CN102967628A - Combined apparatus for soil sampling and moisture determination - Google Patents
Combined apparatus for soil sampling and moisture determination Download PDFInfo
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- CN102967628A CN102967628A CN201210429507XA CN201210429507A CN102967628A CN 102967628 A CN102967628 A CN 102967628A CN 201210429507X A CN201210429507X A CN 201210429507XA CN 201210429507 A CN201210429507 A CN 201210429507A CN 102967628 A CN102967628 A CN 102967628A
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Abstract
The invention belongs to the technical field of mechanical equipment, and discloses a combined apparatus for soil sampling and moisture determination. The combined apparatus for soil sampling and moisture determination comprises a walking device, and a soil sampling device and a moisture determination device that are fixed on the walking device; and the soil sampling device is used for collecting soil samples, and the moisture determination device is used for determining soil moisture. The apparatus improves degree of mechanization of large area soil survey, reduces labor intensity, completes soil sampling and humidity determination of soil samples on a same longitude and latitude coordinate at one time, and realizes one-to-one correspondence, so as to improve operational efficiency. A sampling position can be retrieved according to the latitude and longitude coordinate data, and repeated sampling at a same place for different crops at different periods can be completed, so as to improve accuracy and scientificity of samples. Therefore, the invention has major significance in agricultural production and agricultural scientific research.
Description
Technical field
The present invention relates to mechanical equipment technical field, particularly relate to a kind of soil sampling, determination of moisture set composite.
Background technology
Soil sampling of the prior art and determining soil moisture are autonomous device, for realizing the mensuration to soil physical property, not only need to measure the moisture of soil, also need to gather soil sample, and the physical characteristics of soil is done further mensuration.
Utilize soil sampling of the prior art, when moisture content determining device carries out large tracts of land soil investigation, exist mechanization degree low, the high and inefficient problem of labour intensity.
Summary of the invention
The technical matters that (one) will solve
The invention provides a kind of soil sampling, determination of moisture set composite, carry out in order to solution that the mechanization degree that large tracts of land soil investigation exists is low, labour intensity is high and inefficient problem.
(2) technical scheme
For addressing the above problem, the invention provides a kind of soil sampling, determination of moisture set composite, comprise running gear and be installed in soil sampling appts and moisture content determining device on the described running gear, described soil sampling appts is used for gathering soil sample, and described moisture content determining device is used for measuring the humidity of soil.
Aforesaid soil sampling, determination of moisture set composite, preferably, described running gear comprises the walking chassis and is fixed on movable motor on the described walking chassis;
One accumulator that is fixed on the described walking chassis provides burning voltage by a Voltage stabilizing module to described movable motor;
Through driving chain ground-engaging wheel, the walking wheel that is positioned at described running gear homonymy is fixed on the described walking chassis by wheel frame described movable motor, realizes the movement of described running gear by a reducer casing;
Described soil sampling, determination of moisture set composite also comprise the central controller that is installed on the described running gear, are electrically connected with described movable motor, are used for controlling the traveling process of described running gear.
Aforesaid soil sampling, determination of moisture set composite, preferably, described moisture content determining device comprises jacking gear and is fixed on probing motor on the described jacking gear, and described jacking gear slidably is fixedly connected with support on being fixed on described walking chassis;
Described jacking gear and probing motor are electrically connected with described central controller respectively;
Described probing motor is used for driving a water content detection part and inserts soil, and a moisture transducer is electrically connected with described water content detection part and central controller respectively.
Aforesaid soil sampling, determination of moisture set composite, preferably, described soil sampling appts comprises hoist cylinder, the probing oil cylinder that is fixedly connected with described hoist cylinder expansion link and is fixed on hydraulic power unit on the described running gear;
Described hydraulic power unit comprises electro-hydraulic valve, and described electro-hydraulic valve is used for switching described hydraulic power unit for described hoist cylinder or drills oil cylinder provides power, and described electro-hydraulic valve is electrically connected with described central controller;
The end of described probing oil cylinder expansion link is equipped with the soil collecting pipe, and the below of described soil collecting pipe is fixed with the soil collecting head, and described soil collecting head cuts soil layer under the driving of described probing oil cylinder, and soil sample is put into described soil collecting pipe.
