CN112485039B - Multi-point continuous automatic sampling equipment and method for surface soil - Google Patents
Multi-point continuous automatic sampling equipment and method for surface soil Download PDFInfo
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- CN112485039B CN112485039B CN202011312945.9A CN202011312945A CN112485039B CN 112485039 B CN112485039 B CN 112485039B CN 202011312945 A CN202011312945 A CN 202011312945A CN 112485039 B CN112485039 B CN 112485039B
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- 238000005070 sampling Methods 0.000 title claims abstract description 191
- 239000002689 soil Substances 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 100
- 238000007789 sealing Methods 0.000 claims abstract description 42
- 238000005527 soil sampling Methods 0.000 claims abstract description 7
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000036541 health Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
- G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N2001/021—Correlating sampling sites with geographical information, e.g. GPS
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 a multipoint continuous automatic sampling device and method for surface soil. The device comprises a workbench, a sampler, a sample storage area, a sealing device, a conveying mechanism, a travelling 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 travelling mechanism drives the workbench to move to a preset sampling position, and the mobile control terminal sets the moving path of the sampling device and monitors the working state of the automatic sampling device according to the image information and the coordinate information of the sampled plot. The invention also provides a method for sampling by using the device. 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 the invention patent application with the application number 202010537955.6, which is filed on 6 months and 12 days in 2020 and has the invention name of automatic sampling equipment and method for dry land surface soil.
Technical Field
The invention relates to the field of automatic soil sampling, in particular to automatic sampling equipment and method for surface soil of dry land.
Background
In order to better utilize the dry farmland, the soil of the dry farmland is required to be sampled before the dry farmland is used, the composition components of the soil are analyzed, the property of the soil is determined, the dry farmland is used in a targeted mode according to the property of the soil, the targeted use mode requires small use area, the representative soil is convenient to collect in a certain range, and the sampling accuracy is improved.
However, because the sampled dry land soil has uneven ground surface and unreasonable sampling complement points, the accuracy of the samples is low, meanwhile, the manual sampling is adopted to face the severe natural environment, even a plurality of dangers exist, the investigation personnel face various severe natural environments on the way of the running points, the labor intensity is high, and meanwhile, potential safety hazards possibly exist to endanger the health and safety of individuals.
In summary, the manual sampling or automatic sampling in the prior art has the problems of high sampling difficulty, incapability of adapting to severe natural environment and low sampling accuracy.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a multipoint continuous automatic sampling device and method for surface soil, 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 surface soil multipoint continuous automatic sampling equipment, which comprises:
a workbench, wherein a sample storage area for accommodating soil samples is formed on the workbench;
the sampler is connected with the workbench and is used for collecting soil samples and filling the collected soil samples into a sample bag;
the sealing device is arranged on the workbench and is used for sealing a sample bag for storing soil samples after the sampler finishes sampling all sampling points;
the conveying mechanism is used for conveying the sealed sample bags to the sample storage area;
the controller is used for controlling the automatic sampling equipment to move to a plurality of sampling points to sample;
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 block, and receiving and checking the information returned by the controller;
the travelling mechanism is used for driving the workbench to move according to the moving path;
the sampler is arranged at the center of the workbench, and the sealing device, the conveying mechanism and the sample storage area are sequentially arranged on the workbench around the sampler.
Preferably, the movement path includes at least one of: the automatic sampling equipment acquires a moving route of image information of a sampling land block, a moving route of the automatic sampling equipment to a sampling point according to a sampling path, and a moving route of the automatic sampling equipment automatically returning to a sampling starting 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 position of the opening, 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.
Preferably, the sealing device comprises a sealing mechanism, a second driving mechanism and at least one sample rack, the sample rack is rotatably connected with the workbench, when the opening is in a sealing state, the controller controls the second driving mechanism to drive the sample rack to rotate so as to move the sample bag to the shielding piece area, a signal triggering unit is arranged on the sealing mechanism and is electrically connected with the controller, and after the sealing mechanism finishes one sealing operation, the signal triggering unit sends a triggering signal to the controller, and the controller controls the shielding piece to rotate so as to open the opening according to the triggering signal.
