CN112485039A - Surface soil multi-point continuous automatic sampling equipment and method - Google Patents
Surface soil multi-point continuous automatic sampling equipment and method Download PDFInfo
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- 238000005070 sampling Methods 0.000 title claims abstract description 206
- 239000002689 soil Substances 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 100
- 238000007789 sealing Methods 0.000 claims abstract description 34
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- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
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- 239000004917 carbon fiber Substances 0.000 description 1
- 239000003610 charcoal Substances 0.000 description 1
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- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
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Abstract
The invention belongs to the technical field of soil sampling, solves the technical problems of low automation degree, inaccurate sampling and high labor intensity of soil sampling in the prior art, and provides surface soil multi-point continuous automatic sampling equipment and a surface soil multi-point continuous automatic sampling method. The device is used for multi-point soil sampling of the same land, and comprises a workbench, a sampler, a sample storage area, a sealing device, a conveying mechanism, a walking mechanism, a controller and a mobile control terminal, wherein the sampler is arranged at the center of the workbench, the sealing device, the conveying mechanism and the sample storage area are sequentially arranged on the workbench around the sampler, the walking mechanism drives the workbench to move to a preset sampling position, and the mobile control terminal sets a moving path of the sampling device and monitors the working state of the automatic sampling device according to image information and coordinate information of the sampled land. The invention also provides a method for sampling by using the equipment. The invention is full-automatic sampling, and has the advantages of high sampling efficiency, good sampling accuracy and low labor intensity.
Description
The application is a divisional application of an invention patent application with the application number of 202010537955.6, which is filed on 12.6.2020 and is entitled "automatic sampling equipment and method for topsoil on dry land.
Technical Field
The invention relates to the field of automatic soil sampling, in particular to automatic dry land surface soil sampling equipment and method.
Background
In order to better utilize the dry farmland, the soil of the dry farmland needs to be sampled before use, the composition of the soil is analyzed, the property of the soil is determined, and the soil is used in a targeted manner according to the characteristics of the soil.
However, the sampled dry land soil has uneven ground surface and unreasonable sampling point supplement, so that the accuracy of the sample is low, meanwhile, the manual sampling also faces to severe natural environment and even has many dangers, and the reconnaissance personnel not only faces to various severe natural environments in the process of running points, so that the labor intensity is high, but also has potential safety hazards and harms the health and the safety of individuals.
To sum up, the manual sampling of prior art or all have automatic sampling, the sampling degree of difficulty is big, can't adapt to the problem that natural environment is abominable, the sampling degree of accuracy is low.
Disclosure of Invention
In view of this, the embodiment of the invention provides surface soil multipoint continuous automatic sampling equipment and a surface soil multipoint continuous automatic sampling method, which are used for solving the technical problems of low automation degree, inaccurate sampling and high labor intensity of soil sampling in the prior art.
The technical scheme adopted by the invention is as follows:
the invention provides a surface soil multi-point continuous automatic sampling device, which comprises:
a table forming a sample storage area for containing a soil sample;
the sampler is connected with the workbench and used for collecting soil samples and filling the collected soil samples into sample bags;
the sealing device is arranged on the workbench and is used for sealing the sample bag for storing the soil sample after the sampler finishes sampling all sampling points;
the conveying mechanism is used for transferring the sealed sample bag to the sample storage area;
the controller is used for controlling the automatic sampling equipment to move to a plurality of sampling points for sampling;
the mobile control terminal is used for setting a moving path of the automatic sampling equipment according to the image information and the coordinate information of the sampling land, and receiving and checking information returned by the controller;
the traveling mechanism is used for driving the workbench to move according to the moving path;
the sampler sets up the central point of workstation puts, closing device conveying mechanism with the sample storage area centers on the sampler sets gradually on the workstation.
Preferably, the movement path comprises at least one of: the automatic sampling device obtains a moving route of image information of a sampling plot, the moving route of the automatic sampling device to a sampling point according to a sampling path, and the moving route of the automatic sampling device to automatically return to a sampling initial position after sampling is completed.
Preferably, an opening communicated with the conveying mechanism is formed in the workbench, a shielding piece is arranged at the opening position and is rotatably connected with the workbench, and the controller controls the shielding piece to rotate, so that the opening is in a closed state or an open state.
