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公开(公告)号：KR1020060018127A
公开(公告)日：2006-02-28
申请号：KR1020040066477
申请日：2004-08-23
Applicant: 대한민국(농촌진흥청장)
IPC: G08G1/0962 , A01B69/04 , G05D1/00 , G01C21/10
CPC classification number: G08G1/0962 , A01B69/008 , G01C21/10 , G05D1/00
Abstract: 본 발명은 자주형 농작업 차량에서 입력된 포장의 크기와 형상 및 작업폭에 대해 최적의 작업경로를 생성하고, 설정된 경로에 대하여 농작업 기계가 현재 주행하고 있는 진행 방위각에 대한 오차와 측방오차를 모니터에 표시하게 함으로써, 운전자(작업자)가 용이하게 차량의 자세와 경로를 파악하여 설정경로를 유지시키고, 자주형 농기계의 주행능률 및 작업 정밀도를 향상시키게 하는 동시에 작업의 편의성을 증대시키도록 제공하는데 그 특징이 있다.
또한, 본 발명은 농기계 작업에 대한 효율성을 향상시켜 이를 사용하는 운전자(작업자)에게 사용상의 만족도 및 신뢰도를 극대화시키고, 농작업 비용의 감소로 농가의 경제성 및 생산성을 상승시키도록 제공하는데 있다.
이를 위한, 본 발명은 운전자(작업자)의 의사를 용이하게 입력시켜 전달시키는 입력수단부와, 차체의 진행방향과 기준경로 부터의 오차를 검출하기 위한 항법센서부와, 농작업 기계의 작업경로와 오차를 표시하도록 하는 모니터부와, 외부 프로세서나 운전자와의 통신을 위한 통신단말부와, 신호처리 및 경로연산을 위한 연산제어부로 구성되어 이루어지는 것이다.
농기계, 항법장치, 작업경로, 모니터, 경로연산, 항법센서, 진행 방위각, 측방오차, 설정경로-
公开(公告)号：KR100491170B1
公开(公告)日：2005-05-24
申请号：KR1020020059335
申请日：2002-09-30
Applicant: 대한민국(농촌진흥청장)
Abstract: 본 발명은, 농기계용 자동직선주행장치에 관한 것으로, 특히 진행선이나 기준이 없는 논 또는 밭에서 농기계의 직선주행을 가능하게 하는 농기계용 자동직선주행장치에 관한 것이다.
본 발명의 농기계용 자동 직선주행장치는,
최초에 목표방위각을 설정하고, 설정된 방위각을 연산장치로 출력하는 지시장치와;
진행방위각을 감지하여 연산장치로 출력하는 방위각감지장치와;
상기 지시장치로부터 입력된 목표방위각과 방위각감지장치부터 입력된 진행방위각을 비교하여 조향각을 연산하고, 상기 연산된 조향각에 따라 조향신호를 조향장치로 출력하는 연산장치와;
상기 연산장치로부터 입력된 조향신호에 따라 농기계의 조향각을 조절하는 조향장치와;
를 포함한 것을 특징으로 한다.-
公开(公告)号：KR1020040028204A
公开(公告)日：2004-04-03
申请号：KR1020020059335
申请日：2002-09-30
Applicant: 대한민국(농촌진흥청장)
Abstract: PURPOSE: An automatic running apparatus in application of agricultural machinery is provided to allow running the apparatus in straight in rice field or farm having no guiding lines. CONSTITUTION: The apparatus comprises an instruction device(100) to set up purposed direction angle and output signals corresponding to the directional angle; a detection device(200) to sense running angle and velocity and output signals relating to the same; an operational device(300) for calculating a steering angle from the signals of the devices(100,200) and output a steering signal to a steering angle device(400); and the steering angle device(400) to control the steering angle of front wheels of an agricultural machine along the input steering signals from the operational device(300).
Abstract translation: 目的：提供农业机械应用中的自动运行装置，使设备直接运行在稻田或无引导线的农场内。 构成：该装置包括指定装置（100），用于设置与方向角相对应的方向角和输出信号; 检测装置（200），用于检测运行角度和速度并输出与其相关的信号; 用于根据装置（100,200）的信号计算转向角并将转向信号输出到转向角装置（400）的操作装置（300）; 以及转向角装置（400），用于根据来自操作装置（300）的输入转向信号来控制农用机械的前轮的转向角。
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公开(公告)号：KR1020040013197A
公开(公告)日：2004-02-14
申请号：KR1020020046021
申请日：2002-08-05
Applicant: 대한민국(농촌진흥청장)
IPC: G01S5/14
Abstract: PURPOSE: A position and attitude measurement apparatus by using a multi global positioning system(GPS) based on geometrical structure is provided to allow an accurate position and attitude measurement by using a cheap GPS in comparison with an accurate position measurement system utilizing DGPS. CONSTITUTION: A position and attitude measurement apparatus by using a multi global positioning system(GPS) based on geometrical structure includes an inertial navigation sensor(100), a multi GPS receiver(200) and a calculator(300). The inertial navigation sensor(100) is provided with a gyro sensor(110) for measuring the angular change of the object and a speed sensor for measuring the speed of the object. The multi GPS receiver(200) includes at least two GPSs(210 - 240) placed in a symmetric structure. And, the calculator(300) corrects the position signals of the GPSs(210 - 240) based on the geometrical position signals from the multi GPS receiver(200) and generates the final position signals by using the corrected GPSs(210 - 240) and the signals from the inertial navigation sensor(100).