Preferably, the position of the opening is further provided with a rotating shaft for the shielding member and a limiting member for limiting the shielding member to a first position for closing the opening, the shielding member is switched between the first position for closing the opening and a second position for opening the opening through the rotating shaft, the area below the opening is communicated with the sample storage area 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 two ends of the rotating shaft are provided with connecting parts, the shielding piece is provided with connecting buckles at positions corresponding to the connecting parts of the rotating shaft, and the connecting buckles are rotatably connected with the connecting parts.
Preferably, the conveying mechanism comprises a conveying mechanism, a first pressure sensor, a second pressure sensor and a first mechanical arm, wherein 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 second pressure sensor generates a second pressure signal when the sample bag is conveyed to the tail end of the conveying mechanism, 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 convey 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 tube;
the sampler is installed through the fixing base the central point of workstation puts, the one end of telescopic link with the 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 system comprises an image acquisition device for acquiring image information of sampling points and sampling plots and a positioning device for 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 points, and filling the collected soil samples into a sample bag;
s3: after sampling of all sampling points is completed, controlling a sealing device to seal a sample bag storing soil samples;
s4: controlling a conveying mechanism to convey the sealed sample bags to a sample storage area;
s5: the automatic sampling device automatically returns after sampling is completed.
In summary, 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, the sampling is carried out by the sampler, the collected soil sample is filled into the sample bag, after the sampling is completed at all the sampling points, the sealing device seals the sample bag filled with the soil sample, and then the sample bag is transported to the sample storage area for storage by the conveying mechanism, so that full-automatic sampling is realized, the sampling efficiency and the sampling accuracy are improved, and the labor intensity of a surveyor is reduced.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described, and it is within the scope of the present invention to obtain other drawings according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the external structure of an automatic sampling device for dry land surface soil according to embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of the internal structure of the automatic sampling device for dry land surface soil according to embodiment 1 of the present invention;
FIG. 3 is a schematic view of the structure of a workbench of the automatic sampling device for dry land surface soil in embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of a sealing device of the automatic sampling device for dry land surface soil according to embodiment 1 of the present invention;
FIG. 5 is a schematic diagram showing the structure of a conveying mechanism of the automatic sampling device for dry land surface soil according to embodiment 1 of the present invention;
FIG. 6 is a schematic diagram of the structure of a sampler of the automatic sampling device for dry land surface soil according to embodiment 1 of the present invention;
FIG. 7 is a flow chart of the method for automatically sampling soil on a dry land according to embodiment 2 of the present invention;
fig. 8 is a schematic diagram of a flow chart of sampling at sampling points in the method for automatically sampling soil on dry land according to embodiment 2 of the present invention.
Reference numerals of fig. 1-6:
1. a work table; 11. a camera; 12. a mounting hole; 13. a sampler; 1301. a fixing 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 the ring buckle; 1402. a switching mechanism; 1403. a limiting piece; 15. a sealing device; 1501. a second rotating shaft; 1502. a mounting ring; 1503. a sample holder; 1504. a sealing mechanism; 16. a track; 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 mechanical 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 more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is noted that relational terms such as first and second, and the like are 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 should 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 the orientation or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Moreover, 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 like elements in a process, method, article or apparatus that comprises the element. If not conflicting, the embodiments of the present invention and the features of the embodiments may be combined with each other, which are all within the protection scope of the present invention.