Preferably, the closing device is including sealing mechanism, second actuating mechanism and at least one sample frame, the sample frame with workstation rotatable coupling when the opening is in the encapsulated situation, controller control second actuating mechanism drive the sample frame rotate in order to with the sample bag removes to the shielding part is regional, it is equipped with signal trigger unit on the mechanism to seal, signal trigger unit with the controller electricity is connected, seal the mechanism and accomplish once sealing the operation back, signal trigger unit to the controller sends a trigger signal, the controller basis trigger signal control the shielding part rotates in order to open the opening.
Preferably, the opening position is further provided with a rotating shaft for the shielding member and a limiting member for limiting the shielding member to a first position where the opening is closed, the shielding member is switched between the first position where the opening is closed and a second position where the opening is opened through the rotating shaft, the area below the opening and the sample storage area are communicated through the conveying mechanism, and when the shielding member rotates to the second position, the sample bag falls into the conveying mechanism and is conveyed to the sample storage area through the conveying mechanism.
Preferably, the both ends of pivot are equipped with connecting portion, the shielding piece with the connecting portion of pivot correspond the position and be equipped with the connection latch closure, the connection latch closure with connecting portion rotatable coupling.
Preferably, the conveying mechanism comprises a conveying mechanism, a first pressure sensor, a second pressure sensor and a first mechanical arm, and the first pressure sensor and the second pressure sensor are electrically connected with the controller;
when the sample bag falls into the conveying mechanism, the first pressure sensor generates a first pressure signal, the controller controls the conveying mechanism to start conveying the sample bag according to the first pressure signal, when the sample bag is conveyed to the tail end of the conveying mechanism, the second pressure sensor generates a second pressure signal, the controller controls the conveying mechanism to stop conveying the sample bag according to the second pressure signal, and the controller controls the first mechanical arm to transfer the sample bag to the sample storage area according to the second pressure signal.
Preferably, the sampler comprises a fixed seat, a telescopic rod, a U-shaped connecting rod and a sampling cylinder;
the sample thief passes through the fixing base is installed the central point of workstation puts, the one end of telescopic link with fixing base rotatable coupling, the other end of telescopic link with the one end of U type connecting rod is connected, the other end of U type connecting rod with the connection can be dismantled to the sampling tube.
Preferably, the method further comprises the following steps: the device comprises an image acquisition device for acquiring image information of sampling points and sampling plots and a positioning device for the mobile positioning of the sampling equipment.
The invention also provides an automatic sampling method for continuously and automatically sampling the surface soil at multiple points, which comprises the following steps:
s1: controlling the automatic sampling equipment to automatically navigate to the sampling point according to the positioning information and the moving path of the sampling point;
s2: controlling a sampler to sample soil at the sampling point, and filling the collected soil sample into a sample bag;
s3: after sampling of all sampling points is completed, controlling a sealing device to seal a sample bag for storing a soil sample;
s4: controlling a conveying mechanism to transfer the sealed sample bag to a sample storage area;
s5: and the automatic sampling equipment automatically returns after sampling is finished.
In conclusion, the beneficial effects of the invention are as follows:
according to the invention, the sampling moving path is set in the controller, the automatic sampling equipment automatically navigates to the sampling point according to the sampling path, automatic sampling is carried out through the sampler, the collected soil sample is loaded into the sample bag, after sampling is completed at all the sampling points, the sealing device seals the sample bag loaded with the soil sample, and then the sample bag is transported to the sample storage area by the conveying mechanism for storage, so that full-automatic sampling is realized, the sampling efficiency and the sampling accuracy are improved, and the labor intensity of surveying personnel is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, without any creative effort, other drawings may be obtained according to the drawings, and these drawings are all within the protection scope of the present invention.
FIG. 1 is a schematic diagram of an external structure of an automatic sampling apparatus for topsoil of a dry land in accordance with an embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of an internal structure of an automatic sampling apparatus for topsoil of a dry land according to embodiment 1 of the present invention;
FIG. 3 is a schematic structural diagram of a workbench of an automatic sampling apparatus for topsoil in dry land in embodiment 1 of the present invention;
FIG. 4 is a schematic structural diagram of a sealing device of the automatic sampling apparatus for topsoil in dry land in accordance with embodiment 1 of the present invention;
FIG. 5 is a schematic structural diagram of a conveying mechanism of the automatic sampling apparatus for topsoil of dry land in embodiment 1 of the present invention;
FIG. 6 is a schematic structural diagram of a sampler of the automatic sampling apparatus for topsoil of dry land in embodiment 1 of the present invention;
FIG. 7 is a schematic flow chart of a method for automatically sampling topsoil in a dry land according to an embodiment 2 of the present invention;
fig. 8 is a schematic flow chart of sampling at a sampling point by the method for automatically sampling topsoil in a dry land in embodiment 2 of the invention.
