• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a device for detecting the condition of a substrate, in particular a ground sensor (1) comprising at least one transmitting coil (2) and at least one, preferably four, receiving coils (3), wherein the transmitting coil (2) for generating a primary electromagnetic field and the receiving coil (3) is arranged to receive the secondary electromagnetic field induced in the background by the primary field, wherein the transmitting coil (2) and the receiving coil (3) are arranged in a housing (4) comprising electromagnetic radiation shielding material. The invention further relates to an agricultural work machine comprising a floor sensor according to the invention and a method for operating a work machine according to the invention.
    公开号:AT518034A1
    申请号:T51039/2015
    申请日:2015-12-02
    公开日:2017-06-15
    发明作者:
    申请人:Geoprospectors Gmbh；
    IPC主号:
    专利说明:

    floor sensor
    The invention relates to a device for detecting the nature of a substrate, an agricultural machine with such a device and a method for operating such an agricultural machine.
    From the state of the art in the field of geophysics, it is known to use floor sensors which detect the nature of a substrate on the basis of electromagnetic induction (EMI). In this case, a primary field is generated by an electromagnetic transmitting coil, which induces a secondary electromagnetic field in the ground, depending on the nature of the ground, which is recorded and evaluated by one or more receiving coils in the surface region.
    Conductivity values result from the signals of the receiver coils, from which, depending on the configuration and sensitivity of the coils, the condition of the substrate, for example the density, the water saturation and the type of soil, can be determined at a depth of a few cm to several meters.
    Since the EMI technology, in contrast to other geophysical methods, can be used in almost all underground situations and is also relatively inexpensive to purchase, it has become established as a measuring method in precision farming. The main field of application of established systems is to collect soil inhomogeneities laterally in their own test drives and then to make them available to the farmer in the form of maps and plans.
    In some cases, motorized systems are used, which are mounted on a usually specially designed attachment system and pulled over the examination surface. In this case, a large distance of the ground sensor to the towing vehicle must be maintained in order to prevent as far as possible a quality-reducing measurement noise or other errors in the data acquisition.
    In the operation of known ground sensors, the data collection takes place independently of farmer farming rides, as the operation of the system and the evaluation of the data requires specialized personnel. From the data acquisition to the delivery of the maps with the evaluated soil data runs thus a complex process, in which the farmer is not involved.
    The object of the invention is to remedy the disadvantages of existing systems and to realize a soil sensor and a method for operating a soil sensor that allows the farmer to capture soil information flexibly and independently already during agricultural work travel and this also simultaneously or subsequently for to use a control of agricultural machines.
    These and other objects are achieved by a device according to claim 1, an agricultural work machine according to claim 15 and a method for operating the work machine according to claim 20.
    By arranging the transmitting coil and the receiving coils according to the invention in a housing which comprises electromagnetic radiation shielding material, it is ensured that the interference signals generated by the tractor do not affect the measurement or only insignificantly, so that for the first time it is possible to use the floor sensor during an agricultural working drive ,
    By arranged in a cavity in the housing transmitting and receiving coils carried out in a known manner, an analysis of the soil conditions, wherein conductivity values of the subsurface are determined. The determined conductivity values are used to determine the thickness of the first physically separable soil layer using 1D inversion. The 1D inversion is based on a Levenberg-Marquard inversion in which the data from several, preferably 4 independent receiver coils are inverted due to the accumulated response in depth values. Knowing the sensor position and orientation during EMI measurement is advantageous in order to be able to accurately determine the depth, since the accumulated response is height-dependent.
    According to the invention it can be provided that the housing comprises an electrically non-conductive composite, preferably a multilayer glass fiber composite material. The housing can also be made of glass fiber reinforced plastic. This ensures that the enclosure is robust enough to meet the requirements of the farm. According to the invention can also be provided that the housing - with the exception of the nonwoven fabric described below - entirely consists of this non-conductive composite.
    According to the invention, it can be provided that the housing comprises a nonwoven shielding electromagnetic radiation, which is preferably arranged in the entire housing wall except in the region below the coils. This fleece serves to dissipate the electromagnetic interference signals of the tractor and other sources of interference, so that the coils arranged in the interior of the housing are not affected by the interference signals. In order not to weaken the actual measuring signals, the fleece is not arranged in the area below the coils.
