CN114674598A - Integrated form soil sampling device - Google Patents
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Abstract
An embodiment of the present specification provides an integrated form soil sampling device, the device includes: the sampling module is used for sampling soil; the detection module is used for carrying out first detection on the soil sample sampled by the sampling module and determining a first detection result corresponding to the soil sample; and the control module is used for controlling the sampling module to sample and controlling the detection module to detect the sampled soil sample.
Description
Technical Field
This specification relates to soil sampling technical field, in particular to integrated form soil sampling device.
Background
The soil sampling mostly adopts methods such as a diagonal sampling method, a quincunx sampling method, a checkerboard type sampling valve and a snake-shaped sampling method, the selection of the horizontal position and the drilling depth of the sampling often depends on the experience of technicians, and the condition of inaccuracy exists.
Therefore, it is necessary to provide an integrated soil sampling device to ensure the accuracy of soil sampling and improve the production efficiency.
Disclosure of Invention
One of the embodiments of the present specification provides an integrated soil sampling device. The integrated form soil sampling device includes: the sampling module is used for sampling soil; the detection module is used for carrying out first detection on the soil sample sampled by the sampling module and determining a first detection result corresponding to the soil sample; and the control module is used for controlling the sampling module to sample and controlling the detection module to detect the sampled soil sample.
One of the embodiments of the present specification provides an integrated soil sampling method, including: controlling the sampling module to sample soil; and controlling the detection module to perform first detection on the soil sample sampled by the sampling module, and determining a first detection result corresponding to the soil sample.
One of the embodiments of the present disclosure provides a computer-readable storage medium storing computer instructions, wherein when the computer reads the computer instructions stored in the storage medium, the computer performs an integrated soil sampling method.
Drawings
The present description will be further explained by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, and in these embodiments like numerals are used to indicate like structures, wherein:
FIG. 1 is an exemplary device diagram of an integrated soil sampling device according to some embodiments herein;
FIG. 2 is a schematic structural diagram of an integrated soil sampling rig according to some embodiments herein;
FIG. 3 is an exemplary flow chart of an integrated soil sampling method according to some embodiments herein;
FIG. 4 is an exemplary flow diagram of an integrated soil sampling method according to some embodiments described herein;
FIG. 5A is a schematic illustration of a borehole depth for soil sampling according to some embodiments described herein;
FIG. 5B is a schematic illustration of a horizontal position of a soil sample according to some embodiments herein;
FIG. 6 is a schematic diagram of a location prediction model structure, according to some embodiments of the present description.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only examples or embodiments of the present description, and that for a person skilled in the art, the present description can also be applied to other similar scenarios on the basis of these drawings without inventive effort. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.
It should be understood that "system", "apparatus", "unit" and/or "module" as used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this specification and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
Flow charts are used in this description to illustrate operations performed by a system according to embodiments of the present description. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
Fig. 1 is an exemplary device diagram of an integrated soil sampling device, shown in accordance with some embodiments herein.
The integrated soil sampling device 100 can be used for soil sampling and detection of underground environment. In some embodiments, integrated soil sampling device 100 may include a sampling module 110, a detection module 140, and a control module 150. Wherein, the modules can be connected with each other. As shown in fig. 2, the integrated soil sampling device 100 may be an integrated soil sampling rig 200, and the integrated soil drilling rig 200 may include a soil sampler 211, a detector 214, and an operation table 218.
The detection module 140 may be configured to perform a first detection on the soil sample sampled by the sampling module, and determine a first detection result corresponding to the soil sample. As shown in fig. 2, the detection module 140 may be a detector 214 in the integrated soil sampling rig 200. Further details regarding the first detection and the first detection result are shown in fig. 3 and related descriptions, which are not repeated herein.
The control module 150 may be configured to control the sampling module to sample and control the detection module to detect the sampled soil sample. As shown in fig. 2, the control module 150 may be an operator station 218 in the integrated soil sampling rig 200. For more details on controlling the sampling module and the detection module, refer to fig. 3 and the related description thereof, which are not repeated herein. In some embodiments, the control module 150 may be configured to determine location information of the soil sample sampled by the sampling module in the soil, determine new sampling location information based on the location information, the first detection result, the temperature information, the flow rate information, and control the sampling module to sample the soil at the new sampling location information. For more details on the location information and the determination method thereof, refer to fig. 4 and the related description thereof, which are not repeated herein. In some embodiments, the control module 150 may be configured to process the location information, the temperature information, the flow rate information, the soil sample image, and the first detection result based on the location prediction model to determine new sampling location information. The position prediction model can comprise an image characteristic determination layer and a position determination layer, wherein the input of the image characteristic determination layer is a soil sample image, the output of the image characteristic determination layer is the image characteristic of the soil sample image, the input of the position determination layer is position information, temperature information, flow speed information, image characteristic and detection result, and the output of the position determination layer is new sampling position information. For more details on the location prediction model, refer to fig. 4 and 6 and their related descriptions, which are not repeated herein.