Reference numbers of fig. 1-6:
1. a work table; 11. a camera; 12. mounting holes; 13. a sampler; 1301. a fixed seat; 1302. a third rotating shaft; 1303. a telescopic rod; 1304. a U-shaped connecting rod; 1305. a sampling tube; 14. a shield; 1401. connecting a ring buckle; 1402. a switching mechanism; 1403. a limiting member; 15. a sealing device; 1501. a second rotating shaft; 1502. a mounting ring; 1503. a sample holder; 1504. a sealing mechanism; 16. a crawler belt; 17. a mobile control terminal; 18. a sample storage area; 19. a conveying mechanism; 1901. a first pressure sensor; 1902. a second pressure sensor; 1903. a first robot arm; 1904. a conveyor belt; 1905. a fourth rotating shaft; 1906. and a fifth rotating shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In case of conflict, it is intended that the embodiments of the present invention and the individual features of the embodiments may be combined with each other within the scope of the present invention.
Example 1:
as shown in fig. 1 and fig. 2, an embodiment 1 of the present invention discloses an automatic sampling apparatus for topsoil on dry land, which includes a working table 1, a housing of the working table 1 forms a cavity inside, a mounting hole 12 for mounting a sampler 13 is provided at a central position of the cavity, an opening communicated with a conveying mechanism 19 is formed on the working table 1, a shielding member 14, the conveying mechanism 19 and a sample storage area 18 mounted on the opening are sequentially disposed on the working table 1 along clockwise or counterclockwise (not shown) around the sampler 13, a sealing device 15 is disposed at a position corresponding to the shielding member 14, a camera 11 is disposed in front of the movement direction of the working table 1, and a traveling mechanism is provided at the bottom of the working table 1, and is preferably a crawler 16, so as to improve the balance of the working table 1 moving in special scenes such as dry land; the work table 1 is also internally provided with a controller (not shown) and a mobile control terminal 17 which is in radio connection with the controller, and the remote control of the sampler is realized through the mobile control terminal 17.
In one embodiment, the communication mode of the controller and the mobile control terminal 17 is preferably bluetooth communication and/or IP/TCP communication and/or WIFI communication.
In one embodiment, the method further comprises: the sampler comprises an image acquisition device for acquiring image information of sampling points and sampling plots, a positioning device for mobile positioning of the sampler and a mobile control terminal connected with the controller through a wireless network;
the mobile control terminal is used for setting a moving path of the sampler and receiving and checking information returned by the controller, and the moving path comprises: the sampler obtains a moving route of image information of a sampling land, the moving route of the sampler to a sampling point according to a sampling path, and the moving route of the sampler to automatically return to a sampling initial position after sampling is completed.
Specifically, the sampler acquires image information and coordinate information of a land parcel through a positioning device and an image acquisition device in the moving process, and a surveying worker determines a sampling point and a sampling path according to the image information and the coordinate information; and meanwhile, the sampler automatically navigates to a sampling point according to the positioning information and the moving path of the positioning device, the positioning device preferably selects a GPS, and the image acquisition device preferably selects a camera 11.
In an embodiment, as shown in fig. 3, a preferred embodiment of a working platform 1 is provided, an opening communicating with the conveying mechanism 19 is formed on the working platform 1, the sampler further includes a limiting member 1403, a shielding member 14 disposed at the opening position, and a switching mechanism 1402 for resetting the shielding member 14; the shutter 14 is rotatably connected to the table 1, the stopper 1403 is used to limit the shutter 14 to a first position where the opening is closed, the shutter 14 can be rotated to a second position where the sample bag falls from the opening to the conveying mechanism 19, the switching mechanism 1402 is used to switch the shutter 14 between the first position and the second position, the switching mechanism 1402 is preferably a rotating shaft driven by a driving motor, and can also be a spring or the like, and the shutter 14 is preferably a flat-plate-structure shutter.
