CN114858514B - Intelligent monitoring system and method for soil environment - Google Patents
Intelligent monitoring system and method for soil environment Download PDFInfo
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- CN114858514B CN114858514B CN202210625766.3A CN202210625766A CN114858514B CN 114858514 B CN114858514 B CN 114858514B CN 202210625766 A CN202210625766 A CN 202210625766A CN 114858514 B CN114858514 B CN 114858514B
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- 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
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention is applicable to the field of intelligent soil environment monitoring, and provides a system and a method for intelligent soil environment monitoring, wherein the system comprises the following steps: acquiring the position information of an actual sampling point, and controlling the sampling main body to move to the position of the actual sampling point; after obtaining an agreeing sampling instruction of the central control terminal, taking the center of an actual sampling point as a positioning reference, and obtaining sub-sampling points meeting the preset flatness condition according to the preset sampling quantity; controlling the compaction end to compact sundries on the sub-sampling points until the thickness of the sundries is not changed any more and resetting the sundries; the method comprises the following steps of identifying the thickness of the covered sundries after compaction, controlling the first pushing shovel end to move obliquely downwards by a calculated distance, enabling the projection of the distance of the first pushing shovel end, which is obliquely downwards moved, to be the sum of the thickness of the covered sundries and the partial sampling depth, and controlling the first pushing shovel end to move out of the covered sundries and the soil layer so as to expose the sampling center, wherein the method has the beneficial effects that: the monitoring sampling efficiency is improved, and the sampling detection precision is ensured.
Description
Technical Field
The invention belongs to the field of intelligent soil environment monitoring, and particularly relates to a system and a method for intelligent soil environment monitoring.
Background
Soil is loose substance with fertility, which is continuously covered on the earth land surface, and is a historical natural body which changes along with the changes of climate, biology, matrix, topography and time factors; the earth environment is a system consisting of rock circles, water circles, soil circles, biospheres and atmosphere circles, and the soil is positioned in the center of the system, and is not only the interaction product of each circle layer, but also the junction of the material circulation and energy exchange of each circle layer, and the soil condition which is naturally and artificially acted, and is internal or external is called as the soil environment.
Under the condition that the soil is little influenced by human activities and is not polluted or damaged obviously by modern industry, the original inherent chemical composition and element content level of the soil are not influenced by the human activities and pollution, but the soil which is not influenced by the human activities and pollution is difficult to find at present, and only the soil which is influenced as little as possible can be found. Different soil types or the same soil type which develop under different natural conditions develop in different mother-mother rock areas, and the soil environment background values of the soil types or the soil types are obviously different; the analysis results are not completely identical even for samples collected at the same place, so that the background value of the soil environment is statistical.
Soil sampling is an important part in the sub-links of soil environment monitoring, and the sampling in the prior art is generally finished by relying on manpower, so that the labor intensity of the manpower is high.
Disclosure of Invention
The embodiment of the invention aims to provide a soil environment intelligent monitoring system and method, which aim to solve the problems in the background technology.
The embodiment of the invention is realized in such a way that, on one hand, the intelligent monitoring method for the soil environment comprises the following steps:
acquiring the position information of an actual sampling point, and controlling the sampling main body to move to the position of the actual sampling point; there are 4 main types of soil environmental monitoring, depending on the purpose of soil monitoring: regional soil environment background monitoring, farmland soil environment quality monitoring, construction project soil environment evaluation monitoring and soil pollution accident monitoring;
after obtaining an agreeing sampling instruction of the central control terminal, taking the center of an actual sampling point as a positioning reference, and obtaining sub-sampling points meeting the preset flatness condition according to the preset sampling quantity;
controlling the compaction end to compact sundries on the sub-sampling points until the thickness of the sundries is not changed any more and resetting the sundries;
identifying the thickness of the covered sundries after compaction, controlling the first pushing shovel end to move downwards in an inclined mode through a calculated distance, enabling the projection of the distance of the first pushing shovel section moving downwards in the inclined mode in the vertical direction to be the sum of the thickness of the covered sundries and the partial sampling depth, and controlling the first pushing shovel end to move out of the covered sundries and the soil layer so that the sampling center is exposed;
controlling the first pushing shovel end to rotate to form an avoidance soil layer, and taking the avoidance soil layer out of the formed avoidance soil pit;
controlling the first pushing shovel end to sample along the avoiding soil pit to obtain a first soil layer;
the cutting end is controlled to cut off the contact part of the target soil layer and the first pushing shovel end, so that the target soil layer is obtained;
mixing and impurity removing treatment are carried out on the target soil layer, and sealing treatment and labeling treatment are carried out on the bagged soil sample obtained after impurity removing are carried out by controlling the sealing end and the labeling end;
and sending a prompt of sampling completion to the central control terminal.