In some embodiments, integrated soil sampling device 100 may further include a temperature measurement module 120, a flow and flow rate measurement module 130, a camera module 160, a sample transport module 170, and a communication module 180. In some embodiments, sampling module 110, temperature measurement module 120, and flow rate measurement module 130 may be interconnected. Correspondingly, as shown in fig. 2, the integrated soil sampling drilling rig 200 may further include a temperature sensor 212, a flow meter 213, a camera 215, a drone docking platform 216, a drone 217, and a communicator 219.
The temperature measurement module 120 may be used to measure temperature information of the soil as the sampling module samples the soil. As shown in fig. 2, the temperature measurement module 120 may be a temperature sensor 212 in the integrated soil sampling rig 200. For more details on the temperature information and the measurement method thereof, refer to fig. 4 and the related description thereof, which are not repeated herein.
The flow and flow rate measurement module 130 may be used to measure flow information and flow rate information of the liquid in the soil when the sampling module performs soil sampling. As shown in fig. 2, the flow and velocity measurement module 130 may be a flow meter 213 in the integrated soil sampling rig 200. In some embodiments, temperature sensor 212 and flow meter 213 may be disposed on soil sampler 211. For more details on the flow rate, the flow velocity information and the measurement method thereof, refer to fig. 4 and the related description thereof, which are not repeated herein.
The camera module 160 may be configured to capture a soil sample to obtain an image of the soil sample. As shown in fig. 2, the camera module 160 may be a camera 215 in the integrated soil sampling rig 200. For more details on the soil sample image, refer to fig. 4 and its related description, which are not repeated herein.
The sample transportation module 170 may be configured to transport the soil sample sampled by the sampling module to a preset location for a second detection, and determine a second detection result corresponding to the soil sample. As shown in fig. 2, the sample transport module 170 may be a drone docking platform 216 and drone 217 in the integrated soil sampling rig 200. For more details on the second detection and its result, refer to fig. 3 and its related description, which are not repeated herein.
In some embodiments, the soil sample sampled by the sampling module may be analyzed by the sample analysis model to determine whether a second test is required. For more details on the sample analysis model, refer to fig. 3 and its related description, which are not repeated herein.
The communication module 180 may be configured to send the soil sample image to a control center, and receive feedback information and a control instruction sent by the control center; the feedback information may include judgment information on the soil sample image, and the input of the position determination layer in the position prediction model may further include the judgment information. As shown in fig. 2, the communication module 180 may be a communication device 219 in the integrated soil sampling drilling rig 200. For more details on the feedback information, the judgment information and the control command, refer to fig. 4 and the related description thereof, which are not repeated herein.
In some embodiments, integrated soil sampling device 100 may also include other modules (not shown in fig. 1). For example, the integrated soil sampling device 100 may further include one or any combination of a walking module, a vehicle body structure module, a drilling tool library module, a power module, a luffing device module, a robotic arm module, a precession module, and an impact module. Correspondingly, as shown in fig. 2, the integrated soil sampling drill 200 may further include a track chassis 201, a carriage 202, a tool magazine 203, a bonnet 204, a power pod 205, a luffing mechanism 206, a winch 207, a drill mast 208, a rotary power head 209, and a percussion power head 210.
The walking module may be used to move the integrated soil sampling device. As shown in fig. 2, the walking module may be a crawler chassis 201 in an integrated soil sampling rig 200.
The vehicle body structure module may be used to form the main structure of the integrated soil sampling device 100 and to support or cover multiple devices (e.g., power modules). As shown in fig. 2, the body structure modules may be a frame 202 and a bonnet 204 in an integrated soil sampling rig 200.
The drilling tool library module may be used to store drill bits. As shown in fig. 2, the tool magazine module may be a tool magazine 203 in the integrated soil sampling drilling machine 200.