Specifically, when the switching mechanism 1402 is a rotating shaft, two ends of the switching mechanism 1402 are provided with connecting portions for connecting with the shutter 14, a connecting ring 1401 is disposed at a position on the shutter 14 corresponding to the connecting portions, the shutter 14 is rotatably linked with the switching mechanism 1402 through the connecting ring 1401, the shutter 14 can rotate around an axis of the switching mechanism 1402, the servo motor is used to control the switching mechanism 1402 to rotate, so that the shutter 14 can rotate to a position where the sample bag falls into the conveying mechanism 19 from the opening, and the shutter 14 returns to a position where the opening is closed, at least one limiting member 1403 is further disposed at the opening position, and the limiting member 1403 is used to limit the shutter 14 to a position where the opening is closed, thereby preventing the shutter from rotating abnormally.
Through the shielding piece 14 rotatably connected with the workbench 1, the sample bags fall on the conveying mechanism 19 under the action of gravity, the conveying mechanism 19 and the shielding piece 14 are arranged at the upper and lower positions, the conveying mechanism 19 is positioned in the workbench 1, the transportation of the sample bags is closed, and the transportation safety of special scenes such as dry land can be prevented.
In one embodiment, as shown in fig. 4, there is provided a preferred embodiment of a sealing device 15, wherein the sealing device 15 comprises a sealing mechanism 1504, a second driving mechanism 1502, at least one sample rack 1503, the sample rack 1503 being rotatably connected to the working platform 1, and the controller is configured to control the second driving mechanism 1502 to drive the sample rack 1503 to rotate so as to move the sample bag to the area of the shutter 14.
Specifically, a plurality of sample racks 1503 are arranged on the second driving mechanism 1502, and a sample bag is sleeved at the front end of each sample rack 1503, so that a sampler can sample a plurality of discontinuous plots conveniently, and the sampling is returned after the sampling is completed, thereby improving the sampling efficiency.
In an embodiment, a specific control manner of the limiting member 1403 is provided, the sealing mechanism 15 is provided with a signal trigger unit, the signal trigger unit is electrically connected to the controller, after each sealing operation of the sealing mechanism 15 is completed, the signal trigger unit sends a trigger signal to the controller, and the controller releases the limiting member 1403 according to the trigger signal to limit the shielding member 14 at the first position where the opening is closed.
Specifically, when shielding member 14 is in when the first position of opening confined, the sample bag is placed on shielding member 14, sample thief 13 is deposited soil sample collection in the sample bag, after all sampling points all accomplished the sampling, closing device 15 seals the sample bag through sealing mechanism 1504, after sealing mechanism 1504 accomplished the action of sealing, the signal trigger unit of sealing mechanism 1504 can produce a trigger signal, after the controller received this trigger signal, just removed the position restriction of locating part 1403 to shielding member 14. The motion of the limiting member 1403 is controlled by the controller, so that the linkage control of the sealing operation of the limiting member 1403 and the sealing mechanism 1504 is realized, and the control efficiency and accuracy are improved.
In an embodiment, the limiting member 1403 is further provided with a detecting unit, when the shielding plate enables the shielding member 1403 to reach the first position from the second position through the switching mechanism, the detecting unit generates a trigger signal, and the controller controls the limiting member 1403 to operate according to the trigger signal, so that the limiting member 1403 limits the shielding member 14 at the first position where the opening is closed.
The position of the limiting part is provided with the detection unit, and the limiting part is controlled to limit the position of the shielding part through a detection signal, so that the accuracy and the efficiency are improved.
In one embodiment, as shown in fig. 5, a preferable solution of a transportation mechanism 19 is provided, where the transportation mechanism 19 includes a transfer mechanism 1904, a first pressure sensor 1901, a second pressure sensor 1902, and a first robot 1903, and the first pressure sensor 1901 and the second pressure sensor 1902 are electrically connected to the controller;
when the sample bag falls into the conveying mechanism 19, the first pressure sensor 1901 generates a first pressure signal, the controller controls the conveying mechanism 1904 to start conveying the sample bag according to the first pressure signal, when the sample bag is conveyed to the end of the conveying mechanism, the second pressure sensor 1902 generates a second pressure signal, the controller controls the conveying mechanism 1904 to stop conveying the sample bag according to the second pressure signal, and the first mechanical arm 1903 transfers the sample bag to the sample storage area.