Aforesaid soil sampling, determination of moisture set composite, preferably, described hoist cylinder is connected on the platform that is fixed on the described running gear by a column is movable, and wherein, described column detachably is fixed on the described platform.Aforesaid soil sampling, determination of moisture set composite, preferably, the front-end and back-end of described running gear are provided with ultrasonic sensor, and described ultrasonic sensor is electrically connected with described central controller.
Aforesaid soil sampling, determination of moisture set composite preferably, are provided with the GPS locating device on the described running gear, described GPS locating device is electrically connected with described central controller.
Aforesaid soil sampling, determination of moisture set composite, preferably, the side of described running gear is provided with infrared sensor, and described infrared sensor is electrically connected with described central controller.
Aforesaid soil sampling, determination of moisture set composite preferably, also comprise a remote terminal, and described remote terminal comprises display device and instruction input knob;
Described central controller connects a wireless communication module, with described remote terminal wireless telecommunications.
Aforesaid soil sampling, determination of moisture set composite, preferably, the number of described walking wheel is 6,3 of the numbers of the walking wheel of described running gear homonymy.(can increase to 4)
(3) beneficial effect
Soil sampling provided by the present invention, determination of moisture set composite comprise running gear and are fixed on soil sampling appts and moisture content determining device on this running gear, soil sampling appts is used for gathering soil sample, moisture content determining device is used for measuring the humidity of soil, improved the mechanization degree of large tracts of land soil investigation, reduced labour intensity, once finish the locational soil sample sampling of same latitude and longitude coordinates and soil water measurement, and accomplish one by one correspondence, improved operating efficiency.And data can trace back to the sampling location according to latitude and longitude coordinates, can finish the different plants of planting, and the repeatedly repeated sampling in the same place of different times improves sample accuracy and science, and is significant to agricultural production and research of agricultural science thereof.
Description of drawings
Fig. 1 is the structural representation of soil sampling in the embodiment of the invention, determination of moisture set composite;
Fig. 2 is the operation process chart of soil sampling in the embodiment of the invention, determination of moisture set composite;
Fig. 3 is the structural representation of the remote terminal of soil sampling in the embodiment of the invention, determination of moisture set composite;
Wherein, a: running gear; B: moisture content determining device; C: soil sampling appts; 1: column; 2: rotation axis; 3: platform; 4: jacking gear; 5: ultrasonic sensor; 6: the probing motor; 7: moisture transducer; 8: support; 9: hydraulic power unit; 10: electro-hydraulic valve; 11: the water content detection part; 12: central controller; 13: movable motor; The 14:GPS locating device; 15: wireless communication module; 16: infrared sensor; 17: reducer casing; 18: driving chain; 19: coupling bolt; 20: wheel frame; 21: the walking wheel; 22: Voltage stabilizing module; 23: accumulator; 24: the battery fixation clamp; 25: the walking chassis; 26: the soil collecting head; 27: the soil collecting pipe; 28: probing oil cylinder expansion link; 29: the probing oil cylinder; 30: the hoist cylinder expansion link; 31: hoist cylinder; 32: remote terminal; 33: serial ports; 34: display device; 35: direction key; 36: shift knob; 37: the jacking gear control knob; 38: moisture gathers button; 39: termination rack; 40: instruction input knob.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for explanation the present invention, but are not used for limiting the scope of the invention.
Figure 1 shows that the structural representation of soil sampling in the embodiment of the invention, determination of moisture set composite.As shown in Figure 1, soil sampling in the embodiment of the invention, determination of moisture set composite comprise running gear a and are installed in soil sampling appts c and moisture content determining device b on the running gear a, moisture content determining device b is used for measuring the humidity of soil, when soil moisture is unusual, or when measuring the physical characteristics of soil, soil sampling appts c is used for gathering soil sample.
Wherein, running gear a can be installed in the mobile devices such as tractor, pickup automobile, atv motorcycle and realize walking, also can independently drive to realize walking.
Running gear a in the present embodiment can reduce the volume of equipment so preferably by autonomous type of drive walking, increases the dirigibility of equipment, arrives the unapproachable environment of Large-scale Mobile device, improves the measuring accuracy of equipment.
For convenient control to running gear a track route, the soil sampling in the present embodiment, determination of moisture set composite also comprise central controller 12, the trace information that storage line walking apparatus a is default, control running gear a gait of march and direction.
