RU200554U1 - Device for monitoring the work of a tillage tool - Google Patents

Abstract

The claimed utility model relates to agriculture, namely to devices for controlling the depth of tillage installed on agricultural implements, such as a plow, cultivator, harrow, mulcher, seeder, etc. The technical result of the claimed utility model is the creation of an electronic device for monitoring work 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 reference to 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 ability to record the specified sequence in non-volatile memory and with the ability to transfer it to a remote computer for processing and storage. The technical result is achieved by the fact that a device for monitoring the operation of a tillage tool, rigidly attached 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 frequency of measurement, and non-volatile memory with a volume that allows recording and saving the specified data, according to the utility model, 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 range finder, fixed on the body of the device and connected with electrical connections to the microcontroller. 4 p.p. f-ly, 3 dwg

Description

The field of technology.

The claimed utility model relates to agriculture, in particular 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, rocky 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:

device for determining the actual depth of travel of the working bodies of tillage machines and implements according to the RF patent for a useful model No. 102108 (application 2010139193, IPC G01B 13/00. Published on February 10, 2011; not valid) [1], containing means for measuring the distance from the soil surface to the 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 arm 3 when the working bodies are deepened into 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 there is no possibility of determining the position in space of the agricultural implement. Electronic devices based on a microcontroller are not provided and the transfer of measurement results to a remote server for 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 useful 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 the implementation and the 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 the agricultural implement.

Known device for measuring the depth of tillage during testing of tillage machines and tools according to the patent for useful model No. 191181 (Application 2019108378, IPC G01B 3/00, A01B 63/00. Published: 29.07.2019) [3], containing the electronic unit of the microcontroller, which provides a continuous process of fixing the registration of data received from the connected sensors, allowing to record and save 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 rotation angle sensor - 2, an STM32F405 microcontroller - 3, an indication module - 4, a keyboard - 5, EN25F80 non-volatile memory, 1 Mbit capacity - 6, Li-Ion battery 3.7 V - 7, battery charge control module - 8 and power supply module from the on-board network 12 ÷ 24V - 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 of the workers organs.

The device uses mechanical sensors - a distance traveled sensor and an arm 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 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 seeding complex, the deeper the sowing depth), distribution of fertilizers.

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 the towing vehicle reduces the reliability of the system and its performance. Also, this system does not contain an orientation sensor that allows detecting violations of soil cultivation technology and 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.

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

The technical result of the claimed utility model is the creation of an electronic device for monitoring the operation of 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 ability to record 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 utility model.

The technical result is achieved by the fact that a device for monitoring the operation of a tillage tool, rigidly fixed to its frame with working bodies, containing a housing, a microcontroller (MC), which provides continuous reception of data from connected sensors with high accuracy and measurement frequency, and non-volatile memory with volume, allowing to record and save the specified data, according to the useful model, additionally contains a communication unit with a remote computer, a real time clock unit, a device 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 case device, while the device contains a sensor for the depth of soil cultivation, which is used as an ultrasonic range finder, fixed on the device body and connected by electrical connections to the microcontroller.

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

The sensor of the device's position in space contains a triaxial accelerometer, a triaxial gyroscope, and a triaxial magnetometer.

In this case, the first input / output of the MC microcontroller unit is connected to the input / output of the memory unit, the second input / output of the MC unit is connected to the first input / output of the communication unit, the third input / output of the MK block is connected to the input / output of the clock unit PB, the fourth input / the output of the MK unit is connected to the input / output of the device position sensor in space, 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; 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 units located on the board and to ultrasonic rangefinder unit.

In this case, 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.

Fig. 2 Scheme for determining the depth of tillage.

FIG. 3 Graphs of data from sensors 4 and 6: 3.- data from rangefinder 6; 3.b-data from the gyroscope; 3.v-data of the magnetometer; 3.g - accelerometer.

List of positions.

1 - microcontroller unit (MK);

2 - communication unit with a remote computer;

3 - block of real time clock (RW);

4 - device position sensor in space;

5 - power supply unit;

6 - ultrasonic range finder;

7 - power controller;

8 - rechargeable battery;

9 - memory block;

10 - body of the claimed device;

11 - printed circuit board;

12 - power connector;

13 - power bus;

14 - connection with the gravitational field of the earth;

15 - connection with the earth's magnetic field;

16 - acoustic channel;

16.1 and 16.2 - acoustic signal, respectively, emitted and reflected;

17 - onboard power supply network;

18 - first, 19 - second, 20 - third and 21 - fourth inputs / outputs of block 1 MK;

22 - output of block 1 MK;

23 and 24 - the first and second inputs of block 1 MK, respectively;

25 - platform;

26 - the first connection is rigid mechanical;

27 - the second connection is rigid mechanical;

28 - agricultural implement frame;

29 - the claimed device;

30 - processing organs of an agricultural tillage tool;

31 - soil cultivated with agricultural implements;

32 - communication channel with a remote computer;

Implementation of the utility model.