Specifically, conveying mechanism 19 and shielding piece 14 are the upper and lower position setting, and the front end of opening position conveying mechanism 19 is located shielding piece 14 under, and conveying mechanism 19 communicates shielding piece 14 and sample storage area 18, and shielding piece 14 can rotate to make the sample bag follow the opening falls into when conveying mechanism 19's position, the sample bag falls into conveying mechanism 19 under the action of gravity to transport to sample storage area 18 through conveying mechanism 19.
Specifically, a first pressure sensor 1901 is disposed at a front end of the conveying mechanism 19, a second pressure sensor 1902 is disposed at a tail end of the conveying mechanism 19, a first mechanical arm 1903 is disposed at a position corresponding to the tail end of the conveying mechanism 19, when the front end of the conveying mechanism 19 is subjected to pressure of the sample bag, the first pressure sensor 1901 generates a first pressure signal, the controller controls the conveying mechanism 19 to move according to the first pressure signal, when the sample bag moves to the tail end of the conveying mechanism 19 along with the conveying mechanism 19, the second pressure sensor 1902 generates a second pressure signal, and the controller controls the conveying mechanism 19 to stop moving according to the second pressure signal and controls the first mechanical arm 1903 to transfer the sample bag to the sample storage area 18. Preferably, the conveying mechanism 19 is moved by the belt 1904 under the rotation of the fourth rotating shaft 1905 and the fifth rotating shaft 1906.
The first pressure sensor 1901 and the second pressure sensor 1902 start or stop the transmission according to the pressure signal generated by the sample bag on the conveyor belt 1904, thereby improving the accuracy of the transmission.
In one embodiment, as shown in fig. 6, a preferred solution of the sampler 13 is provided, wherein the sampler 13 includes a fixing base 1301, an expansion link 1303, a U-shaped connecting rod 1304, and a sampling cylinder 1305;
the sampler 13 is installed in the center of the workbench 1 through the fixing seat 1301, one end of the telescopic rod 1303 is rotatably connected with the fixing seat 1301, the other end of the telescopic rod 1303 is connected with one end of the U-shaped connecting rod 1304, and the other end of the U-shaped connecting rod 1304 is detachably connected with the sampling tube 1305.
The fixing seat 1301 is fixed to the side wall of the mounting hole 12, the fixing seat 1301 is provided with a mounting cavity, one end of the third rotating shaft 1302 is embedded into the mounting cavity, the other end of the third rotating shaft 1302 is connected with the telescopic rod 1303, the other end of the telescopic rod 1303 is connected with one end of the U-shaped connecting rod 1304, and the other end of the U-shaped connecting rod 1304 is detachably connected with the sampling barrel 1305.
Specifically, when the sampler 13 needs to sample, the third rotating shaft 1303 is rotated, and then the telescopic rod 1304 is adjusted, so that the sampling cylinder 1305 reaches the sampling position, and after the sampling of the sampling cylinder 1305 is completed, the telescopic rod 1305 is adjusted again and the third rotating shaft 1303 is rotated, so that the sampling cylinder 1305 reaches the position of the sample bag, and the sample is put into the sample bag. The sampling cylinder 1305 is preferably made of carbon fiber or bamboo charcoal fiber, so that the sampling cylinder is convenient to replace and the sampling efficiency is improved.
The connection relationship of the parts of the sampler 13 is not limited to this, and the sampler 13 may be designed as required to meet the requirements of automatic sampling and sample storage of the sampler.
Adopt embodiment 1's automatic sampling equipment of dry land top soil, the sample thief navigates to the sampling point according to the sampling route automatically, carries out automatic sampling through the sample thief, and pack the soil sample of gathering into the sample bag, all accomplish the sampling back at all sampling points, closing device seals the sample bag that is equipped with soil sample, then transport the sample bag to depositing the appearance district by conveying mechanism and deposit, realize full automatic sampling, improved the accuracy of sampling efficiency and sampling, reduced surveyor's intensity of labour.