Example 1:
as shown in fig. 1 and 2, embodiment 1 of the present invention discloses an automatic sampling device for surface soil of dry land, comprising a workbench 1, wherein a cavity is formed in the housing of the workbench 1, a mounting hole 12 for mounting a sampler 13 is formed in the center of the cavity, an opening communicated with a conveying mechanism 19 is formed on the workbench 1, a shielding member 14, the conveying mechanism 19 and a sample storage area 18 mounted on the opening are sequentially arranged on the workbench 1 clockwise or anticlockwise (not shown) around the sampler 13, a sealing device 15 is arranged at a position corresponding to the shielding member 14, a camera 11 is arranged in front of the movement direction of the workbench 1, a travelling mechanism is arranged at the bottom of the workbench 1, and a crawler 16 is preferable for the travelling mechanism, so that the balance of the workbench 1 moving in special scenes such as dry land can be improved; a controller (not shown) and a mobile control terminal 17 in radio connection with the controller are also provided in the table 1, and remote control of the sampler is achieved by the mobile control terminal 17.
In an embodiment, the controller and mobile control terminal 17 preferably communicate via bluetooth and/or IP/TCP and/or WIFI.
In an embodiment, further comprising: the system 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, receiving and checking information returned by the controller, and the moving path comprises: the sampler acquires a moving route of image information of a sampling land block, a moving route of the sampler to a sampling point according to a sampling path, and a moving route of the sampler automatically returning to a sampling starting position after sampling is completed.
Specifically, the sampler acquires image information and coordinate information of a land block in the moving process through the positioning device and the image acquisition device, and a surveyor determines sampling points and sampling paths according to the image information and the coordinate information; 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 is preferably a GPS, and the image acquisition device is preferably a camera 11.
In one embodiment, as shown in fig. 3, a preferred embodiment of the workbench 1 is provided, an opening communicating with the conveying mechanism 19 is formed on the workbench 1, the sampler further comprises a limit member 1403, a shielding member 14 arranged at the position of the opening, and a switching mechanism 1402 for resetting the shielding member 14; the shielding member 14 is rotatably connected to the table 1, the stopper 1403 is used for restricting the shielding member 14 to a first position for closing the opening, the shielding member 14 is rotatable to a second position, the second position is a position for allowing the sample bag to fall into the conveying mechanism 19 from the opening, the switching mechanism 1402 is used for switching the shielding member 14 between the first position and the second position, the switching mechanism 1402 is preferably a rotating shaft driven by a driving motor, a device with equivalent benefits such as a spring, and the shielding member 14 is preferably a baffle plate with a planar structure.
Specifically, when the switching mechanism 1402 is a rotating shaft, two ends of the switching mechanism 1402 are provided with connection parts for connecting with the shielding member 14, a connection ring buckle 1401 is arranged at a position on the shielding member 14 corresponding to the connection parts, the shielding member 14 is rotatably linked with the switching mechanism 1402 through the connection ring buckle 1401, the shielding member 14 can rotate around the axis of the switching mechanism 1402, the switching mechanism 1402 is controlled to rotate by a servo motor, the shielding member 14 can rotate to a position for enabling a sample bag to fall into the conveying mechanism 19 from the opening, the shielding member 14 returns to a position for closing the opening, at least one limiting member 1403 is further arranged at the opening position, and the limiting member 1403 is used for limiting the shielding member 14 at a position for closing the opening, so that abnormal rotation of the shielding member is prevented.
Through the shielding piece 14 rotatably connected with the workbench 1, the sample bag falls on the conveying mechanism 19 under the action of gravity, the upper and lower positions of the conveying mechanism 19 and the shielding piece 14 are arranged, the conveying mechanism 19 is positioned in the workbench 1, and the transportation of the sample bag is closed, so that the transportation safety of special scenes such as dry lands can be prevented.
In an embodiment, as shown in fig. 4, a preferred embodiment of the sealing device 15 is provided, the sealing device 15 includes a sealing mechanism 1504, a second driving mechanism 1502 and at least one sample holder 1503, the sample holder 1503 is rotatably connected to the workbench 1, and the controller is used for controlling the second driving mechanism 1502 to drive the sample holder 1503 to rotate so as to move the sample bag to the area of the shielding member 14.
Specifically, a plurality of sample frames 1503 are arranged on the second driving mechanism 1502, and the front end of each sample frame 1503 is sleeved with a sample bag, so that a sampler can conveniently sample a plurality of discontinuous plots, and the samples are returned after being sampled, and the sampling efficiency is improved.