The claimed device 29 for monitoring the operation of a tillage tool is intended to be installed 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 31 and information allowing 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 28 of the specified implement to the soil 31, registering the obtained distance readings and readings from the orientation sensor and transmitting these readings to a remote computer.

The inventive device 29 (Fig. 1, Fig. 2), rigidly attached to the frame 28 of the tillage tool, contains:

microcontroller unit 1 (hereinafter referred to as MC), unit 2 for communication with a remote computer, unit 3 of the real time clock (RT), sensor 4 of the position of the device in space, power unit 5, memory unit 9, located on a printed circuit board 11 fixed in housing 10 , with a power connector 12 located on it.

The power supply unit 5 may include a power controller 7 and a rechargeable battery 8 (Fig. 1).

The device 29 also contains a sensor 6 of the depth of soil cultivation 31, which is used as an ultrasonic range finder, fixed on the housing 10 of the device 29 and electrically connected to the block 1 MK.

Block 1 MK using electrical connections is connected to other blocks of the claimed device 29, namely: the first 18 input / output of block 1 MK is connected to the input / output of block 9 of the memory, the second 19 input / output of block 1 MK is connected to the first input / output of the block 2 communications, the third 20 input / output of block 1 MK is connected to the input / output of the block 3 hours RV, the fourth 21 input / output of block 1 of the MC is connected to the input / output of the sensor 4 of the position of the device in space, the output 22 of block 1 of the MC is connected to the control input the power supply unit 5, the first 23 input of the MC unit 1 is connected to the status output of the power unit 5, the second 24 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 32 with the remote computer. The power connector 12 from the inside is connected to the power input of the power supply unit 5, and its outer side is designed to connect the network cable 17 onboard to the device 29. The power supply bus 13 is connected to the power output of the power supply unit 5, connected (not shown in the diagram) to the power inputs all units located on the board and to unit 6 of the ultrasonic rangefinder.

Unit 1 MK controls all units of the device 29 and exchange data between them. It runs under software control 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 32 of the claimed device 29 with a remote computer. The physical communication channel 32 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 / 5358311, published 04/11/2017). The technical solution using Wi-Fi technology to implement the communication channel 32 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 32 it is possible to use other technical solutions that do not change the claimed utility model in essence, using both wireless and wired communication channels.

Block 3 hours RV counts the current time, which is used to bind the data coming from the ultrasonic range finder 6 and from the sensor 4 position of the device in space to the current time. The block of 3 hours RV can be executed, for example, on the DS189A microcircuit (https://www.maximintegrated.com/en/products/analog/real-time-clocks/DS189A.html, published on 02.24.2018) with the necessary for its operation strapping, including a quartz resonator and a power supply element.

The sensor 4 position of the device in space is designed to obtain information about the position of the claimed device 29 in space. The sensor 4 allows to recognize the movements, turns and inclinations of the device 29. The information received from the sensor 4 after processing on a remote computer 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 sensor 4 position of the device in space contains: a triaxial accelerometer, a triaxial gyroscope and a triaxial geomagnetometer. In his work, he uses the gravitational field 14 and the magnetic field 15 of the Earth. The sensor 4 of the position of the device in space can be made, for example, based on the electronic module BNO055 (https://www.bosch-sensortec.com/products/smart-sensors/bno055.html, published on 01/30/2016), which contains all of the listed above items.

The ultrasonic rangefinder 6 is designed to measure the distance X _i from the attachment point of the inventive device 29 on the frame 28 of the agricultural implement to the soil 31 processed by this agricultural implement. The X _i values are subsequently used on a remote computer to calculate the depth of soil cultivation 31. In the inventive device 29, ultrasonic is used rangefinder because 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 designed for such measurements are highly dependent on weather conditions. In the claimed device 29 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 29 and is electrically connected to the input 24 of the MC unit 1.