Abstract translation: 目的：通过使用基于几何结构的多全球定位系统（GPS）的位置和姿态测量装置，通过使用便宜的GPS与使用DGPS的精确位置测量系统相比，可以进行准确的位置和姿态测量。 构成：通过使用基于几何结构的多全球定位系统（GPS）的位置和姿势测量装置包括惯性导航传感器（100），多GPS接收器（200）和计算器（300）。 惯性导航传感器（100）设置有用于测量物体的角度变化的陀螺仪传感器（110）和用于测量物体的速度的速度传感器。 多GPS接收机（200）包括放置在对称结构中的至少两个GPS（210-240）。 并且，计算器（300）基于来自多GPS接收器（200）的几何位置信号来校正GPS（210-240）的位置信号，并且通过使用校正的GPS（210-240）生成最终位置信号，并且 来自惯性导航传感器（100）的信号。
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公开(公告)号：KR100399569B1
公开(公告)日：2003-09-29
申请号：KR1019990033409
申请日：1999-08-13
Applicant: 대한민국(농촌진흥청장)
IPC: G05D1/00
Abstract: PURPOSE: A method of controlling monitoring signals at the control center remotely controlling a farming machine using a single serial port and the device thereof are provided to enable a host computer system even with a reasonable CPU to conduct a real-time operation of a remotely located farming machine. CONSTITUTION: In a monitoring signal control method for a control center remotely controlling a farming machine, a step(S100) turns on the controller. (S110) checks if there remains any information of the location of the machine and the operation order. (S120) receives the data when there is operation to do. (S130) conducts a parity check of the received data for error detection. (S140) saves the data with no error. (S150) checks if there is more information to come. (S160) conducts a check-sum test of the saved data. (S170) sends the data to the host computer of the control center through a real-time operation system(RTDS). (S180) checks if there is more operation to do. (S190) ends the entire operation.
Abstract translation: 目的：提供一种在控制中心控制监控信号的方法，该控制中心使用单一串行端口远程控制耕种机及其装置，以使主计算机系统即使具有合理的CPU也能够进行远程实时操作 农机。 组成：在远程控制耕作机的控制中心的监视信号控制方法中，步骤（S100）打开控制器。 （S110）检查是否存在机器位置和操作顺序的任何信息。 （S120）当有操作要执行时接收数据。 （S130）对接收到的数据进行奇偶校验以进行错误检测。 （S140）保存数据而没有错误。 （S150）检查是否有更多的信息来临。 （S160）对保存的数据进行校验和测试。 （S170）通过实时操作系统（RTDS）将数据发送到控制中心的主机。 （S180）检查是否有更多的操作要执行。 （S190）结束整个操作。
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Patent Agency Ranking
公开(公告)号：KR100366391B1
公开(公告)日：2003-01-06
申请号：KR1019990033405
申请日：1999-08-13
Applicant: 대한민국(농촌진흥청장)
IPC: G05D1/00
Abstract: PURPOSE: A method of controlling a remotely located framing machine with a hybrid positioning system combining a global positioning system(GPS) and a dead-reckoning(DR) and the device thereof are provided to position a remotely located farming machine and ,using the data of the machine's position and operation, order the machine specific operations remotely. CONSTITUTION: In a controller remotely controlling a farming machine, a step(S100) turns on the controller. (S110) initializes the variable storing the location of the machine. (S120) provides a certain delay time to stabilize a GPS sensor, a zyro sensor and a speed sensor after these sensors are turned on. (S130) gathers the data of location, azimuth angle and speed detected by these sensors respectively. (S140) analyzes the location data from the GPS sensor and verifies if the location information calculated with the data of angle and speed comes within an allowable error range. (S150) compensates the azimuth angle data of the zyro sensor with the azimuth angle calculated with the data by the GPS sensor. (S160) renews the location of the machine with the current data by the GPS sensor. (S170) analyzes the movement information consisting of the speed sensed by the speed sensor, the direction by the zyro sensor and the trajectory by the GDS sensor. (S180) sends the analyzed result to the control center through the controller or wireless transmitting device of the machine. (190) checks if there is more operation to do. (S190) ends the entire operation.