    According to the invention, it can be provided that the nonwoven comprises carbon-coated polyester and is arranged inside the housing wall, preferably between the layers of a multilayer composite. Alternatively, the fleece can also be applied to the housing wall in the interior of the housing, for example glued on it.
    According to the invention it can be provided that the nonwoven fabric in the low frequency range has an electromagnetic attenuation of 70 dB to 90 dB, preferably 80 dB, and a mechanical tensile strength in the longitudinal direction of 200 N / mm to 300 N / mm, preferably 260 N / mm. The term low frequency refers in this context a frequency of less than 2 Hz.
    According to the invention it can be provided that the housing comprises a plurality, preferably six, glass filament fabric layers, wherein the nonwoven fabric is arranged between the glass filament fabric layers. Particularly preferred is an embodiment in which the housing comprises five internal glass filament fabric layers having a density of 280 g / m 2 and an external glass filament fabric layer having a density of 163 g / m 2, wherein the nonwoven fabric is arranged between the second and the third layer.
    According to the invention, it can be provided that the fleece can be connected to an external grounding. For this purpose, a ground connection connected to the nonwoven may be provided on the outside of the housing.
    The housing wall of the housing may have a thickness of less than 5 mm, preferably 4 mm. Due to the multi-layer structure of the housing wall described above results in spite of the thin housing wall sufficient mechanical stability of the housing. According to the invention it can be provided that the housing is hermetically sealed and the interior of the housing is protected against splashing water and contamination.
    According to the invention it can be provided that at least one distance sensor is provided for determining the distance of the device to the ground. This makes it possible to ensure sufficient accuracy in the depth calculation based on the signals measured by the receiving coils. The distance sensor can be arranged in particular in the lower region of the housing.
    According to the invention it can be provided that the device comprises at least one inclination sensor for determining the inclination of the device relative to the ground.
    According to the invention, at least one localization module, preferably a GPS module, can be provided. This makes it possible to store the measured values determined by the soil sensor as a function of the specific position and thus to create a topological map of the soil condition. The GPS module can be arranged in or on the housing itself or externally.
    According to the invention it can be provided that means for connecting an external computing unit and / or an external terminal are provided.
    The invention further comprises an agricultural working machine, in particular a tractor such as a tractor, comprising a ground sensor according to the invention and a computing unit for converting the signals received by the receiving coil into electrical conductivity values and ground parameters, for example density, humidity and soil type.
    According to the invention, it can be provided that the arithmetic unit is provided separately from the floor sensor, so that the floor sensor has corresponding, in particular also wireless, interfaces for transmitting the measured signals of the receiver coils to the arithmetic unit.
    According to the invention it can be provided that a terminal is provided for controlling the floor sensor. The terminal may in particular be arranged on the work machine, for example in the driver's cab. Also, the above-mentioned GPS sensor according to the invention can be arranged on the working machine and connected to the computing unit and / or the terminal.
    According to the invention, it can be provided that the floor sensor is mounted on a front lifting mechanism of the working machine.
    Furthermore, it can be provided according to the invention that control outputs for controlling external soil cultivation devices are provided on the working machine. The control outputs may preferably be arranged in the rear region of the work machine, so that an immediate control of arranged in the rear of the machine tillage equipment based on the detected during a working trip by the ground sensor soil condition is made possible.
    The invention further extends to a method for operating an agricultural machine according to the invention, wherein during a working drive of the machine the ground parameters of the currently to be processed ground section are detected. This allows for the first time that the farmer already during a working trip, for example, during sowing, absorbs the soil conditions and thus no separate step to examine the soil condition is required. The use of pre-recorded maps is therefore unnecessary for the farmer.
    According to the invention it can be provided that, for the calibration of the soil sensor, a static measurement is first performed without a working machine and a static offset is determined on the basis of the background noise detected in the static measurement, and the signals detected during the working runs are subsequently corrected by this static offset. The background noise may be, in particular, white noise which extends over the entire frequency range under consideration and has an amplitude of the conductance in the range of about 0.2 mS-0.4 mS.