The power supply unit 5 is designed to provide power to all the units of the claimed device 29 through the power bus 13 connected to it, to which the power inputs (not shown in the diagram) of these units are connected. The power supply unit 5 consists of a power controller 7 and a rechargeable battery 8 (Fig. 1). The power controller 7 is designed to maintain continuously in time the desired level of the stabilized supply voltage on the power bus 13 both during voltage fluctuations (U _BSP ) in the onboard power network 17 and when U _{BPS is} turned off in the network 17 and, if necessary, to charge the battery 8 rechargeable. To ensure the continuity of the power supply of the bus 13 in the event of the disappearance of U _BSP voltage of the on-board network 17, the power controller 7 is disconnected from the network 17 and connected to the battery 8. The rechargeable battery 8 is designed to provide power to the units of the claimed device 29 when there is no supply voltage U _BSP . The power controller 7 can be executed, for example, on series-connected microcircuits LM76003 (http://www.ti.com/product/LM76003, published on 10/28/2017), BQ23170 (http://www.ti.com/product/BQ23170 , 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_3310, published 05.11.2019.) Can be used as a rechargeable battery 8.

The memory block 9, which is a non-volatile storage device, is designed for temporary storage of information packets sent to a remote computer. Information packets are formed by the MC unit 1 from the data coming in real time from the range finder 6, the sensor 4 of the position of the device in space, the unit 3 hours of the RT and the power supply unit 5. The memory unit 9 can be made, for example, in the form of an electronic unit, which includes 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 29.

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.

The housing 10 is made radio-transparent for free passage of electromagnetic radiation of the communication channel 32 through it.

The housing 10 contains fasteners. They are designed to install and fix the housing 10 on the platform 25 using the first 26 rigid connection, which is a bolted connection.

The platform 25 is designed to fix the inventive device 29 on the frame 28 (Fig. 1) of agricultural implements. For this, the platform 25 is connected to the frame 28 by means of a second 27 rigid connection, which is a non-separable connection, for example, welded or glued. The platform 25 is made in the form of a flat metal plate and has fastening holes for bolting the first rigid connection 26.

Work.

The device 29 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 being solved, from one to three or more of the claimed devices 29 can be placed.

After installing the inventive device 29 on the above agricultural implement (Fig. 2), the distance Y is measured from the frame 28 of the agricultural implement to the lower edge of the processing working bodies 30, such as a plow share, a cultivator paw, a harrow disc, a seeder opener, etc. Further, the Y value is considered constant and known. The inventive device 29 using an ultrasonic range finder 6 measures the distance X from the frame 28 to the soil 31. The depth of tillage Z is the difference between the values of Y and X.

The operation of the device 29 lies in the fact that it measures the distance X during the movement of the agricultural tillage implement 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 sensor 4 of the position of the device in space by the MC unit 1 is packed, compressed and written by it to the memory unit 9, after which, using the communication unit 2 and the communication channel 32 connected to it, these data are transmitted to remote computer.

Tasks solved by device 29 during operation:

1. Obtaining information containing information about the actual depth of soil cultivation with 31 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 tillage with this tool, etc.).

3. Obtaining information that allows 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 31.

The operation of the claimed device 29 is as follows.

When the supply voltage U of the _{BSP of the} network 17 is turned on, the onboard power supply unit 5 starts to operate and a voltage is generated at its power output, which is supplied to the power bus 13, from which it is supplied to all units of the device 29. 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 29 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 29. The main ones are:

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

b) reception, processing and registration of data from the sensor 4 of the position of the device in space;

c) data transfer to a remote computer;

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 portion of the energy emitted by the range finder 6 signal 16.1 in one direction, namely in the direction of the soil 31, the distance to which must be measured (see figure 1). Further, the acoustic signal 16.2, reflected from the soil 31, is captured by the receiving path of the ultrasonic range finder 6, the electronic unit of which records the time interval ∆t between the moment of emission of the acoustic signal 16.1 and the moment of arrival of the reflected acoustic signal 16.2. Based on the obtained value of ∆t, the ultrasonic range finder 6 calculates the distance from it to the soil 31 and receives the next distance count X _i , using which the processing system can determine the depth of tillage 31. The resulting count X _i goes to the output of the ultrasonic range finder 6 and then to the input 24 of the unit microcontroller. When used in the claimed device 29 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 24 of the block 1 MK. In this case, block 1 MK through the third 20 input / output reads the contents of the internal registers of the block 3 of the real time clock containing the current time T _i , packs the received samples X _i and T _i into an information packet P _i and sends it through the first 18 input / output of the block 1 MK in block 9 of memory for recording and subsequent storage until it is sent to a remote computer. This completes the process (a). Several such processes can exist simultaneously, since, 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 reading V _j from the sensor 4 of the device position in space is received. 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 sensor 4 position of the device in space to its input / output and then to the fourth 21 input / output of block 1 MK. In this case, the MC unit 1 through the third 20 input / output reads the contents of the internal registers of the real time clock block 3 containing the current time T _j , packs the received samples V _j and T _j into an information packet P _j and sends it through the first 18 input / output to block 9 of memory for recording and subsequent storage until it is sent to a remote computer. This completes the process (b). Several such processes can exist simultaneously, since, for example, a new sample V _{j + 1} may arrive before the completion of processing the sample V _j .