Example 2
The invention also provides an automatic sampling method of surface soil of a dry land, which is used for sampling multi-point soil of the same land as shown in figure 7, and the method comprises the following steps:
s1: controlling the sampler to automatically navigate to move to the sampling point according to the positioning information and the movement path of the sampling point;
s2: controlling the sampler to sample soil at the sampling point, and filling the collected soil sample into a sample bag;
specifically, when the workbench moves to a sampling point according to a sampling path, the controller controls the sampler to sample the soil at the sampling point, then the workbench continues to move to the next sampling point along the sampling path, and after the next sampling point is reached, soil sampling is carried out at the next sampling point, and the soil sampling is put into the same sample bag; the sampling action is repeated until the sampling of all points is completed.
S3: after sampling of all sampling points is completed, controlling a sealing device to seal a sample bag for storing a soil sample;
specifically, the workbench moves to each sampling point once according to a set sampling motion track, after sampling at each sampling point is completed, the sampling bag is sealed by the sealing device, the sealed sample bag is conveyed to the sample storage area by the conveying mechanism, then the workbench returns to the initial sampling position or moves to the next land block, and then sampling is continued.
S4: controlling a conveying mechanism to transfer the sealed sample bag to a sample storage area;
s5: and the sampler automatically returns to the sampling initial position after sampling is finished.
In an embodiment, as shown in fig. 8, a preferred scheme of sampling at sampling points is provided, where in S2, the method includes:
s21: when the sampling point is reached, the camera acquires soil image information of a region to be sampled;
specifically, after the workbench moves to the sampling point according to the set sampling track, the camera shoots the landform characteristics of the sampling point again, image information is transmitted to the mobile control terminal, and a surveyor judges the landform characteristics to be sampled according to the shot image information and then sends sampling information or adjustment information to the controller.
S22: adjusting the sampling position of the sampler according to the soil image information;
specifically, the controller adjusts the sampling position of the sampler according to sampling information or adjustment information sent by the mobile control terminal, and adjusts the sampling tube of the sampler to a state suitable for sampling.
S23: and controlling the sampler to sample the soil according to the adjusted sampling position of the sampler.
In an embodiment, before S1, the method further includes:
controlling the workbench to move through a mobile control terminal, and scanning the plot to be sampled by using a camera;
specifically, a surveying staff controls the sampler to move on the to-be-sampled land through the mobile control terminal, the sampler starts the camera to acquire image information of the to-be-sampled land through the camera in the moving process, acquires coordinate information of the to-be-sampled land through the positioning device, and can obtain the landform characteristics and the boundary position of the to-be-sampled land according to the moving speed of the trolley and the image information, so that a coordinate system is established, and the surveying staff determines a sampling point and a sampling path according to the image information and the coordinate information.
By adopting the method for automatically sampling surface soil of the dry land of the embodiment 2, the sampler is remotely controlled to move on the sampling land block, the sampler obtains the coordinates and the topographic features of the land block through the positioning device and the camera device in the moving process, a surveyor sets a sampling point and a sampling path according to the coordinates and the topographic features, and then the sampler automatically navigates to the sampling point according to the sampling path and the positioning device for sampling; the automatic key returns the initial position that samples after the sampling is accomplished, simultaneously, after the sample thief removed to the sampling point, through the physiognomic characteristic of the sampling point of image acquisition device collection waiting to sample, send for the mobile control end, surveyor calibrates the sampling point position once more through the physiognomic characteristic of sampling point, then samples according to the sampling position after the adjustment, and this method has the sampling efficiency height, and the accuracy of sample is good, can improve the life of the sampling tube of sample thief simultaneously.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a continuous automatic sampling equipment of topsoil multiple spot which characterized in that includes:
a table forming a sample storage area for containing a soil sample;
the sampler is connected with the workbench and used for collecting soil samples and filling the collected soil samples into sample bags;
the sealing device is arranged on the workbench and is used for sealing the sample bag for storing the soil sample after the sampler finishes sampling all sampling points;
the conveying mechanism is used for transferring the sealed sample bag to the sample storage area;
the controller is used for controlling the automatic sampling equipment to move to a plurality of sampling points for sampling;
the mobile control terminal is used for setting a moving path of the automatic sampling equipment according to the image information and the coordinate information of the sampling land, and receiving and checking information returned by the controller;
the traveling mechanism is used for driving the workbench to move according to the moving path;
the sampler sets up the central point of workstation puts, closing device conveying mechanism with the sample storage area centers on the sampler sets gradually on the workstation.