    This ensures that the static offset generated by the working machine can be filtered out. This static offset is the offset experienced by the measured data by the running work machine by mounting the floor sensor on the work machine. The static offset is determined according to the invention by carrying out a static measurement in the same position and orientation once with and once without the working machine. The difference between the two measurements is the static offset; This is determined once for a work machine.
    According to the invention, it can be provided that the detected signals are filtered through a filter, preferably a high-frequency filter, during working runs in order to eliminate measurement errors and outliers. Instead of the fine-tune filter, it is also possible to use any other filter which is suitable for detecting and removing outliers in the recorded measured values.
    According to the invention, it may be provided that the signals detected during the working runs are filtered by an adaptive low-pass filter, the parameters of the low-pass filter being adaptable during the working run. This ensures that in addition to the above-mentioned low-frequency background noise and high-frequency signal components can be filtered. The filters can be implemented in particular as a software filter.
    The cut-off frequency of the adaptive low-pass filter can be determined beforehand in an initialization phase and subsequently adjusted during a working run if a limit value of the amplitude of the measured signals is exceeded. This has the advantage that the filter can be adapted to the changing conditions during the measurement. The detection of the changing conditions can be effected, for example, by determining the amplitude of the measured signals before the filter over a wide frequency range, and setting the cutoff frequency of the adaptive filter continuously at the value at which the amplitude rises above average, for example 5 to 10 times the value at low frequencies.
    According to the invention, it can be provided that the ground sensor is moved during the working runs of the working machine at a speed of preferably 15 km / h on the surface to be examined, the detected nature of the ground, for example, the soil, directly to the control of the rear of the Work machine mounted tillage equipment is used. This brings the advantage according to the invention that the farmer can already adjust the soil preparation to the condition of the soil during the order of the field.
    According to the invention, all processes of soil detection take place automatically, so that the farmer only has to start the data acquisition. The combination of software, data acquisition hardware, and mounting location allows the farmer to run an in-service application. All data and calculated information collected by the ground sensor are available at the control output within the tractor's machining speed, determining a maximum speed at which the length of the work machine is sufficient to provide the computed data at the control output in real time.
    According to the invention it can be provided that a warning message is issued during the working trip, provided that the environmental conditions do not allow a detection of the nature of the ground.
    According to the invention it can be provided that the nature of the substrate in a first working trip in advance, for example, during sowing, taken and stored in a database and is used in a later working trip for soil cultivation.
    Further features of the invention will become apparent from the claims, the description of the figures and the drawings.
    1 shows a schematic representation of a working machine 7 with a floor sensor 1 mounted on the front lifting mechanism. The signals measured by the floor sensor 1 are transmitted to a computing unit 8 in the working machine 7 and evaluated there in order to detect the ground condition. In this case, the working machine 7 is in motion, so that continuously an area of the ground can be analyzed.
    In the area of the arithmetic unit 8 is also a terminal 9 for controlling the floor sensor 1. From the computing unit 8 and the terminal 9 lead lines to a control output 10 at the rear of the work machine 7, which can be used to tillage implements, not shown with respect to to control the determined soil condition. At the rear of the work machine is further connected to the computing unit 8 unillustrated GPS receiver arranged.
    Fig. 2 shows a schematic representation of the floor sensor 1 according to the invention in a view from above. This comprises a housing 4 made of a non-conductive material with a housing wall, in which a shielding, electrically conductive fleece 5 is incorporated, which can be connected via a grounding connection, not shown, to the ground of the working machine 7. The housing wall comprises a plurality of layers of a composite material of glass filament fabric, and the nonwoven 5 is incorporated between the individual layers of the composite material.
    Inside the housing 4 is a cavity 12, in which a transmitting coil 12 and four differently oriented receiving coils 3 are arranged. The nonwoven 5 is recessed in the area below the coils 2, 3 in order not to disturb the transmission and reception of the electromagnetic signals. For fixing the floor sensor 1 on the front lifting mechanism of the working machine 7, a mounting device 6 is provided. To stabilize the housing 4 are further inside the housing in the illustration not shown brackets 11, which have recesses for introducing the coils 2, 3.