The power module may be used to power the integrated soil sampling device 200. As shown in fig. 2, the power module may be a power pod 205 in the integrated soil sampling rig 200.
The luffing device module can be used to adjust the amplitude of the precession device and the percussion device. As shown in fig. 2, the horn module may be the horn 206 in the integrated soil sampling rig 200.
The robotic arm module may be used to support or adjust a plurality of devices (e.g., sampling devices). As shown in fig. 2, the robotic arm module may be a winch 207 and a drill mast 208 in the integrated soil sampling rig 200.
The precession module may be used to advance the sampling device into the soil. As shown in fig. 2, the precession module may be the rotary power head 209 in the integrated soil sampling drill 200.
The impact module may be used to impact the soil such that the precession module may precession the soil. As shown in fig. 2, the impact module may be the impact power head 210 in the integrated soil sampling drill 200.
It should be understood that the devices and their modules shown in fig. 1 and 2 may be implemented in various ways. It should be noted that the above description of the integrated soil sampling device 100 and its modules is for convenience of description only and should not be construed as limiting the scope of the present disclosure to the illustrated embodiments. It will be appreciated by those skilled in the art that, given the teachings of the present system, any combination of modules or sub-system configurations may be used to connect to other modules without departing from such teachings. In some embodiments, the sampling module 110, the temperature measurement module 120, the flow and velocity measurement module 130, the detection module 140, the control module 150, the camera module 160, the sample transport module 170, and the communication module 180 disclosed in fig. 1 may be different modules in one device, or may be one module that performs the functions of two or more modules described above. For example, each module may share one memory module, and each module may have its own memory module. Such variations are within the scope of the present disclosure. It will be understood by those skilled in the art that, having the benefit of the teachings of this apparatus, any combination of components or sub-apparatus may be constructed and arranged for connection with other components without departing from such teachings.
Fig. 3 is an exemplary flow diagram of an integrated soil sampling method according to some embodiments described herein. In some embodiments, the process 300 may be performed by the control module 150. As shown in fig. 3, the process 300 includes the following steps:
and step 310, controlling the sampling module to sample soil.
Soil refers to a layer of loose material on the earth's surface. For example, the soil may be composed of minerals derived from weathering of rocks, animals and plants, organic matter resulting from decay of microbial residues, soil organisms (solid phase substances) and water (liquid phase substances), air (gas phase substances), oxidized humus, and the like.
Sampling refers to the process of drawing an individual or sample from a population. For example, the sampling may be divided into random sampling and non-random sampling. Wherein, the random sampling can comprise simple random sampling, system sampling, grouping sampling, layering sampling and the like; non-random sampling may include occasional sampling, decision sampling, equal-valued sampling, snowball sampling, and the like.
In some embodiments, the control module may control the sampling module to sample the soil.
In some embodiments, the sampling location at which the soil is sampled may be set empirically by a skilled artisan. For example, a position at which the soil depth is 0.3m may be selected as the initial sampling position. In some embodiments, the sampling location may be a sampling location determined by a method of determining a new sampling location. For more details on determining the new sampling position, reference may be made to fig. 4 and its related description, which are not repeated herein.
As shown in fig. 2, the console 218 may control the crawler chassis to move the integrated soil sampling device over the sampling location, and then control the rotary power head 209 and the impact power head 210 to drill the sampling location, and in turn control the soil sampler 211 to sample the soil.
And 320, controlling the detection module to perform first detection on the soil sample sampled by the sampling module, and determining a first detection result corresponding to the soil sample.
The soil sample refers to soil sampled by the sampling module and used for detection. For example, a soil sample may include minerals, organic matter, moisture, soil organisms, gases, and the like.
The first detection refers to the preliminary, simple and rapid detection of the soil sample. In some embodiments, the first detection may include physical detection and chemical detection. For example, physical detection may include density detection, moisture detection, etc. of the soil, and chemical detection may include ph detection, oxygen content detection, etc. of the soil.
The first detection result is a result obtained after the soil sample is subjected to preliminary, simple and rapid detection. In some embodiments, the first detection result may include a physical detection result and a chemical detection result. For example, the physical measurements may include the density of the soil (i.e., the oven-dried weight per volume of soil (without pores), such as 2.7g/cm3) Humidity (i.e., specific gravity of water content per unit volume of soil, such as 35%), etc. As another example, the chemical detection result may include pH (i.e., a value reflecting the degree of pH of the soil, such as 6.8), oxygen content (i.e., oxygen content per unit mass of soil, such as 15%), and the like.