Abstract translation: 目的：提供一种控制具有组合全球定位系统（GPS）和航位推测（DR）的混合定位系统的远程定位机器及其设备的方法，以定位位于远处的农机，并使用该数据 机器的位置和操作，请远程订购机器的特定操作。 构成：在远程控制农机的控制器中，步骤（S100）打开控制器。 （S110）初始化存储机器位置的变量。 （S120）在这些传感器接通之后提供一定的延迟时间以稳定GPS传感器，zyro传感器和速度传感器。 （S130）分别收集由这些传感器检测到的位置，方位角和速度的数据。 （S140）分析来自GPS传感器的位置数据并验证用角度和速度的数据计算的位置信息是否在允许的误差范围内。 （S150）利用由GPS传感器利用数据计算出的方位角来补偿zyro传感器的方位角数据。 （S160）通过GPS传感器利用当前数据更新机器的位置。 （S170）分析由速度传感器感测的速度，zyro传感器的方向和GDS传感器的轨迹组成的移动信息。 （S180）通过机器的控制器或无线传送装置将分析结果发送到控制中心。 （190）检查是否有更多的操作要做。 （S190）结束整个操作。
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公开(公告)号：KR1020020067366A
公开(公告)日：2002-08-22
申请号：KR1020010007898
申请日：2001-02-16
Applicant: 대한민국(농촌진흥청장)
IPC: G01S7/295
Abstract: PURPOSE: A storage system for storing property information is provided to perform an efficient data management by processing property information and location information within one system. CONSTITUTION: A digital camera portion(11) is used for photographing a desired object. A keypad portion(12) is used for inputting necessary information. An analog input portion(13) is used for receiving an analog signal. A converter portion(14) is used for converting an analog signal to a digital signal. A determination signal input portion(15) is used for receiving a determination signal. A signal processing portion(21) receives a DGPS beacon signal and calculates a value of coordinates. A data processing portion(22) includes a microprocessor in order to calculate and process inputted data. An interface portion(23) provides output data of the data processing portion(22) to a computer. A display portion(31) is used for displaying the data of the signal processing portion(21) and the data processing portion(22). An output port portion(32) is used for transmitting the processed data to the computer.
Abstract translation: 目的：提供用于存储属性信息的存储系统，通过在一个系统内处理属性信息和位置信息来执行高效的数据管理。 构成：数码相机部分（11）用于拍摄所需物体。 键盘部分（12）用于输入必要的信息。 模拟输入部分（13）用于接收模拟信号。 A转换器部分（14）用于将模拟信号转换为数字信号。 确定信号输入部分（15）用于接收确定信号。 信号处理部分（21）接收DGPS信标信号并计算坐标值。 数据处理部分（22）包括微处理器以便计算和处理输入的数据。 接口部分（23）将数据处理部分（22）的输出数据提供给计算机。 显示部分（31）用于显示信号处理部分（21）和数据处理部分（22）的数据。 输出端口部分（32）用于将处理的数据传送到计算机。
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公开(公告)号：KR1020010017744A
公开(公告)日：2001-03-05
申请号：KR1019990033409
申请日：1999-08-13
Applicant: 대한민국(농촌진흥청장)
IPC: G05D1/00
Abstract: PURPOSE: A method of controlling monitoring signals at the control center remotely controlling a farming machine using a single serial port and the device thereof are provided to enable a host computer system even with a reasonable CPU to conduct a real-time operation of a remotely located farming machine. CONSTITUTION: In a monitoring signal control method for a control center remotely controlling a farming machine, a step(S100) turns on the controller. (S110) checks if there remains any information of the location of the machine and the operation order. (S120) receives the data when there is operation to do. (S130) conducts a parity check of the received data for error detection. (S140) saves the data with no error. (S150) checks if there is more information to come. (S160) conducts a check-sum test of the saved data. (S170) sends the data to the host computer of the control center through a real-time operation system(RTDS). (S180) checks if there is more operation to do. (S190) ends the entire operation.