    3a-3c show further schematic views of the floor sensor 1 according to the invention. FIG. 3a shows the view of the floor sensor 1 from the front, FIG. 3b shows the floor sensor 1 from the side, and FIG. 3c shows the floor sensor 1 from above. In these schematic representations, the coils 2, 3 and the distance sensors are not shown for reasons of clarity. In the sectional view along line B-B in Fig. 3b, the special shape of the housing 4 is visible, which has a pronounced concave indentation at the front lower portion. This prevents the movement of the floor sensor 1 on the ground that obstacles such as stones or clods under the floor sensor 1 tilt and hinder a measurement. In addition, in Fig. 3b, the positioning of the web 5 is shown schematically, which is disposed within the housing wall. In Fig. 3a, the mounting device 6 is shown schematically, which is located at the back of the floor sensor 1.
    Fig. 3d shows a view of a bracket 11, which is arranged for stabilization in the interior of the housing 4 and a circular cavity 12 for receiving the coils 2, 3 has.
    4a-4c show a schematic flow diagram of an embodiment of the method according to the invention for operating an agricultural machine with a floor sensor according to the invention.
    Before the actual measurement, a static initialization (static mode) of the system is performed. In this case, two filters are initialized, namely on the one hand a fine filter 13 for filtering outliers, and on the other hand, a smoothing filter 14, which is executed as a low-pass filter. During the measurement phase (Dynamic Mode), the measured conductivity values and the interfering signals are analyzed continuously (analysis noise) and the parameters of the smoothing filter are adjusted if necessary via a feedback loop.
    Finally, the calculation of the 1D inversion to determine the ground parameters from the conductivity values received by the four coils takes place at the terminal or the computing unit.
    权利要求:
    Claims (27)
    [1]
    claims
    1. A device for detecting the condition of a substrate, in particular a floor sensor (1) comprising at least one transmitting coil (2) and at least one, preferably four, receiving coils (3), wherein the transmitting coil (2) for generating an electromagnetic primary field and the receiving coil ( 3) is arranged to receive the secondary electromagnetic field induced in the background by the primary field, characterized in that the transmitting coil (2) and the receiving coil (3) are arranged in a housing (4) comprising electromagnetic radiation shielding material.
    [2]
    2. Apparatus according to claim 1, characterized in that the housing (4) comprises an electrically non-conductive composite, preferably a multilayer glass fiber composite material.
    [3]
    3. Device according to claim 1 or 2, characterized in that the housing comprises an electromagnetic radiation shielding fleece (5), which is preferably arranged in the entire housing wall except in the region below the coils (2, 3).
    [4]
    4. The device according to claim 3, characterized in that the fleece (5) comprises carbon-coated polyester and is arranged in the interior of the housing wall, preferably between the layers of a multilayer composite material.
    [5]
    5. The device according to claim 4, characterized in that the fleece (5) in the low frequency range an electromagnetic attenuation of 70dB to 90dB, preferably 80dB, and a mechanical tensile strength in the longitudinal direction of 200 N / mm to 300 N / mm, preferably 260 N / mm.
    [6]
    6. Device according to one of claims 3 to 5, characterized in that the wall of the housing (4) comprises a plurality, preferably six, Glasfilamentgewebelagen, wherein the nonwoven fabric (5) is arranged between the Glasfilamentgewebelagen.
    [7]
    A device according to claim 6, characterized in that the wall of the housing (4) comprises five internal glass filament fabric layers having a density of 280 g / m 2 and an external glass filament fabric layer having a density of 163 g / m 2, the nonwoven fabric (5) between the second and the third layer is arranged.
    [8]
    8. Device according to one of claims 3 to 7, characterized in that with the nonwoven fabric (5) electrically connected grounding line is provided to connect the nonwoven fabric (5) with an external grounding of a working machine.
    [9]
    9. Device according to one of claims 1 to 8, characterized in that the housing wall of the housing has a thickness of less than 5 mm, preferably 4 mm.
    [10]
    10. Device according to one of claims 1 to 9, characterized in that the housing (4) hermetically sealed and the interior of the housing (4) are protected against splashing water and pollution.
    [11]
    11. Device according to one of claims 1 to 10, characterized in that at least one distance sensor is provided for determining the distance of the device to the ground.