In some embodiments, the control module may control the detection module to perform a first detection on the soil sample sampled by the sampling module. For example, the control module may determine the density of the soil sample based on a densitometer internal to the detection module. For another example, the control module may determine the moisture content of the soil sample based on a moisture meter inside the detection module. For another example, the control module may determine the PH of the soil sample based on a PH meter internal to the detection module. For another example, the control module may determine the oxygen content of the soil sample based on an oxygen content meter internal to the detection module.
In some embodiments, the process 300 may further include the following steps:
and 330, controlling a sample transportation module to transport the soil sample sampled by the sampling module to a preset place for second detection, and determining a second detection result corresponding to the soil sample.
The soil sample transported refers to the soil sample transported to the laboratory for a second test. In some embodiments, the soil sample sampled by the sampling module may be analyzed by the sample analysis model to determine whether a second test is required.
It should be understood that when the sample analysis module detects that a sample is similar to the first test result, temperature information, flow rate information, soil sample image, and judgment information of a sample that has been transported to the preset location by the sample transport module for the second test, the sample does not need to be subjected to the second test. And whether the second detection is needed or not is determined through the sample analysis model, so that unnecessary transportation and detection are avoided, the efficiency is improved, and the cost is reduced.
In some embodiments, the type of sample analysis model may be a Long Short-Term Memory network (LSTM), or the like.
In some embodiments, the location information, the first test results, the temperature information, the flow rate information, the soil sample image, and the judgment information of the previously sampled soil sample may be processed using the sample analysis model to determine whether the second test is required. For example, the location information, the first detection result, the temperature information, the flow rate information, the flow velocity information, the soil sample image, and the judgment information of the soil sample may be input into the sample analysis model, and the output of the sample analysis model determines whether the second detection is required.
In some embodiments, the sample analysis model may be trained to acquire based on historical sampling data. The historical sampling data comprises position information of a historical soil sample, a historical first detection result, historical temperature information, historical flow rate information, a historical soil sample image and historical judgment information. The position information of the historical soil sample, the historical first detection result, the historical temperature information, the historical flow rate information, the historical soil sample image, and the historical judgment information may be used as the training sample. The identification of the training sample can be a judgment result of whether the historical soil sample needs to be subjected to second detection. The determination may be based on a manual determination. The training sample with the identification can be input into the initial sample analysis model, the parameters of the initial sample analysis model are updated through training, and when the trained model meets the preset conditions, the training is finished, and the trained sample analysis model is obtained.
The preset point is a point where the second detection is performed. For example, the predetermined location may comprise a laboratory of the detection mechanism or the like. The second test refers to a further test performed on the soil sample. In some embodiments, the second detection may include a physical detection and a chemical detection. For example, physical testing may include adhesion testing, porosity testing, conductivity testing, etc. of the soil, and chemical testing may include contaminant content testing, pesticide residue testing, organic matter content testing, etc. of the soil. The second test result is a result obtained after further testing of the soil sample. In some embodiments, the second detection result may include physicsTest results and chemical test results. For example, the physical measurements may include the adhesion of soil (i.e., the ability of soil to adhere to an object when wet, such as 4.3 g/cm)2) Porosity (i.e., the percentage of soil pore volume to soil volume, e.g., 35.2%), conductivity (i.e., the ability to conduct current, which may directly reflect the content of mixed salts in the soil, e.g., 232us/cm), etc. As another example, the chemical detection results may include the content of contaminants (i.e., elements such as heavy metals and toxic non-metals (mercury, cadmium, chromium, nickel, lead, etc.). The content of mercury is 0.15mg/kg, the content of cadmium is 0.20mg/kg, the content of chromium is 90mg/kg, the content of nickel is 40mg/kg, and the content of lead is 35mg/kg), the amount of residual pesticides (i.e., the amount of residual pesticides in the soil, such as DDT, 0.05 mg/kg; sixty-six: 0.05mg/kg), the content of organic matters (i.e., the content of organic compounds containing carbon in the soil, 20%), and the like.
