fixed. It is designed to be shock and waterproof by charging resin.

The acceleration detecting means 20 detects the acceleration by the movement of the case 10, and uses an acceleration sensor 22 capable of outputting acceleration components in the X-axis and Y-axis directions that are perpendicular to each other. That is, the acceleration sensor 22 is installed on one side of the agricultural machine work machine, and simultaneously outputs two-axis component accelerations of the X and Y axes that are orthogonal to each other from the movement of the case 10 to change the direction and speed of the case 10. It detects and outputs it as an electrical signal. Currently, there are three types of acceleration sensors that are commercially available: 1-axis acceleration sensor, 2-axis acceleration sensor and 3-axis acceleration sensor.

As the acceleration sensor 22 according to the present invention, a two-axis acceleration sensor is used, and the acceleration sensor 22 is mounted on the bottom of the case 10 in parallel to measure acceleration data in the two-axis direction.

In addition, the output signal from the acceleration sensor 22 is transmitted to a low pass filter 24. Accordingly, the output signal of the acceleration sensor 22 transmitted to the low pass filter 24 is removed through the filtering process to minimize the occurrence of high frequency noise so as to be applied to the control means 40.

On the other hand, the acceleration sensor 22 tends to fluctuate relatively easily due to the height of the state stability of the agricultural machinery such as temperature change, humidity change, elevation, output level, etc., immediately after engine start and after warm-up operation. If the state stability of the agricultural machinery changes, there will be a significant difference in the reference value and the slope measurement will worsen. Therefore, when the state stability is changing, the detection accuracy can be improved by compensating the compensation ratio based on the detection value of the acceleration sensor 22.

In this case, the larger the change in the state stability, the larger the variation of the detection value, and the smaller the state stability, the smaller the variation of the reference value. Thus, the lower the state stability of the agricultural machinery work machine by the state compensating means, the lower the stability of the acceleration sensor 22. The higher the compensation ratio and the higher the state stability of the agricultural machinery work machine, the smaller the compensation ratio based on the detection value of the acceleration sensor 22, thereby enabling accurate tilt control. In addition, the signal of the acceleration sensor 22 element is affected by the tolerance and power consumption of the circuit as well as the ambient temperature.

Since the semiconductor chips such as the acceleration sensor 22 may have a minute difference depending on the temperature, the temperature sensing means 30 may be measured to compensate for the error value according to the temperature change by measuring the temperature value of the acceleration sensor 22. ) Is further provided. That is, the temperature detecting means 30 detects the temperature of the acceleration sensor 22 and outputs a temperature value as a corresponding signal to supply the control means 40, wherein the acceleration sensor 22 and the temperature sensor ( 32 is implemented as a single chip.

Next, the control means 40 receives the signals of the acceleration sensing means 20 and the temperature sensing means 30 to calculate the detected value of the acceleration sensor 22 as a gradient value by a separate control program. Do the output.

The control means 40 is a signal amplifier 41 for receiving an electrical signal output from the acceleration sensor 22 of the acceleration sensing means 20 to amplify to the required angle band value, and the signal amplifier ( 41, an A / D converter 42 for converting an analog signal into a digital signal, and an acceleration signal received from the A / D converter 42 and a temperature value signal received from the temperature sensing means 30. A microprocessor 44 which calculates an output angle value by calculating a memory unit 43 and a signal stored in the memory unit 43 by software, and is connected to the microprocessor 44 to convert a digital signal. And a D / A converter 45 for converting the analog signal into an output signal.

First, the signal amplifier 41 amplifies the output signal of the acceleration sensor 22 with the OP AMP to amplify to the required angle band value while adjusting to the desired value range, the amplified signal is an A / D converter Through 42 is converted into a digital signal.

Here, the A / D converter 42 may set amplification so that the signal output from the temperature sensor 32 of the temperature sensing means 30 is balanced by amplification of the signal output from the acceleration sensor 22. Can be.

The signals output from the A / D conversion unit 42 and the temperature sensing means 30 are stored in the memory unit 43 at regular intervals.

Next, the microprocessor 44 reads or writes a signal stored in the memory unit 43, calculates the data value stored in the memory unit 43 by software, and converts the input angle value calculated by the software into a temperature value. The output angle value signal is output by compensating the deviation according to the signal.

At this time, the microprocessor 44 controls to reduce the effect of vibration by averaging a certain number of data values at a constant time at high speed so that the stored data values are not affected by the acceleration signal due to the minute vibration of the agricultural work machine. Output the signal. In other words, by using Equation 1 as follows, the previously read K data is averaged to calculate an angle with minimum ripple.