Running gear a can comprise walking chassis 25 and be fixed on the movable motor 13 of walking on the chassis 25, one accumulator 23 that is fixed on the walking chassis 25 provides burning voltage by a Voltage stabilizing module 22 to movable motor 13, movable motor 13 passes through a reducer casing 17 through driving chain 18 ground-engaging wheel 21, the walking wheel 21 that is positioned at running gear a homonymy is fixed on the walking chassis a by wheel frame 20, realizes the autonomous driving walking of running gear a.Wherein, accumulator 23 can be fixed on walking chassis 25 by the battery fixation clamp, also plays simultaneously insulating effect.20 of wheel frames can be fixed on the walking chassis 25 by coupling bolt 19.
The moisture content determining device b that is arranged on the running gear a can comprise jacking gear 4 and the probing motor 6 that is fixed on the jacking gear, jacking gear 4 be fixed on the support 8 of walking on the chassis 25 and slidably be fixedly connected with, realize moving up and down of jacking gear 4, so that probing motor 6 fixed thereon arrives the earth's surface.Probing motor 6 is used for driving a water content detection part 11 and inserts soil, one moisture transducer 7 is electrically connected with water content detection part 11 and central controller 12 respectively, be used for obtaining according to the electric field change that water content detection part 11 obtains the water cut of soil, thereby determine the humidity of soil, and with the soil moisture data transmission that collects to central controller 12.
Wherein, jacking gear 4 and probing motor 6 are electrically connected with central controller 12 respectively, and the central controller 12 in the present embodiment can be controlled accumulator 23 and provide power source to jacking gear 4 and probing motor 6.After arriving the mensuration place, central controller 12 control accumulators 23 are connected jacking gear 4, and control jacking gear 4 moves down, after probing motor 6 arrives the earth's surface, central controller 12 control accumulators 23 are connected probing motor 6, and the water content detection part 11 that drives on it inserts in the soil.
Be subjected to the impact of farm actual environment, the phenomenon that ground can exist height to rise and fall, drive probing motors 6 arrival earth's surfaces in order accurately to control jacking gear 4, the front-end and back-end of running gear a are provided with ultrasonic sensor 5 in the present embodiment, ultrasonic sensor 5 is electrically connected with central controller 12, and central controller 12 controls jacking gear 4 according to the induced signal of ultrasonic sensor 5 so that probing motor 6 arrives the earth's surface.
Soil sampling appts c in the present embodiment can comprise hoist cylinder 31, the probing oil cylinder 29 that is fixedly connected with hoist cylinder expansion link 30 and be fixed on hydraulic power unit 9 on the running gear a, wherein, hydraulic power unit 9 comprises the electro-hydraulic valve 10 that is electrically connected with central controller 12, and central controller 12 switches hydraulic power unit 10 for hoist cylinder 31 or drills oil cylinder 29 by control electro-hydraulic valve 10 provides power.And drilling the end installation soil collecting pipe 27 of oil cylinder expansion link 28, fixing soil collection head 26 below soil collecting pipe 27.In the course of work, soil collecting head 26 cuts soil layer under the driving of probing oil cylinder 29, soil sample is put into soil collecting pipe 27, realizes the sampling to measuring point soil.
Preferred hoist cylinder 31 is by a column 1 movable being connected on the platform 3, and platform 3 is fixed on the running gear a, and wherein, column 1 detachably is fixed on the platform 3, as being fixed on the platform 3 by articulated manner, in order to improve the convenience of transportation.
Be convenient follow-up analysis and processing, also be provided with GPS locating device 14 on the running gear a, GPS locating device 14 is electrically connected with central controller 12, receive the soil moisture data of moisture content determining device b transmission when central controller 12 after, the locating information of Quick Acquisition GPS locating device 14, and with soil moisture data and locating information packing, realize the corresponding one by one of measuring point and soil moisture data.
In the present embodiment infrared sensor 16 can also be set at the side of running gear a, for detection of the place ahead barrier, infrared sensor 16 is electrically connected with central controller 12, and central controller 12 is controlled the advancing of running gear a, emergency brake and kept away barrier according to the induced signal of infrared sensor 16.
In conjunction with shown in Figure 2, soil sampling, determination of moisture set composite also comprise a remote terminal 32, and central controller 12 connects a wireless communication module 15, with remote terminal 32 wireless telecommunications.Remote terminal 32 sends instruction to the duty of central controller 12 with control soil sampling, the compound dress of determination of moisture, and central controller 12 then sends to remote terminal 32 with soil moisture data and the in real time packing of locating information that collects.