In an embodiment, a specific control manner of the limiting member 1403 is provided, the sealing mechanism 15 is provided with a signal triggering unit, the signal triggering unit is electrically connected with the controller, after each sealing operation of the sealing mechanism 15 is completed, the signal triggering unit sends a triggering signal to the controller, and the controller releases the limiting member 1403 according to the triggering signal to limit the shielding member 14 to the first position where the opening is closed.
Specifically, when the shielding member 14 is at the first position where the opening is closed, the sample bag is placed on the shielding member 14, the sampler 13 collects the soil sample and stores the soil sample in the sample bag, after all sampling points are sampled, the sealing device 15 seals the sample bag through the sealing mechanism 1504, after the sealing mechanism 1504 finishes the sealing action, the signal triggering unit of the sealing mechanism 1504 generates a triggering signal, and after the controller receives the triggering signal, the position limitation of the shielding member 14 by the limiting member 1403 is released. The motion of the limiting piece 1403 is controlled by the controller, so that linkage control of sealing operation of the limiting piece 1403 and the sealing mechanism 1504 is realized, and control efficiency and accuracy are improved.
In an embodiment, the limiting member 1403 is further provided with a detecting unit, when the shielding member 1403 reaches 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 act according to the trigger signal, so that the limiting member 1403 limits the shielding member 14 to the first position for closing the opening.
Through setting up detecting element in the locating part position, control the locating part through the detected signal and to the position limitation of this shielding member, improved accuracy and efficiency.
In one embodiment, as shown in fig. 5, a preferred embodiment of the conveying mechanism 19 is provided, wherein the conveying mechanism 19 includes a conveying mechanism 1904, a first pressure sensor 1901, a second pressure sensor 1902, and a first mechanical arm 1903, and the first pressure sensor 1901 and the second pressure sensor 1902 are electrically connected with the controller;
the first pressure sensor 1901 generates a first pressure signal when the sample bag falls into the conveying mechanism 19, the controller controls the conveying mechanism 1904 to start conveying the sample bag according to the first pressure signal, the second pressure sensor 1902 generates a second pressure signal when the sample bag is conveyed to the tail end of the conveying mechanism, 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, the conveying mechanism 19 and the shielding member 14 are disposed in an up-down position, and at the opening position, the front end of the conveying mechanism 19 is located under the shielding member 14, the conveying mechanism 19 communicates the shielding member 14 with the sample storage area 18, and when the shielding member 14 is rotated to a position where the sample bag falls into the conveying mechanism 19 from the opening, the sample bag falls into the conveying mechanism 19 under the action of gravity and is transported to the sample storage area 18 through the conveying mechanism 19.
Specifically, a first pressure sensor 1901 is disposed at the front end of the conveying mechanism 19, a second pressure sensor 1902 is disposed at the end of the conveying mechanism 19, a first mechanical arm 1903 is disposed at a corresponding position of the end of the conveying mechanism 19, when the front end of the conveying mechanism 19 receives the 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 from the conveying mechanism 19 to the end of 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 conveyor 19 moves with the rotation of the fourth shaft 1905 and the fifth shaft 1906 using a conveyor belt 1904.
After the first pressure sensor 1901 and the second pressure sensor 1902 start or stop conveying according to the pressure signal generated by the sample bag on the conveyor belt 1904, the conveying accuracy is improved.
In one embodiment, as shown in fig. 6, a preferred embodiment of the sampler 13 is provided, wherein the sampler 13 comprises a fixing seat 1301, a telescopic rod 1303, a U-shaped connecting rod 1304 and a sampling tube 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 on 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, then the telescopic rod 1304 is adjusted to enable the sampling tube 1305 to reach the sampling position, and when the sampling tube 1305 finishes sampling, the telescopic rod 1305 is adjusted again and the third rotating shaft 1303 is rotated to enable the sampling tube 1305 to reach the position of the sample bag, so that the sample is put into the sample bag. The sampling tube 1305 is preferably made of carbon fiber or bamboo carbon fiber, is convenient to replace, and improves sampling efficiency.