Abstract translation: 目的：使用单个串行端口远程控制农业机器的控制中心的监控信号的控制方法及其装置被提供，以使主计算机系统即使在合理的CPU中进行远程位置的实时操作 农机。 构成：在用于远程控制耕作机的控制中心的监视信号控制方法中，步骤（S100）打开控制器。 （S110）检查是否存在机器的位置和操作顺序的任何信息。 （S120）在进行操作时接收数据。 （S130）进行用于错误检测的接收数据的奇偶校验。 （S140）无误地保存数据。 （S150）检查是否有更多的信息来。 （S160）对所保存的数据进行检查和检验。 （S170）通过实时操作系统（RTDS）将数据发送到控制中心的主机。 （S180）检查是否有更多的操作要做。 （S190）结束整个操作。
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公开(公告)号：KR1020010017740A
公开(公告)日：2001-03-05
申请号：KR1019990033405
申请日：1999-08-13
Applicant: 대한민국(농촌진흥청장)
IPC: G05D1/00
Abstract: PURPOSE: A method of controlling a remotely located framing machine with a hybrid positioning system combining a global positioning system(GPS) and a dead-reckoning(DR) and the device thereof are provided to position a remotely located farming machine and ,using the data of the machine's position and operation, order the machine specific operations remotely. CONSTITUTION: In a controller remotely controlling a farming machine, a step(S100) turns on the controller. (S110) initializes the variable storing the location of the machine. (S120) provides a certain delay time to stabilize a GPS sensor, a zyro sensor and a speed sensor after these sensors are turned on. (S130) gathers the data of location, azimuth angle and speed detected by these sensors respectively. (S140) analyzes the location data from the GPS sensor and verifies if the location information calculated with the data of angle and speed comes within an allowable error range. (S150) compensates the azimuth angle data of the zyro sensor with the azimuth angle calculated with the data by the GPS sensor. (S160) renews the location of the machine with the current data by the GPS sensor. (S170) analyzes the movement information consisting of the speed sensed by the speed sensor, the direction by the zyro sensor and the trajectory by the GDS sensor. (S180) sends the analyzed result to the control center through the controller or wireless transmitting device of the machine. (190) checks if there is more operation to do. (S190) ends the entire operation.
Abstract translation: 目的：提供一种利用组合全球定位系统（GPS）和推算（DR）及其装置的混合定位系统来控制远程定位的成帧机的方法，以定位远程耕作机器，并使用数据 的机器的位置和操作，远程订购机器特定的操作。 规定：在远程控制耕作机的控制器中，步骤（S100）打开控制器。 （S110）初始化存储机器位置的变量。 （S120）在这些传感器打开之后提供一定的延迟时间来稳定GPS传感器，陀螺传感器和速度传感器。 （S130）分别收集这些传感器检测到的位置，方位角和速度的数据。 （S140）分析来自GPS传感器的位置数据，并验证由角度和速度的数据计算的位置信息是否在容许误差范围内。 （S150）利用由GPS传感器的数据计算的方位角补偿陀螺仪传感器的方位角数据。 （S160）通过GPS传感器更新当前数据的机器位置。 （S170）分析由速度传感器感测到的速度，陀螺传感器的方向和GDS传感器的轨迹所组成的运动信息。 （S180）通过机器的控制器或无线发送装置将分析结果发送到控制中心。 （190）检查是否有更多的操作要做。 （S190）结束整个操作。
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公开(公告)号：KR100257454B1
公开(公告)日：2000-06-01
申请号：KR1019980014985
申请日：1998-04-27
Applicant: 대한민국(농촌진흥청장)
IPC: A01B69/00
Abstract: PURPOSE: A device for interfacing a signal of measuring posture of a tractor is provided to improve data sending and the efficient operation through the united interface limiting the mutual interference of data detected in a sensor, which senses the displacement of operation of all kinds of operating equipments. CONSTITUTION: The device for interfacing a signal of measuring posture of a tractor includes the first port, the second port, a detecting instrument(30), a display portion(41), a micro controller(40) and a CPU(50). The first port receives the information data sent from a global position system. The second port receives the data about the direction sensed in a Gyro sensor. The detecting instrument(30) detects the turning angle of a farming tool as a tractor. The deciphered data is displayed in the display portion(41). The micro controller(40) controls sending data to the CPU(50) through a sending instrument as a modem.
Abstract translation: 目的：提供一种用于连接拖拉机测量姿势信号的装置，以通过联合接口改进数据发送和有效操作，限制在传感器中检测到的数据的相互干扰，这意味着各种操作的操作位移 设备。 构成：用于与拖拉机的测量姿势信号对接的装置包括第一端口，第二端口，检测仪器（30），显示部分（41），微控制器（40）和CPU（50）。 第一个端口接收从全局位置系统发送的信息数据。 第二个端口接收关于陀螺仪传感器感测方向的数据。 检测仪器（30）检测作为拖拉机的耕作工具的转动角度。 解码数据显示在显示部分（41）中。 微控制器（40）通过作为调制解调器的发送装置控制向CPU（50）发送数据。
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