In some embodiments, the soil sample transported by the sample transport module may be detected by a worker at a predetermined location through various experimental analysis methods. For example, the viscosity of the soil sample may be determined based on a viscometer. For another example, the porosity of the soil sample can be calculated from the bulk density and specific gravity of the soil. As another example, the conductivity of a soil sample may be determined based on electrode assays. For another example, the contaminant content of the soil sample may be measured based on atomic absorption spectroscopy, voltammetric polarography, X-ray fluorescence spectroscopy, or the like. Also for example, the amount of pesticide residue in a soil sample may be based on gas chromatography. For another example, the organic matter content of the soil sample can be measured based on a loss on ignition method or a potassium dichromate method.
In some embodiments, the second detection result sent from the preset location may be received by the communication module.
Through carrying out first detection to the soil sample, can have preliminary, simple, quick understanding to soil to provide the basis for the new sample site of scientific, accurate prediction.
It should be noted that the above description of the flow-integrated soil sampling method is for illustration and description only, and does not limit the application scope of the present specification. Various modifications and alterations to the flow integrated soil sampling method will be apparent to those skilled in the art in light of the present description. However, such modifications and variations are intended to be within the scope of the present description.
FIG. 4 is an exemplary flow chart of an integrated soil sampling method according to further embodiments described herein. In some embodiments, the process 400 may be performed by the control module 150. As shown in fig. 4, the process 400 includes the following steps:
and step 410, controlling the temperature measuring module to measure the temperature information of the soil when the sampling module samples the soil.
The temperature information refers to the temperature of the soil when the sampling module samples the soil. For example, the temperature information may be 20 ℃, 25 ℃, 30 ℃, etc. It should be noted that the temperature information refers to temperature information of the soil being sampled in the soil at the time of sampling, and not to temperature information after sampling.
In some embodiments, the control module may control the temperature measurement module to take a temperature measurement of the sampled soil as the soil is sampled. For example, the control module may control a temperature measuring module connected to the sampling module, and when the sampling module samples soil, the control module performs temperature measurement on the sampled soil to obtain temperature information of the soil. As shown in fig. 2, the operation table 218 may control the temperature sensor 212 connected to the soil sampler 211, so that when the soil sampler 211 samples soil, the temperature of the sampled soil is measured to obtain temperature information of the soil.
The flow information refers to the flow information of the liquid in the soil when the sampling module samples the soil. For example, the traffic information may be 0.009m3/h。
The flow information refers to the flow velocity information of the liquid in the soil when the sampling module samples the soil. For example, the flow rate information may be 0.022 cm/h. It should be noted that the flow rate information and the flow velocity information refer to the flow rate information and the flow velocity information of the liquid in the soil sampled at the time of sampling, not the flow rate information and the flow velocity information of the sampled soil after sampling.
In some embodiments, the control module may control the flow and velocity measurement module to perform a flow and velocity measurement on the sampled soil as the soil is sampled by the sampling module. For example, the control module may control a flow and flow rate measurement module connected to the sampling module, and when the sampling module samples soil, perform flow and flow rate measurement on the sampled soil to obtain flow information and flow rate information of the soil. As shown in fig. 2, the operation panel 218 may control the flow meter 213 connected to the soil sampler 211, and when the soil sampler 211 samples soil, measure the flow rate and the flow velocity of the sampled soil to obtain flow rate information and flow velocity information of the soil.
And step 430, determining the position information of the soil sample sampled by the sampling module in the soil.
The position information refers to the horizontal position and the drilling depth of soil sampling. As shown in FIG. 5A, 510 is bentonite (depth 0.0-0.5 m), 520 is quartz sand (depth 0.5-6.0 m), 530 is a filter pipe (depth 1.0-5.5 m), 540 is a settling pipe (depth 5.5-6 m), and the depth of the soil sampling borehole can be 6.0 m. As shown in fig. 5B, if the soil area to be measured is set in the first quadrant of the XOY coordinate system, the horizontal position of the soil sample may be a (x)1,y1)、B(x2,y2)、C(x3,y3) And the like.
In some embodiments, the integrated soil sampling device may be equipped with a positioning system (e.g., GPS system, beidou positioning system), and report positioning information (e.g., GPS information) obtained by the positioning system to the control module.
In some embodiments, the integrated soil sampling device may be equipped with a depth sensor and report the depth of the borehole obtained by the depth sensor to the control module. In some embodiments, the integrated soil sampling device may be a fixed depth sampling device, and the borehole depth may be obtained by setting the sampling depth.