The connection relation of each part of the sampler 13 is not limited to this, and the sampler 13 can be designed according to the needs, so that the automatic sampling and sample storage of the sampler can be satisfied.
By adopting the dry land surface soil automatic sampling equipment of the embodiment 1, the sampler automatically navigates to sampling points according to sampling paths, the sampler automatically samples, the collected soil samples are filled into sample bags, after all sampling points are sampled, the sealing device seals the sample bags filled with the soil samples, and then the sample bags are transported to a sample storage area for storage by the conveying mechanism, so that full-automatic sampling is realized, the sampling efficiency and the sampling accuracy are improved, and the labor intensity of surveyors is reduced.
Example 2
The invention also provides an automatic sampling method for the surface soil of the dry land, as shown in fig. 7, which is used for multipoint soil sampling of the same land, and comprises the following steps:
s1: controlling the sampler to automatically navigate to move to the sampling point according to the positioning information and the moving path of the sampling point;
s2: controlling the sampler to sample soil at the sampling points, and filling the collected soil samples into a sample bag;
specifically, when the workbench moves to one sampling point according to the sampling path, the controller controls the sampler to sample soil at the sampling point, then the workbench continues to move to the next sampling point along the sampling path, soil sampling is performed after the workbench reaches the next sampling point, and the soil is placed into the same sample bag; the sampling action is repeated until sampling of all points is completed.
S3: after sampling of all sampling points is completed, controlling a sealing device to seal a sample bag storing soil samples;
specifically, the workbench moves to each sampling point at one time according to a set sampling motion track, after sampling is completed for each sampling point, the sealing device seals the sampling bag, the sealed sampling bag is sent to a sample storage area by the conveying mechanism, and 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 convey the sealed sample bags to a sample storage area;
s5: and the sampler automatically returns to the sampling initial position after the sampling is completed.
In an embodiment, as shown in fig. 8, a preferred solution of sampling at a sampling point is provided, and in S2, the method includes:
s21: when the sampling point is reached, the camera acquires soil image information of the area to be sampled;
specifically, when the workbench moves to a sampling point according to a set sampling track, the camera shoots the landform features of the sampling point again, and transmits image information to the mobile control terminal, and a reconnaissance person judges the landform features to be sampled according to the shot image information and then sends sampling information or adjustment information to the controller.
S22: according to the soil image information, adjusting the sampling position of a sampler;
specifically, the controller adjusts the sampling position of the sampler according to sampling information or adjusting information sent by the mobile control terminal, and simultaneously adjusts the sampling tube of the sampler to a state suitable for sampling.
S23: and controlling the sampler to sample soil according to the adjusted sampling position of the sampler.
In an embodiment, before S1, the method further includes:
the mobile control terminal controls the workbench to move, and the camera is utilized to scan the land block to be sampled;
specifically, a surveyor controls the sampler to move on a land block to be sampled through the mobile control terminal, the sampler starts a camera to acquire image information of the land block to be sampled through the camera in the moving process, and acquires coordinate information of the land block to be sampled through the positioning device, and the landform characteristics and the boundary position of the land block to be sampled can be obtained according to the moving speed and the image information of the trolley, so that a coordinate system is established, and the surveyor determines sampling points and sampling paths according to the image information and the coordinate information.