Remote terminal 32 in the present embodiment specifically comprises termination rack 39, is used for protection remote control terminal 32, simultaneously convenient transportation.Also comprise the display device 34, instruction the input knob 40 and the serial ports 33 that is connected being connected with host computer that are arranged on the termination rack 39, wherein, display device 34 can be liquid crystal touch screen, is used for showing soil moisture data and the locating information that receives, and whether the dynamic monitoring job state is normal.Instruction input knob 40 comprises for the direction key 35 of control running gear a moving direction, the power switch button 36 that is used for control remote terminal 32 power on/off, jacking gear control knob 37 and moisture collection button 38.Jacking gear control knob 37 is used for controlling the lifting of moisture content determining device b jacking gear 4, can descend for clicking control jacking gear 4, clicks control jacking gear 4 again and rises.Moisture gathers button 38 and is used for realizing the soil moisture data acquisition and uploads to remote terminal 32.
The specific works process of soil sampling, determination of moisture set composite is in the embodiment of the invention, as shown in Figure 3:
Manually column 1 is adjusted to vertical state, and with rotation axis 2 lockings;
Connect running gear a power supply, by the measuring point of walking of the directionkeys 35 control running gear a on the remote terminal 32;
Press jacking gear control knob 37, central control unit 12 disconnects accumulator 23 provides power for running gear a, and soil sampling, determination of moisture set composite stop; Control accumulator 23 is connected jacking gear 4, and control jacking gear 4 descends, and after probing motor 6 arrived the earth's surface, central controller 12 control accumulators 23 were connected probing motor 6 simultaneously, drive water content detection part 11 and insert in the soil;
Press moisture and gather button 38, central control unit 12 gathers the soil moisture data, gathers simultaneously the locating information of GPS locating device 14, and soil moisture data and locating information packing are sent to remote terminal 32;
Again press jacking gear control knob 37, central control unit 12 control jacking gears 4 go up, and cut off the connection of accumulator 23 and jacking gear 4 and probing motor 6;
As can be seen from the above embodiments, soil sampling provided by the present invention, determination of moisture set composite comprise running gear and are fixed on soil sampling appts and moisture content determining device on this running gear, soil sampling appts is used for gathering soil sample, moisture content determining device is used for measuring the humidity of soil, improved the mechanization degree of large tracts of land soil investigation, reduced labour intensity, once finish the locational soil sample sampling of same latitude and longitude coordinates and soil water measurement, and accomplish one by one correspondence, improved operating efficiency.And data can trace back to the sampling location according to latitude and longitude coordinates, can finish the different plants of planting, and the repeatedly repeated sampling in the same place of different times improves sample accuracy and science, and is significant to agricultural production and research of agricultural science thereof.
The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvement and replacement, these improvement and replacement also should be considered as protection scope of the present invention.
Claims (10)
1. a soil sampling, determination of moisture set composite, it is characterized in that, comprise running gear and be installed in soil sampling appts and moisture content determining device on the described running gear, described soil sampling appts is used for gathering soil sample, and described moisture content determining device is used for measuring the humidity of soil.
2. soil sampling according to claim 1, determination of moisture set composite is characterized in that, described running gear comprises the walking chassis and is fixed on movable motor on the described walking chassis;
One accumulator that is fixed on the described walking chassis provides burning voltage by a Voltage stabilizing module to described movable motor;
Through driving chain ground-engaging wheel, the walking wheel that is positioned at described running gear homonymy is fixed on the described walking chassis by wheel frame described movable motor, realizes the movement of described running gear by a reducer casing;
Described soil sampling, determination of moisture set composite also comprise the central controller that is installed on the described running gear, are electrically connected with described movable motor, are used for controlling the traveling process of described running gear.
3. soil sampling according to claim 2, determination of moisture set composite, it is characterized in that, described moisture content determining device comprises jacking gear and is fixed on probing motor on the described jacking gear, and described jacking gear slidably is fixedly connected with support on being fixed on described walking chassis;
Described jacking gear and probing motor are electrically connected with described central controller respectively;
Described probing motor is used for driving a water content detection part and inserts soil, and a moisture transducer is electrically connected with described water content detection part and central controller respectively.