The new sampling position information refers to a position of the next sampling determined based on the last sampling position information. For example, the first sampling position information is A (x)1,y1) The depth of the drilled hole was 3.5m, and the second sampling position information determined by prediction was B (x)2,y2) And if the drilling depth is 4.5m, the second sampling position information is new sampling position information of the first sampling position information. For another example, the second sampling position information is B (x)2,y2) The depth of the drilled hole was 4.5m, and the third sampling position information determined by prediction was C (x)3,y3) And if the drilling depth is 6m, the third sampling position information is new sampling position information of the second sampling position information.
In some embodiments, the control module may determine the new sampling location information in a variety of ways.
In some embodiments, new sample location information may be determined by a location prediction model.
In some embodiments, the location prediction model may be any one or combination of Deep Neural Networks (DNNs), Recurrent Neural Networks (RNNs), Convolutional Neural Networks (CNNs), and the like.
In some embodiments, the location information, the first detection result, the temperature information, the flow information, and the flow rate information of the soil sample may be processed using a location prediction model to predict new sampling location information. For example, the position information of the soil sample, the first detection result, the temperature information, the flow rate information, and the flow rate information may be input to the position prediction model, and new sampling position information may be output from the position prediction model.
In some embodiments, the location prediction model may be trained based on historical sample data. The historical sampling data comprises position information, historical first detection results, historical temperature information, historical flow information and historical flow rate information of historical soil samples. The position information, the historical first detection result, the historical temperature information, the historical flow information and the historical flow rate information of the historical soil sample can be used as training samples. The identification of the training samples may be historically determined new sampling location information. In some embodiments, the historically determined new sampling location information may be based on manually determined optimal new sampling location information. Specifically, a training sample with an identifier is input into the initial position prediction model, parameters of the initial position prediction model are updated through training, and when the trained model meets preset conditions, the training is finished, and the trained position prediction model is obtained.
In some embodiments, the input to the location prediction model may also include soil sample images. In some embodiments, the soil sample may be photographed by a camera module to obtain a soil sample image. For example, a soil sample may be photographed by a camera to obtain a soil sample video, and then a certain frame in the soil sample video is selected as a soil sample image. In some embodiments, when the input to the location prediction model comprises an image of a soil sample, the location prediction model may comprise an image feature determination layer and a location determination layer. Wherein the image feature determination layer may be CNN and the location determination layer may be DNN.
In some embodiments, the soil sample image, the location information, the first detection result, the temperature information, the flow information, and the flow velocity information may be processed using a location prediction model to predict new sampling location information. For example, the soil sample image, the position information, the first detection result, the temperature information, the flow rate information, and the flow velocity information may be input to the position prediction model, and new sampling position information may be output from the position prediction model. For more details on the above embodiment, reference may be made to fig. 5 and its related description, which are not repeated herein.
In some embodiments, the input to the location prediction model may also include feedback information.
The control center is a control center except for the integrated soil sampling device. In some embodiments, the control center may determine the feedback information by way of manual judgment based on the soil sample image, and send the feedback information and the control instruction to the communication module.
The feedback information refers to judgment information of the control center on the soil sample image. For example, the feedback information may include a category of soil, a contamination trace, and the like.
In some embodiments, the feedback information may be obtained by way of manual judgment based on the soil sample image. The feedback information may be supplemental to the image characteristics. In some embodiments, the communication module may transmit the soil sample image to the control center, and the control center may determine feedback information based on the soil sample image, and receive the feedback information and the control instruction transmitted by the control center by the communication module.
In some embodiments, the feedback information, the soil sample image, the location information, the first detection result, the temperature information, the flow information, and the flow velocity information may be processed using a location prediction model to predict new sampling location information. For example, the feedback information, the soil sample image, the position information, the first detection result, the temperature information, the flow rate information, and the flow rate information may be input to the position prediction model, and new sampling position information may be output from the position prediction model. For more details on the above embodiment, reference may be made to fig. 5 and its related description, which are not repeated herein.
In some embodiments, the control module may control the sampling module to stop sampling when the predicted new sampling position information is not within the preset detection requirement. For example, the predicted drilling depth of the new sampling position information is 11.2m, the soil depth of the preset detection requirement is 0-10.5 m, and then the predicted new sampling position information is not in the preset detection requirement, so that sampling can be stopped, and detection is finished.
And step 450, controlling the sampling module to sample soil at the new sampling position.
