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원격제어(遠隔制御) 스피드 스프레이어의 개발(開發) 1 : 시작기(詩作機)의 제작(製作)
장익주,이기명 경북대학교 농업과학기술연구소 1991 慶北大農學誌 Vol.9 No.-
본(本) 연구(硏究)는 인체(人體)에 해(害)로운 농약(農藥)으로 부터 운전자(運轉者)를 보호(保護)하기 위하여 무인(無人) 스피드 스프레이어를 개발(開發)할 목적(目的)으로 수행(遂行)하였으며 무선(無線) 전파(電波) 리모콘에 의한 원격제어(遠隔制御) 시스템을 개발(開發)하기 위하여 수행(遂行)한 결과(結果)를 요약(要約)하면 다음과 같다. 1. 234채널, 16명령을 발신(發信)할 수 있는 VHF 대 전파(電波) 리모콘을 제작(製作)하여, 스피드 스프레이어의 원격제어(遠隔制御)에 편용가능(便用可能)하였다. 2. 시판(市販)되고 있는 무선전화기(無線電話機)의 방식(方式)인 DTMF방식(方式)을 채용(採用)한 무선 리모콘을 사용(使用)할 경우 시판 무선전화기(無線電話機) 사용(使用)이 가능(可能)하여 송수신(送受信)기의 별도(別途) 제작(製作)이 필요 없는 잇점이 있었다. 3. 무선(無線) 전파(電波) 리모콘과 원칩 마이크로 컴퓨터를 이용(利用)하여 염가(廉價)이고 컴팩터한 원격조종(遠隔操縱) 조향장치(操向裝置) 및 원격조종(遠隔操縱) 변속장치(變速裝置), 원격조종(遠隔操縱) 약액(藥液) 살포장치(撒布裝置) 등(等)의 원격제어(遠隔制御) 시스템 제작(製作)이 가능(可能)하였다. This study was performed to avoid the chemical spraying environment condition during spraying operation for operator's safety through the development of a remote controlled speed sprayer. The summerized results of this study are as followings. 1. The developed VHF electric wave remote controlling system which could operate sixteen type of operation conditions with the circuit channels of 234 was highly adaptable to speed sprayer for the remote control. 2. The commerical wireless telephones adapted the DTMF type electric wave remote control system need not the tranceiver. 3. The wireless electric wave remote control system combined with one-chip microcomputer, which are low cost with compact in size, could be adaptable to the remote control of the speed sprayer for the wheel steering and speed control system, and to the remote control chemical application system.
장익주,김태한,이상민 한국농업기계학회 2000 바이오시스템공학 Vol.25 No.2
Spraying operation is one of the most essential in an orchard management and it is also hazardous to human body. for automatic and unmanned spraying , an autonomous travelling vehicle is demanded. In this study, a telemeter was developed using infrared beam which could detect trunks and obstacles measure distance and direction from the vehicle travelling in the orchard. The telemeter system was composed of two infrared LED transmitters and receivers, a beam scanning device for continuous object detection , two rotary encoders for angle detector, and a beam level controller for uneven soil surface. The detected distance and direction signal s were sent to personal computer which made for the system display the angular and distance measurements through I/O board. According to a field test in an apple farm, the system detected up to 10m distance under 12 V of transmitted beam intensity, however, it was recommended that the proper beam transmit intensity be 7 v at the 10 m distance, because of the negative effect to human body at 12 V. The error rate of this system was 0.92 % when the actual distance was compared to measured one. The system was feasible at the small error rate. The developed telemeter system was an important part for autonomous travelling vehicle provided the real time object recognition . A direction control system could be constructed suing the system. It is expected that the system could greatly contribute to the development of autonomous farm vehicle.
원칩 마이크로 컴퓨터(MCS-51)를 移用한 스피드 스프레이어의 遠隔操縱 變速裝置 開發
章益柱 慶北大學校農業科學技術硏究所 1990 慶北大農學誌 Vol.8 No.-
本 硏究는 高性能 農藥 살포기인 스피드 스프레이어에 있어서 農藥살포 時 人體에 해로운 農藥으로부터 오퍼레이터를 保護하기 위하여 無人 運轉 硏究의 一還으로 원칩마이크로 컴퓨터를 利用하여 遠隔操縱 變速裝置를 開發할 目的으로 遂行한 硏究에서 얻어진 結果를 要約하면 다음과 같다. 1. 試作한 원칩 마이크로 컴퓨터를 利用한 遠隔操縱 變速裝置는 變速操作 100回 中 誤動作이 全無하여 操作性이 正確하였다. 2. 使用된 원칩 마이크로 컴퓨터의 프로그램은 機械語로 作成되었으며, 變速操作 時間이 3初 以內로 사람에 의한 變速操作 時間과 거의 같았다. 3. 本 硏究에 使用한 원칩 마이크로 컴퓨터는 지금까지 自動化 裝置에 많이 導入 使用하던 퍼스널 컴퓨터, 랩탑 컴퓨터, 원 보오드 컴퓨터 등과 비교하여 볼 때 極小型으로 消費電力이 작으며 廉價이기 때문에 農業用으로 適合하다고 思料된다. 4. 本 硏究에 使用된 變速裝置는 乘用 農業機械와 같은 形式의 것이므로, 農業用 트랙터 및 圃長機械의 自動化 機械에도 適用될 것으로 判斷된다. 5. 本 實驗裝置는 直接레버操作 및 遠隔操縱이 同時에 이루어지도록 製作하였기 때문에 構造的으로 複雜하나 直接레버 操作部를 除去하고 遠隔操縱部만 스피드 스프레이어에 裝着하면 더욱더 小型化 되고 重量도 더 가벼워져 使用하기에 便利한 裝置가 될 것으로 思料된다. This study was attempted to develop a remote controllable speed sprayer in order to protect an operator from agricultural chemicals. For the purpose of remote controllable transmission was developed by using one chip microcomputer. The following results could be summarized in this study. 1. Remote controllable transmission developed had not made even a single mistake during the test performed 100 times repeat. Thus, it could that this machine was very accurate. 2. One chip microcomputer was made by machine language and its was with in 3 sec's which was the same as human did. 3. One chip microcomputer which was used in the experiment could be widely used to automation of agricultural machinery, since it is smaller and chiper than any other similar ones such as personal computer, lap tap, one board computer. 4. Since, farm tractor has the same type of transmission as this system, it also, could be adapted to farm tractors. 5. In this experiment, transmission lever was remote controll were designed to operate simultaneously. Thus, this system developed was more complicate than conventional system. However, by removing this transmission lever and by mounting the remote controll system at the speed sprayer, it would be higher and easier to handle than the conventional one.