    [12]
    12. Device according to one of claims 1 to 11, characterized in that at least one inclination sensor for determining the inclination of the device is provided relative to the ground.
    [13]
    13. Device according to one of claims 1 to 12, characterized in that at least one localization module, preferably a GPS module, is provided.
    [14]
    14. Device according to one of claims 1 to 13, characterized in that means are provided for connecting an external computing unit and / or an external terminal.
    [15]
    15. Agricultural work machine (7), in particular tractor, comprising a device, in particular a bottom sensor (1), according to one of claims 1 to 14, characterized in that a computing unit (8) for converting the received by the receiving coil (3) signals in electrical conductivity values and soil parameters, such as density, moisture and soil type, is provided.
    [16]
    16. Agricultural machine according to claim 15, characterized in that a terminal (9) for controlling the floor sensor (1) is provided.
    [17]
    17. Agricultural work machine according to one of claims 15 or 16, characterized in that the floor sensor (1) on a front lifting of the working machine (7) is mounted.
    [18]
    18. Agricultural work machine according to one of claims 15 to 17, characterized in that on the working machine (7) control outputs (10) are provided for controlling external tillage equipment.
    [19]
    19. Agricultural work machine according to claim 18, characterized in that the control outputs (10) are arranged in the rear region of the work machine, so that an immediate control of arranged in the rear of the machine tillage equipment based on the during a working trip through the floor sensor (1) detected soil conditions becomes.
    [20]
    20. A method for operating an agricultural work machine according to one of claims 15 to 19, characterized in that during a working drive of the working machine, the soil parameters of the currently to be processed ground section are detected.
    [21]
    21. The method according to claim 20, characterized in that for the calibration of the soil sensor (1) first performed a one-time static measurement without a work machine and based on the static noise detected in the static noise measurement, a static offset is determined, and subsequently detected during the work trips Signals are corrected by this static offset.
    [22]
    22. The method according to any one of claims 20 or 21, characterized in that the filtered during the work the detected signals through a filter, preferably a fine-filter to eliminate measurement errors and outliers.
    [23]
    23. The method according to claim 20 to 22, characterized in that the signals detected during the working operations are filtered by an adaptive low-pass filter, wherein the parameters of the low-pass filter are passable during the working drive.
    [24]
    24. The method according to claim 23, characterized in that the cutoff frequency of the low-pass filter is set in an initialization phase and is adjusted during a working trip when exceeding a limit value of the amplitude of the measured signals.
    [25]
    25. The method according to any one of claims 20 to 24, characterized in that the soil sensor (1) is moved during the working drives of the working machine at a speed of preferably at most 15 km / h over the surface to be examined, wherein the detected nature of the substrate For example, the soil type is used directly to control tillage machines mounted at the rear of the work machine.
    [26]
    26. The method according to any one of claims 20 to 25, characterized in that a warning message is issued if the environmental conditions do not allow a detection of the nature of the substrate.
    [27]
    27. The method according to any one of claims 20 to 26, characterized in that the nature of the substrate in a first working trip in advance, for example, during sowing, taken and stored in a database and is used in a later working trip for soil cultivation.
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    同族专利:
    公开号 | 公开日
    CA3006582A1|2017-06-08|
    CA3006582C|2018-12-04|
    AT518034B1|2018-02-15|
    US10345284B2|2019-07-09|
    EP3384323A1|2018-10-10|
    WO2017092885A1|2017-06-08|
    US20180299422A1|2018-10-18|
    EP3384323B1|2020-02-26|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA51039/2015A|AT518034B1|2015-12-02|2015-12-02|Agricultural working machine with a soil sensor|ATA51039/2015A| AT518034B1|2015-12-02|2015-12-02|Agricultural working machine with a soil sensor|
    EP16754198.6A| EP3384323B1|2015-12-02|2016-07-25|Ground sensor|
    US15/781,027| US10345284B2|2015-12-02|2016-07-25|Ground sensor|
    CA3006582A| CA3006582C|2015-12-02|2016-07-25|Shielded soil sensor for lifting mechanism|
    PCT/EP2016/067651| WO2017092885A1|2015-12-02|2016-07-25|Ground sensor|
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