In some embodiments, the control module may control the sampling module to sample soil at the new sampling location information. For example, the first sampling position information is A (x)1,y1) The depth of the drilled hole was 3.5m, passingPredicting the second sampling position information to be B (x)2,y2) The drilling depth is 4.5m, the control module can control the sampling module to sample the position information B (x) at the second time2,y2) And the depth of the drilled hole is 4.5m, and soil sampling is carried out.
By predicting new sampling position information, the accuracy of soil sampling can be guaranteed, and meanwhile, the production efficiency is improved. The new sampling position information is predicted based on the obtained feedback information, the soil sample image, the position information, the first detection result, the temperature information, the flow information and/or the flow speed information, the new sampling position information can be accurately determined, inaccuracy and unscientific of the next sampling position are avoided, and a second detection result fed back by a laboratory does not need to be waited, so that the time cost and the cost consumed by waiting for a drilling machine are reduced. And through carrying out the second detection, can obtain more information about the soil sample to know more fully to the soil sample, can play more accurate guide effect to subsequent judgement.
It should be noted that the above description of the flow-integrated soil sampling method is for illustration and description only, and does not limit the application scope of the present specification. Various modifications and alterations to the flow integrated soil sampling method will be apparent to those skilled in the art in light of the present description. However, such modifications and variations are intended to be within the scope of the present description.
FIG. 6 is a schematic diagram of a location prediction model structure, according to some embodiments of the present description.
In some embodiments, soil sample image 610-1, location information 610-2, first test result 610-6, temperature information 610-3, flow information 610-4, and flow rate information 610-5 may be input to location prediction model 620, and new sampling location information 640 may be output by location prediction model 620.
In some embodiments, the location prediction model 620 may include an image feature determination layer 620-1 and a location determination layer 620-2 connected in series.
In some embodiments, image feature determination layer 620-1 may determine image features 630 based on soil sample image 610-1. Image features 630 are feature vectors that characterize image features. For example, the image features 630 may include color features, texture features, shape features, spatial relationship features, and the like. In some embodiments, the image feature determination layer may be CNN.
In some embodiments, the location determination layer 620-2 may predict the new sample location information 640 based on the image features 630, the location information 610-2, the first detection result 610-6, the temperature information 610-3, the flow information 610-4, and the flow velocity information 610-5. In some embodiments, the location determination layer may be a DNN.
In some embodiments, the input to the location determination layer 620-2 may also include judgment information 610-7.
In some embodiments, the image feature determination layer 620-1 and the location determination layer 620-2 may perform joint training based on the training samples, updating the parameters.
In some embodiments, the location prediction model 620 may train acquisition based on historical sample data. The historical sampling data comprises historical soil sample images, historical position information, historical first detection results, historical temperature information, historical flow information and historical flow rate information. Historical soil sample images, historical location information, historical first detection results, historical temperature information, historical flow information, and historical flow rate information may be used as training samples. The identification of the training samples may be historically determined new sampling location information. In some embodiments, the historically determined new sampling location information may be based on manually determined optimal new sampling location information. Specifically, a training sample with an identifier is input into the initial position prediction model, parameters of the initial position prediction model are updated through training, when the trained model meets preset conditions, the training is finished, and the trained position prediction model 620 is obtained.
In some embodiments, when the input to the location determination layer 620-2 further includes the judgment information 610-7, the training sample may further include historical judgment information, correspondingly.
The new sampling position information is predicted through the position prediction model, the soil sample image, the position information, the temperature information, the flow velocity information and the first detection result can be used as the input of the position prediction model, and the correlated prediction results of the judgment information are combined, so that the new sampling position information predicted by the position prediction model is more accurate. In addition, parameters of the position prediction model are obtained through a combined training mode, and the problem that labels are difficult to obtain when the image feature determination layer is trained independently is solved. Secondly, the image feature data layer and the position determining layer are jointly trained, so that the number of required samples can be reduced, and the training efficiency can be improved.
It should be noted that the above description of the flow-integrated soil sampling method is for illustration and description only, and does not limit the application scope of the present specification. Various modifications and alterations to the flow integrated soil sampling method will be apparent to those skilled in the art in light of the present description. However, such modifications and variations are intended to be within the scope of the present description.
Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing detailed disclosure is to be regarded as illustrative only and not as limiting the present specification. Various modifications, improvements and adaptations to the present description may occur to those skilled in the art, although not explicitly described herein. Such alterations, modifications, and improvements are intended to be suggested in this specification, and are intended to be within the spirit and scope of the exemplary embodiments of this specification.