4. soil sampling according to claim 2, determination of moisture set composite, it is characterized in that described soil sampling appts comprises hoist cylinder, the probing oil cylinder that is fixedly connected with described hoist cylinder expansion link and is fixed on hydraulic power unit on the described running gear;
Described hydraulic power unit comprises electro-hydraulic valve, and described electro-hydraulic valve is used for switching described hydraulic power unit for described hoist cylinder or drills oil cylinder provides power, and described electro-hydraulic valve is electrically connected with described central controller;
The end of described probing oil cylinder expansion link is equipped with the soil collecting pipe, and the below of described soil collecting pipe is fixed with the soil collecting head, and described soil collecting head cuts soil layer under the driving of described probing oil cylinder, and soil sample is put into described soil collecting pipe.
5. soil sampling according to claim 4, determination of moisture set composite is characterized in that, described hoist cylinder is connected on the platform that is fixed on the described running gear by a column is movable, and wherein, described column detachably is fixed on the described platform.
6. soil sampling according to claim 2, determination of moisture set composite is characterized in that, the front-end and back-end of described running gear are provided with ultrasonic sensor, and described ultrasonic sensor is electrically connected with described central controller.
7. soil sampling according to claim 2, determination of moisture set composite is characterized in that, are provided with the GPS locating device on the described running gear, and described GPS locating device is electrically connected with described central controller.
8. soil sampling according to claim 2, determination of moisture set composite is characterized in that, the side of described running gear is provided with infrared sensor, and described infrared sensor is electrically connected with described central controller.
9. soil sampling according to claim 2, determination of moisture set composite is characterized in that, also comprise a remote terminal, and described remote terminal comprises display device and instruction input knob;
Described central controller connects a wireless communication module, with described remote terminal wireless telecommunications.
10. soil sampling according to claim 2, determination of moisture set composite is characterized in that, the number of described walking wheel is 8,4 of the numbers of the walking wheel of described running gear homonymy.
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| CN201210429507.XA CN102967628B (en) | 2012-10-31 | 2012-10-31 | Combined apparatus for soil sampling and moisture determination |
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| CN201210429507.XA CN102967628B (en) | 2012-10-31 | 2012-10-31 | Combined apparatus for soil sampling and moisture determination |
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| CN103630420A (en) * | 2013-11-21 | 2014-03-12 | 长安大学 | Undisturbed soil collecting device and collection method thereof |
| CN104155138A (en) * | 2014-07-24 | 2014-11-19 | 西北农林科技大学 | Automatic soil detection system |
| CN105784780A (en) * | 2016-03-08 | 2016-07-20 | 张舒维 | Novel soil humidity detecting equipment for agricultural production |
| CN105866378A (en) * | 2016-03-31 | 2016-08-17 | 吉林大学 | Soil pollution detector and detection method |
| CN106950351A (en) * | 2017-04-25 | 2017-07-14 | 刘艳丹 | A kind of soil detection means |
| CN107014976A (en) * | 2017-03-29 | 2017-08-04 | 中国林业科学研究院热带林业研究所 | A kind of new forest fieid soil weight moisture capacity rapid detection system |
| CN107957348A (en) * | 2017-12-15 | 2018-04-24 | 刘平 | A kind of hydraulic engineering soil sample equipment |
| CN108152073A (en) * | 2018-01-17 | 2018-06-12 | 福建华东岩土工程有限公司 | A kind of shallow-layer soil sample harvester used for geological prospecting and method |
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| CN108663232A (en) * | 2018-05-07 | 2018-10-16 | 吉林大学 | A kind of fully-automatic intelligent soil sampler |