By adopting the automatic sampling method of the dry land surface soil in the embodiment 2, the sampler moves on a sampling land block through a remote control, the sampler obtains coordinates and landform features of the land block through a positioning device and a camera device in the moving process, a surveyor sets sampling points and sampling paths according to the coordinates and the landform features, and then the sampler automatically navigates to the sampling points for sampling according to the sampling paths and the positioning device; and simultaneously, after the sampler moves to a sampling point, the geomorphic characteristics of the sampling point to be sampled are collected through the image collecting device and sent to the mobile control end, a surveyor calibrates the position of the sampling point again through the geomorphic characteristics of the sampling point, and then samples according to the adjusted sampling position.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. A surface soil multipoint continuous automatic sampling device, comprising:
a workbench, wherein a sample storage area for accommodating soil samples is formed on the workbench;
the sampler is connected with the workbench and is used for collecting soil samples and filling the collected soil samples into a sample bag;
the sealing device is arranged on the workbench and is used for sealing a sample bag for storing soil samples after the sampler finishes sampling all sampling points;
the conveying mechanism is used for conveying the sealed sample bags to the sample storage area;
the controller is used for controlling the automatic sampling equipment to move to a plurality of sampling points to sample;
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 block, and receiving and checking the information returned by the controller;
the travelling mechanism is used for driving the workbench to move according to the moving path;
the sampler is arranged at the center of the workbench, and the sealing device, the conveying mechanism and the sample storage area are sequentially arranged on the workbench around the sampler;
the workbench is provided with an opening communicated with the conveying mechanism, a shielding piece is arranged at the position of the opening, the shielding piece is rotationally 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;
the opening position is also provided with a rotating shaft for the shielding piece and a limiting piece for limiting the shielding piece to a first position for closing the opening, the shielding piece is switched between the first position for closing the opening and a second position for opening the opening through the rotating shaft, the area below the opening is communicated with the sample storage area through the conveying mechanism, and when the shielding piece 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.
2. The surface soil multipoint continuous automatic sampling apparatus according to claim 1, wherein the movement path comprises at least one of: the automatic sampling equipment acquires a moving route of image information of a sampling land block, a moving route of the automatic sampling equipment to a sampling point according to a sampling path, and a moving route of the automatic sampling equipment automatically returning to a sampling starting position after sampling is completed.
3. The continuous, automatic, multipoint soil sampling device according to claim 1, 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 area of the shielding member, the sealing mechanism is provided with a signal triggering unit, the signal triggering unit is electrically connected with the controller, and 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 so as to open the opening according to the triggering signal.
4. The continuous and automatic surface soil multipoint sampling device according to claim 1, wherein connecting portions are arranged at two ends of the rotating shaft, the shielding piece is provided with a connecting ring buckle at a position corresponding to the connecting portion of the rotating shaft, and the connecting ring buckle is rotatably connected with the connecting portion.
5. The surface soil multipoint continuous automatic sampling apparatus according to claim 1, 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 being 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 second pressure sensor generates a second pressure signal when the sample bag is conveyed to the tail end of the conveying mechanism, 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 convey the sample bag to the sample storage area according to the second pressure signal.
6. The surface soil multipoint continuous automatic sampling apparatus according to any one of claims 1 to 5, wherein the sampler comprises a fixed seat, a telescopic rod, a U-shaped connecting rod and a sampling tube;
the sampler is installed through the fixing base the central point of workstation puts, the one end of telescopic link with the 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.
7. The apparatus for multipoint continuous automatic sampling of surface soil according to any one of claims 1 to 5, further comprising:
the image acquisition device is used for acquiring image information of the sampling points and the sampling plots;
and the positioning device is used for mobile positioning of the sampling equipment.
8. A method of automatic sampling using the sampling device of any one of claims 1 to 7 for multipoint continuous automatic sampling of surface soil, 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 points, and filling the collected soil samples into a sample bag;
s3: after sampling of all sampling points is completed, controlling a sealing device to seal a sample bag storing soil samples;
s4: controlling a conveying mechanism to convey the sealed sample bags to a sample storage area;
s5: the automatic sampling device automatically returns after sampling is completed.
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| CN113447297B (en) * | 2021-07-07 | 2022-08-05 | 国家地质实验测试中心 | Soil sediment DGT sampling device and method |
| CN114295614B (en) * | 2021-12-31 | 2023-06-27 | 湖北省农业科学院农业质量标准与检测技术研究所 | Tea plant disease and insect pest detection vehicle, detection device, detection system and detection method |
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| CN111638083B (en) | 2020-12-08 |
| CN111638083A (en) | 2020-09-08 |
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