Where K is the number of data, N + 0 is the currently read DATA, and N + L is the DATA read before L hours.

Therefore, it is possible to minimize the influence of the fine vibration when detecting the tilt of the agricultural machinery work machine to perform a good tilt control. In addition, by adjusting the reaction speed by adjusting the K value, it is possible to produce a sensor suitable for the working speed of the main unit.

In addition, the microprocessor 44 receives the temperature value signal of the acceleration sensor 22 from the temperature sensor 32 of the temperature sensing means 30 and compensates for the deviation value according to the temperature change. Fine tune the output signal.

3 is a graph showing the sensitivity change rate according to the temperature of the acceleration sensor according to the present invention.

As shown in FIG. 3, the microprocessor 44 performs temperature compensation through the following Equation 2 through setting the gain value G and setting the offset value O.

Herein, the gain value is set by first dividing the temperature in 20 ° C units to linearize each section to obtain a slope of a straight line. Since the temperature value signal and the acceleration signal are input as a digital signal in units of 10 bits, a gain value G is

Obtained by

For example, the gain value G is obtained by subtracting the input angle value at the time of 0 ° C from the input angle value when the current temperature is 20 ° C, and dividing the value by 20, which is the temperature difference.

In addition, since the acceleration sensitivity of the acceleration sensor 22 is changed according to the temperature, the offset value is calculated to compensate for the offset change according to the temperature of the acceleration sensor 22 to the gain value thus obtained. The offset value O is

Obtained by

For example, the offset value O is obtained by subtracting the current input angle value at a temperature of 25 ° C and a tilt angle of 0 ° from the target output angle value at a temperature of 25 ° C and a tilt angle of 0 °. Therefore, the offset value is determined by comparing the current input angle value according to the tilt angle with the target output angle value by the calculation.

The compensation of the data value of the microprocessor 44 is to amplify the output signal of the acceleration sensor 22 in the signal amplifier 41 to the OP AMP to the required angle band value when adjusted to the desired value range The variable resistor is used to compensate for this by varying the level. Here, the temperature compensation is preferably selected such that an optimum sensor signal compensation is obtained in an ambient temperature range of -40 ° C to 85 ° C.

In addition, a D / A converter 45 for converting a digital signal, which is an output angle value output by being connected to the microprocessor 44 in the present invention, to an analog signal is provided, and an analog output signal as a driving signal of a farm machine working machine. To be sent out.

 On the other hand, the inclination detection sensor of the agricultural machinery work machine according to the present invention is preferably further provided with an output level adjusting unit 46 that can differently handle the output of each inclination angle according to the mounting target of the work machine.

The output level adjusting unit 46 is affected by the inclination of the ground according to the mounting target of the agricultural machinery work machine, such as tractor, combine, transfer machine, cultivator, etc. Also, the acceleration sensor is increased as the number of actuators of the agricultural work machine operation or operation input number The compensation ratio is increased based on the detection value of (22), and the compensation ratio is reduced based on the detection value of the acceleration sensor 22 as the number of actuation or operation inputs of the actuator of the agricultural machinery work machine decreases. Reflecting the characteristics, the output value setting for each output angle value is processed differently.

That is, when the digital signal output by the A / D converter 42 is 5 bits, it is possible to set the level interval up to 32 intervals, and the range can be changed by increasing the number of bits. For example, if the X-axis value is set to X-axis ± 10 °, it is output as [-10 °: 0.5V, 0 °: 2.5V, + 10 °: 4.5V], and the Y-axis value is Y-axis ± 10. When set to °, it can output as [-10 °: 2V, 0 °: 3V, + 10 °: 4V]. This output value is adjusted by amplifying the output signal of the acceleration sensor 22 to the OP AMP in the desired range while amplifying the output signal of the accelerometer sensor 22 to the desired value while the signal amplification unit 41 of the microprocessor 44 It is calculated automatically by the program.

On the other hand, since the acceleration sensor 22 is installed in a variety of agricultural machinery work, there is a possibility that a sudden impact may occur by falling into a deep pit, such as, in this case, the acceleration sensor 22 is wrong (異常) (誤) There is a possibility of detection.

In order to prepare for such a case, the control means 40 according to the present invention further includes an impact detecting unit 47, and when a sudden shock occurs and an error of the input value occurs, the control means 40 recognizes the abnormal input signal and minimizes the effect thereof. Do not use these values in calculations. In addition, the output voltage can be adjusted to escape from the pit by showing a higher output value according to the characteristics of the work machine, the present invention may also be used for the purpose of detecting the impact of the agricultural work machine. In addition, by outputting the impact amount of the work machine separately, it is possible to effectively control the actuator by receiving the angle value and the impact value from the controller.