2. The topsoil multipoint continuous automatic sampling apparatus of claim 1, wherein the movement path comprises at least one of: the automatic sampling device obtains a moving route of image information of a sampling plot, the moving route of the automatic sampling device to a sampling point according to a sampling path, and the moving route of the automatic sampling device to automatically return to a sampling initial position after sampling is completed.
3. The surface soil multipoint continuous automatic sampling device as claimed in claim 2, wherein an opening communicated with the conveying mechanism is formed on the workbench, a shielding piece is arranged at the opening position, the shielding piece is rotatably connected with the workbench, and the controller controls the shielding piece to rotate so that the opening is in a closed state or an open state.
4. The surface soil multipoint continuous automatic sampling device as claimed in claim 3, wherein the sealing device comprises a sealing mechanism, a second driving mechanism and at least one sample holder, the sample holder is rotatably connected with the workbench, when the opening is in a closed state, the controller controls the second driving mechanism to drive the sample holder to rotate so as to move the sample bag to the shielding member area, a signal triggering unit is arranged on the sealing mechanism and electrically connected with the controller, after each sealing operation of the sealing mechanism is completed, the signal triggering unit sends a triggering signal to the controller, and the controller controls the shielding member to rotate according to the triggering signal so as to open the opening.
5. The surface soil multipoint continuous automatic sampling device according to claim 4, wherein the opening position is further provided with a rotating shaft for the shielding member and a limiting member for limiting the shielding member to a first position at which the opening is closed, the shielding member is switched between the first position at which the opening is closed and a second position at which the opening is opened through the rotating shaft, the area below the opening and the sample storage area are communicated through the conveying mechanism, and when the shielding member rotates to the second position, a sample bag falls into the conveying mechanism and is conveyed to the sample storage area through the conveying mechanism.
6. The surface soil multipoint continuous automatic sampling device as claimed in claim 5, wherein the two ends of the rotating shaft are provided with connecting parts, the shielding member is provided with a connecting ring buckle at a position corresponding to the connecting part of the rotating shaft, and the connecting ring buckle and the connecting part are rotatably connected.
7. The surface soil multipoint continuous automatic sampling device according to claim 5, wherein the conveying mechanism comprises a conveying mechanism, a first pressure sensor, a second pressure sensor and a first mechanical arm, the first pressure sensor and the second pressure sensor are electrically connected with the controller;
when the sample bag falls into the conveying mechanism, the first pressure sensor generates a first pressure signal, the controller controls the conveying mechanism to start conveying the sample bag according to the first pressure signal, when the sample bag is conveyed to the tail end of the conveying mechanism, the second pressure sensor generates a second pressure signal, the controller controls the conveying mechanism to stop conveying the sample bag according to the second pressure signal, and the controller controls the first mechanical arm to transfer the sample bag to the sample storage area according to the second pressure signal.
8. The surface soil multipoint continuous automatic sampling device according to any one of claims 1 to 7, wherein the sampler comprises a fixed seat, a telescopic rod, a U-shaped connecting rod and a sampling cylinder;
the sample thief passes through the fixing base is installed the central point of workstation puts, the one end of telescopic link with fixing base rotatable coupling, the other end of telescopic link with the one end of U type connecting rod is connected, the other end of U type connecting rod with the connection can be dismantled to the sampling tube.
9. The surface soil multipoint continuous automatic sampling device according to any one of claims 1 to 7, further comprising:
the image acquisition device is used for acquiring image information of sampling points and sampling plots;
and the positioning device is used for movably positioning the sampling equipment.
10. An automatic sampling method for multi-point continuous automatic sampling of surface soil by using the sampling device of any one of claims 1 to 9, the method comprising:
s1: controlling the automatic sampling equipment to automatically navigate to the sampling point according to the positioning information and the moving path of the sampling point;
s2: controlling a sampler to sample soil at the sampling point, and filling the collected soil sample into a sample bag;
s3: after sampling of all sampling points is completed, controlling a sealing device to seal a sample bag for storing a soil sample;
s4: controlling a conveying mechanism to transfer the sealed sample bag to a sample storage area;
s5: and the automatic sampling equipment automatically returns after sampling is finished.
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|---|---|
| CN111638083B (en) | 2020-12-08 |
| CN112485039B (en) | 2024-03-12 |
| CN111638083A (en) | 2020-09-08 |
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