Process (c) starts at the beginning of operation of the device 29. It monitors the presence of information packets in the memory unit 9, intended to be sent to a remote computer. If there are such packets, process (c) initiates communication unit 2 to connect it to communication channel 32. Then process (c) establishes communication with the remote computer. After that, the information packets ready for transmission are transmitted by the MC block 1 from the memory block 9, through the first 18 input / output of the MC block 1 and through the second 19 input / output of the MC block 1 to the first input / output of the communication unit 2, which transfers them further to communication channel 32. After the completion of the transmission of the last packet that needs to be sent to the remote computer, communication over the communication channel 32 ends and the process (c) goes into a state of waiting for new information packets ready for transmission to the remote computer.

Process (d), which controls the power supply unit 5, starts at the beginning of the operation of the claimed device 29 and exists until the end of its operation. In this case, the operation of device 29 is subject to the following rules:

1. Device 29 operates (collects information from sensors, processes it and transfers it via communication channel 32 to a remote computer) whenever there is voltage U _BSP at the power connector 12 (onboard network 17 is on).

2. If the charge of the battery 8 is not full, and the voltage U _BSP is present at the power connector 12 (the onboard network 17 is on), the power controller 7 charges the battery 8.

3. If the voltage U _{BSP is} turned off at the power connector 12, the claimed device 29 switches to operation from the battery 8. In this case, the inventive device 29 collects information from the sensors, processes it and records it in the memory unit 9, but the information is not transmitted via the communication channel 32. When the battery 8 is discharged to a predetermined value, the inventive device 29 ends all processes and turns off.

4. If there is no U _BSP on the power connector 12 (the onboard network 17 is turned off), and the device 29 operates from the battery 8, and if it is motionless for more than a predetermined time interval (T _C1 ), for example, more than 4 hours, then unit 1 MK completes all processes and turns off the device 29. The presence of movement of the inventive device 29 or its absence is determined by the block 1 MK based on the data received from the range finder 6 and the sensor 4 of the position of the device in space.

Based on the foregoing, the inclusion of the inoperative claimed device 29 occurs always when the supply voltage U _BSP is turned on in the onboard network 17. In this case, during subsequent work, the power controller 7 independently monitors the voltage level of the battery 8 and, if necessary, turns on its charging. When the supply voltage U _BSP in the network 17 is turned off, the on-board power controller 7 is independently disconnected from it and connected to the battery 8. In this case, the voltage on the power bus 13 does not change. Process (d) controls the state of the power supply unit 5 with the help of logical and analog signals coming from the power supply unit 5 to the input 23 of the MC unit 1. The analog signals are voltages indicative of the operation of the power supply unit 5. 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 and compressed, after which the MC block 1 forms information packets from them, which are then written into the memory block 9 for subsequent transmission to a remote computer. Process (d) also compares the obtained values of these voltages with the standard and, if these values go beyond the permissible values, an emergency situation is recorded by the MC unit 1, after which it terminates all processes and turns off the device 29. One of the logical signals arriving at the input 23 block 1 MK, is a signal indicating the presence of the supply voltage U _BSP in the network 17 onboard. Turning off the voltage in the network 17 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 7 independently switches to the rechargeable battery 8, and the energy to power the claimed device 29 begins to flow from it. Block 1 MK begins to control the time of immobility of the device 29 by the content of the readings coming from the range finder 6 and the sensor 4 of the position of the device in space. When the immobilization time reaches a predetermined value T _C1 , the MC unit 1 terminates all processes and turns off the claimed device 29. 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 29. If the device 29 was turned on and operated from the battery 8, then when the supply voltage U of the _BSP in the network 17 is onboard, the power controller 7 is independently disconnected from the battery 8 and is connected to the network 17 onboard, and unit 1 MK turns on the power supply unit 2 communication, after which the operation of the device 29 is fully restored.