Also, the description uses specific words to describe embodiments of the specification. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the specification is included. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the specification may be combined as appropriate.
Additionally, the order in which the elements and sequences of the process are recited in the specification, the use of alphanumeric characters, or other designations, is not intended to limit the order in which the processes and methods of the specification occur, unless otherwise specified in the claims. While various presently contemplated embodiments of the invention have been discussed in the foregoing disclosure by way of example, it is to be understood that such detail is solely for that purpose and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements that are within the spirit and scope of the embodiments herein. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by software-only solutions, such as installing the described system on an existing server or mobile device.
Similarly, it should be noted that in the foregoing description of embodiments of the present specification, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to imply that more features than are expressly recited in a claim. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.
Where numerals describing the number of components, attributes or the like are used in some embodiments, it is to be understood that such numerals used in the description of the embodiments are modified in some instances by the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows a variation of ± 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending upon the desired properties of the individual embodiments. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit preserving approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.
For each patent, patent application publication, and other material, such as articles, books, specifications, publications, documents, etc., cited in this specification, the entire contents of each are hereby incorporated by reference into this specification. Except where the application history document does not conform to or conflict with the contents of the present specification, it is to be understood that the application history document, as used herein in the present specification or appended claims, is intended to define the broadest scope of the present specification (whether presently or later in the specification) rather than the broadest scope of the present specification. It is to be understood that the descriptions, definitions and/or uses of terms in the accompanying materials of this specification shall control if they are inconsistent or contrary to the descriptions and/or uses of terms in this specification.
Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present disclosure. Other variations are also possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of the embodiments of the present specification can be seen as consistent with the teachings of the present specification. Accordingly, the embodiments of the present description are not limited to only those embodiments explicitly described and depicted herein.
Claims (9)
1. An integrated soil sampling device, the device comprising:
the sampling module is used for sampling soil;
the detection module is used for carrying out first detection on the soil sample sampled by the sampling module and determining a first detection result corresponding to the soil sample;
and the control module is used for controlling the sampling module to sample and controlling the detection module to detect the sampled soil sample.
2. The apparatus of claim 1, wherein the apparatus further comprises:
the temperature measuring module is used for measuring the temperature information of the soil when the sampling module samples the soil;
the flow and flow rate measuring module is used for measuring the flow information and the flow rate information of the liquid in the soil when the sampling module samples the soil;
the control module is further configured to:
determining the position information of the soil sample sampled by the sampling module in the soil;
and determining new sampling position information based on the position information, the first detection result, the temperature information, the flow information and the flow speed information, and controlling the sampling module to sample soil at the new sampling position information.
3. The apparatus of claim 2, wherein the apparatus further comprises:
and the sample transportation module is used for transporting the soil sample sampled by the sampling module to a preset place for second detection, and determining a second detection result corresponding to the soil sample.
4. The apparatus of claim 2, wherein the apparatus further comprises:
and the communication module is used for sending the soil sample image to a control center and receiving feedback information and a control instruction sent by the control center.
5. A method for controlling an integrated soil sampling device, wherein the method is applied to the integrated soil sampling device according to claims 1-4, the method comprising:
controlling the sampling module to sample soil;
and controlling the detection module to perform first detection on the soil sample sampled by the sampling module, and determining a first detection result corresponding to the soil sample.
6. The method of claim 5, further comprising:
when the sampling module samples soil, controlling the temperature measuring module to measure the temperature information of the soil; and
when the sampling module samples soil, the flow and flow speed measuring module is controlled to measure the flow information and the flow speed information of liquid in the soil;
determining the position information of the soil sample sampled by the sampling module in the soil;
determining a new sampling position based on the first detection result, the temperature information, the flow rate information, and the position information;
and controlling the sampling module to sample soil at the new sampling position.
7. The method of claim 6, further comprising:
and controlling a sample transportation module to transport the soil sample sampled by the sampling module to a preset place for second detection, and determining a second detection result corresponding to the soil sample.
8. The method of claim 6, further comprising:
and the control communication module sends the soil sample image to a control center and receives feedback information and a control instruction sent by the control center.
9. A computer readable storage medium storing computer instructions which, when read by a computer, cause the computer to perform the method of controlling an integrated soil sampling device according to any one of claims 5 to 8.
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