If described in detail the operation of the tilt sensor of the agricultural machinery working machine according to the present invention configured as described above.

In the above configuration, when the worker installs a work machine (not shown) on the agricultural machine for tilling work and the ground is not flat during the tilling work, when the slope occurs between the ground (working site) and the work machine, the acceleration The sensing means 20 detects the inclination between the work area and the work machine, and filters only the valid signal again through the low pass filter 24 for the output signal measured by the acceleration sensor 22, and converts it into an electrical signal (predetermined value). Voltage).

The electrical analog signal value output from the acceleration sensing means 20 is input to the signal amplifier 41 of the control means 40 and amplified.

The analog signal value amplified and output from the signal amplifier 41 is input to the A / D converter 42 and converted into a digital signal value. The digital signal value output from the A / D conversion section 42 is stored in the memory section 43 of the control means 40 at regular intervals.

In addition, the microprocessor 44 calculates the acceleration signal stored in the memory unit 43 as a data value and calculates the result by the software. The microprocessor 44 compensates the deviation according to the temperature value signal and outputs it as an output angle value signal. do. In addition, after the output angle value signal is converted into an analog signal by the D / A converter 46, an alarm is generated when the average value exceeds a predetermined value, or the driving means (for example, the actuator) of the work machine is controlled. Compensation of the slope of the machine, thereby allowing the ground of the work machine to be level. Therefore, the working part of the work machine is kept horizontal, and the work is performed constantly regardless of the state of the ground.

While the foregoing has focused on specific embodiments of the present invention, it will be apparent that various modifications and changes can be made as described above without departing from the spirit of the invention as defined in the claims. Therefore, the detailed description and the accompanying drawings of the present invention should be construed as illustrative rather than limiting the technical idea of the present invention.

Therefore, as described above, the present invention allows the arable land and the agricultural machinery worker to always be horizontal, thereby preventing safety accidents, and the configuration thereof is simple, so that the measuring apparatus can be miniaturized and power consumption is very small. By simply attaching to a farm machinery, etc., there is an effect that can detect the slope appropriately.

Claims (6)

In the inclination detection sensor for detecting the level of agricultural machinery work machine, A case attached to the agricultural machinery worker; Acceleration sensing means mounted on a substrate provided inside the case and provided with an acceleration sensor for detecting acceleration; Temperature sensing means having a temperature sensor for sensing a temperature of the acceleration sensor of the acceleration sensing means and outputting a temperature value signal; And control means for calculating an output angle value by compensating the temperature characteristic by the temperature value signal output from the temperature sensing means and outputting the acceleration signal output from the acceleration sensor of the acceleration sensing means. Tilt sensor for agricultural machinery. The method of claim 1, wherein the control means, A signal amplifier for amplifying the acceleration signal output from the acceleration sensor of the acceleration sensing means to a required angle band value; An A / D converter converting an analog signal output from the signal amplifier and the temperature sensing means into a digital signal;  A memory unit for storing the acceleration signal received from the A / D converter and the temperature value signal received from the temperature sensing means at regular time intervals; Read or write the signal stored in the memory unit, calculate the integration twice through two integrators implemented in software using the acceleration signal stored in the memory unit as a data value and input the calculated angle value to the temperature value signal. A microprocessor for compensating for the deviation and outputting the output angle value signal; And And a D / A converter converting a digital signal, which is an output angle value calculated by the microprocessor, into an analog signal and outputting the analog signal to an external device. The method of claim 2, wherein the microprocessor, After reading the A / D conversion value of the acceleration signal output from the acceleration sensor every predetermined time and storing it as a data value in the memory unit, an average value of a predetermined number of data values is calculated by Equation 1 to obtain an input angle value of which ripple is minimized. Inclination detection sensor of the agricultural machinery work machine, characterized in that for detecting. [Equation 1]

Where K is the number of data, N + 0 is the data value currently read, and N + L is the data value read L hours ago. The method of claim 2 or 3, wherein the microprocessor, And an input angle value according to the acceleration signal output from the acceleration sensor based on the temperature value signal of the temperature sensor to compensate for the temperature deviation by the equation (2). [Equation 2]

Here, G is a gain value and O is an offset value.

The method of claim 4, wherein the control means, And an output level adjusting unit connected to the A / D converter to set an output level in accordance with an output specification of the agricultural machine working machine. The method of claim 5, wherein the output level adjusting unit, When the signal amplification unit amplifies the output signal of the acceleration sensor to the OP AMP to adjust the range of the desired value, the slope of the agricultural machinery work machine, characterized in that for outputting the value amplified to the required angle band value by adjusting the level with a variable resistor Sensor.

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