All information packets, except for the readout values themselves, such as the readout from the rangefinder 6, the readings from the device position sensor 4 in space, the voltage readings from the power supply unit 5, 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 29. The identifier of the serial number of the claimed device 29 is read by block 1 MK from the register of the serial number of the microcontroller microcircuit STM32F746ZG block 1 MK.

The process of forming information packets by block 1 of MK from data coming from sensors and from other information sources includes the operation of compressing these data in order to reduce their volume, which is necessary due to the limited bandwidth of the communication channel 32.

FIG. 3 shows graphs constructed from data representing the measured values of the parameters obtained from the range finder 6 and from the sensor 4 of the position of the device in space when processing the soil 31 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 a remote computer, experts draw conclusions about the quality of soil cultivation with 31 cultivators. If it detects incorrectly processed areas of the field (or the field as a whole), the owner can start processing again.

Fig. 3.a shows a graph plotted according to the data received from the range finder 6; in fig. 3.b is a graph based on the data received from the gyroscope; in fig. 3.c shows a graph based on the data received from the magnetometer; in fig. 3.d is a graph plotted according to the data received from the accelerometer. All these data were received during the movement of the cultivator while processing 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 31.

2) 10 - 35 seconds. The beginning of sinking, lifting the cultivator's working bodies 30 from the soil 31. In this case, the range finder 6 rises to a height of 1050 mm above the soil 31.

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

4) 55 - 65 seconds. Lowering the processing organs 30 to the soil 31, 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 30 on the soil surface 31. Rangefinder 6 at a height of 870 mm above the soil 31.

6) 100 - 110 seconds. Deepening of the cultivator's processing organs 30 to the required depth. At the end of the operation, the range finder 6 is located 820 mm above the soil 31.

The rotation of the cultivator by 180º and changes in the position of the inventive device 29 relative to the magnetic field 15 of the earth are clearly visible from the readings of the magnetometer in FIG. 3.c.

Changes in the position of the inventive device 29 during these operations are clearly visible from the readings of the gyroscope in FIG. 3.b.

The accelerations experienced by the inventive device 29 during lifting and turning operations are clearly visible in the graph of FIG. 3.d.

Shown in FIG. 3 graphs show the practical value of the claimed device 29, namely:

- obtaining information about the actual depth of tillage with 31 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 31;

- Revealing and fixing 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 inventive device 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 implement and other important parameters, thus making it possible to obtain the most reliable information about the quality of performance technological process with tillage machines, implements, allowing subsequent decisions to be made.

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 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 a precision (coordinate) farming system.

Sources of information.

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 G01B13 / 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 a useful model No. 110476. Device for determining the depth of soil cultivation. Application No. 2011111469; IPC G01B 13/00. The patent holder is the Federal State Scientific Institution "Rosinformagrotech" (RU). Published: 20.11.2011.

3. RF patent for useful model No. 191181 Device for measuring the depth of soil cultivation when testing tillage machines and tools. Application No. 2019108298; MPKG01B 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 (5)

1. A device for monitoring the operation of a tillage tool, rigidly attached to its frame with working bodies, containing a housing, a microcontroller that 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, characterized in that it additionally contains a communication unit with a remote computer, a real time clock unit, a device position sensor in space, a power supply unit, which are electrically connected to the microcontroller 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, fixed on the device body and electrically connected to a microcontroller. 2. The device according to claim 1, characterized in that the power supply unit includes a power controller and a storage battery. 3. The device according to claim 1, characterized in that the sensor of the position of the device in space contains a triaxial accelerometer, a triaxial gyroscope and a triaxial magnetometer. 4. The device according to claim 2, characterized in that the first input / output of the microcontroller unit is connected to the input / output of the memory unit, the second input / output of the microcontroller unit is connected to the first input / output of the communication unit, the third input / output of the microcontroller unit is connected to the input / output of the real time clock unit, the fourth input / output of the microcontroller unit is connected to the input / output of the device position sensor in space, the output of the microcontroller unit is connected to the control input of the power supply unit, the first input of the microcontroller unit is connected to the status output of the power supply unit, the second input of the microcontroller 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, while the device contains a power connector with an inner side connected to the power supply input of the power supply and an outer side intended for connecting the onboard network cable to the device, moreover, the power bus is connected to the power output of the power supply power connected to the power inputs of all units located on the board and to the ultrasonic rangefinder unit. 5. The device according to claim 1, characterized in that the body of the device is sealed and radio-transparent.

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