| CN109387393A (en) * | 2018-12-11 | 2019-02-26 | 龙岩学院 | A kind of soil takes native tester |
| CN109541021A (en) * | 2017-09-22 | 2019-03-29 | 北京航空航天大学 | A kind of soil body optimum moisture content detection method based on Embedded Ultrasonic sensor |
| CN111649982A (en) * | 2020-06-29 | 2020-09-11 | 安徽农业大学 | Greenhouse gas sampling box capable of monitoring soil humidity in box |
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| CN114061653A (en) * | 2021-10-12 | 2022-02-18 | 江苏大学 | Self-propelled intelligent acquisition device for field environment information |
| CN114112549A (en) * | 2021-12-22 | 2022-03-01 | 深圳市浩瑞泰科技有限公司 | Method for online analyzing and predicting groundwater quality change |
| CN114355942A (en) * | 2022-01-05 | 2022-04-15 | 北京市农业机械研究所有限公司 | Plant inspection robot |
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| CN103630420A (en) * | 2013-11-21 | 2014-03-12 | 长安大学 | Undisturbed soil collecting device and collection method thereof |
| CN104155138A (en) * | 2014-07-24 | 2014-11-19 | 西北农林科技大学 | Automatic soil detection system |
| CN104155138B (en) * | 2014-07-24 | 2017-04-05 | 西北农林科技大学 | A kind of automatization's soil detection system |
| CN105784780A (en) * | 2016-03-08 | 2016-07-20 | 张舒维 | Novel soil humidity detecting equipment for agricultural production |
| CN105866378A (en) * | 2016-03-31 | 2016-08-17 | 吉林大学 | Soil pollution detector and detection method |
| CN107014976A (en) * | 2017-03-29 | 2017-08-04 | 中国林业科学研究院热带林业研究所 | A kind of new forest fieid soil weight moisture capacity rapid detection system |
| CN106950351A (en) * | 2017-04-25 | 2017-07-14 | 刘艳丹 | A kind of soil detection means |
| CN109541021A (en) * | 2017-09-22 | 2019-03-29 | 北京航空航天大学 | A kind of soil body optimum moisture content detection method based on Embedded Ultrasonic sensor |
| CN107957348A (en) * | 2017-12-15 | 2018-04-24 | 刘平 | A kind of hydraulic engineering soil sample equipment |
| CN107957348B (en) * | 2017-12-15 | 2019-12-10 | 福州西城食品有限公司 | Hydraulic engineering soil sampling equipment |
| CN108152073A (en) * | 2018-01-17 | 2018-06-12 | 福建华东岩土工程有限公司 | A kind of shallow-layer soil sample harvester used for geological prospecting and method |
| CN108152073B (en) * | 2018-01-17 | 2020-05-08 | 华东勘测设计院(福建)有限公司 | Shallow soil sample collecting device and method for geological exploration |
| CN108593881A (en) * | 2018-04-24 | 2018-09-28 | 安徽黄晶梨农业科技有限公司 | A kind of Pesticide-Polluted Soil detection device |
| CN108593881B (en) * | 2018-04-24 | 2021-09-03 | 浙江康瑞检测有限公司 | Soil pesticide residue detection device |
| CN108663232A (en) * | 2018-05-07 | 2018-10-16 | 吉林大学 | A kind of fully-automatic intelligent soil sampler |
| CN109387393A (en) * | 2018-12-11 | 2019-02-26 | 龙岩学院 | A kind of soil takes native tester |
| CN111649982B (en) * | 2020-06-29 | 2021-05-04 | 安徽农业大学 | Greenhouse gas sampling box capable of monitoring soil humidity in box |
| CN111649982A (en) * | 2020-06-29 | 2020-09-11 | 安徽农业大学 | Greenhouse gas sampling box capable of monitoring soil humidity in box |
| CN112817314A (en) * | 2020-12-31 | 2021-05-18 | 上海宏英智能科技股份有限公司 | Remote control system of soil collection vehicle |
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| CN113945418A (en) * | 2021-10-19 | 2022-01-18 | 杭州臻稀生物科技有限公司 | Whole-process traceable sewage sampling method and system |
| CN113945418B (en) * | 2021-10-19 | 2022-06-24 | 杭州臻稀生物科技有限公司 | Whole-process traceable sewage sampling method and system |
| CN114112549A (en) * | 2021-12-22 | 2022-03-01 | 深圳市浩瑞泰科技有限公司 | Method for online analyzing and predicting groundwater quality change |
| CN114355942A (en) * | 2022-01-05 | 2022-04-15 | 北京市农业机械研究所有限公司 | Plant inspection robot |
| CN114355942B (en) * | 2022-01-05 | 2024-05-10 | 北京市农业机械研究所有限公司 | Plant inspection robot |
| NL2034493A (en) * | 2022-05-13 | 2023-11-16 | Inst Of Water Resources For Pastoral Area Mwr | Early warning detection device for preventing drought disasters of crops |
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| CN102967628B (en) | 2014-11-19 |
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