As a further aspect of the present invention, the obtaining the position information of the actual sampling point, and controlling the sampling body to move to the actual sampling point specifically includes:
acquiring position information of a target sampling point, and controlling the sampling main body to move to a preset area according to the position information, wherein the preset area is an area with a preset area size including the target sampling point;
identifying environment information in the target area, judging whether the environment information around the target sampling point is consistent with the environment information of the target sampling point, otherwise, re-determining the actual sampling point;
identifying whether the environmental information of a first preset range taking a target sampling point as a center is consistent, if so, selecting any position point in the first preset range as an actual sampling point, and if not, selecting the position point meeting the preset flatness condition in a second preset range as the actual sampling point, wherein the second preset range is larger than the first preset range;
and recording the position information of the actual sampling center and reporting the position of the actual sampling center after the point is shifted.
As still further aspects of the present invention, the method further includes:
and identifying whether covering sundries exist on the sub-sampling points, if so, controlling the sampling main body to move to one side of the sub-sampling points, and controlling the compacting end to press down.
As a still further aspect of the present invention, the specific step of identifying the thickness of the compacted covered sundries includes:
controlling the sensing detection end to extend downwards, and detecting the time point when the pressure detected by the bottom end of the sensing detection end changes;
when the pressure detected by the bottom end of the sensing detection end changes, the extending distance of the sensing detection end is recorded, and the thickness of the covered sundries is calculated according to the extending distance.
As a further scheme of the invention, the method for controlling the first pushing shovel end to rotate to form the avoidance soil layer specifically comprises the following steps of:
acquiring a soil sample acquisition instruction of the planned area and the planned depth on the exposed sampling center, and controlling a marking end to mark the soil surface meeting the planned area according to the soil sample acquisition instruction to form a marking pattern;
controlling the first pushing shovel end to extend to a first depth along the edge of the marking pattern in the soil depth direction in an inclined manner, wherein the first depth is not smaller than the planned depth;
and controlling the first pushing shovel end to rotate at least one circle by taking a point, far away from the marking pattern, as a circle center and taking a preset distance as a radius, and controlling the first pushing shovel end to take out the formed avoiding soil layer from the formed avoiding soil pit.
As a further scheme of the invention, the step of controlling the first pushing shovel end to sample along the avoiding soil pit to obtain a first soil layer specifically comprises the following steps:
controlling the first pushing shovel end to sequentially move a preset depth along the edge of the marking pattern in the depth direction to obtain a first preset depth groove, and controlling the first pushing shovel end to vertically reset;
the first pushing shovel end is controlled to move to the depth of the first preset depth groove from the longest side of the first preset depth groove to the depth of the first preset depth groove, the first pushing shovel end is controlled to move obliquely to the avoidance pit direction, and the first soil layer is taken out.
As a further aspect of the present invention, the controlling the cutting end to cut off the portion of the target soil layer in contact with the first pushing blade end, to obtain the target soil layer specifically includes:
controlling the first pushing shovel end to keep a moving inclined state, controlling the containing disc to move to one side of the first pushing shovel end, and controlling the first pushing shovel end to turn over by a preset angle so as to enable the first soil layer to slide onto the containing disc;
the method comprises the steps of controlling the reset of a containing disc, controlling a vertical cutter at the top of the containing disc to cut the periphery of a first soil layer, and blowing away soil blocks cut by a shovel in a matched mode when each plane cut by the shovel is at the bottom;
controlling the holding disc to be close to the vertical cutter, enabling the remaining second soil layer after blowing to be in contact with the vertical cutter, controlling the transverse cutter to cut the top and the bottom of the second soil layer respectively, and simultaneously, matching with control blowing equipment to blow off the soil blocks cut by the shovel to obtain a target soil layer;
the cleaning end is controlled to clean all equipment ends in the single soil monitoring and sampling process, and the drying end piece is controlled to dry after cleaning;
and obtaining the target soil layer according with the number and the weight of the sampling points according to the steps.
As a further aspect of the present invention, the mixing and impurity removal treatment for the target soil layer specifically includes:
transferring all target soil layers from a containing disc to a rotary mixing disc with an isolating layer, and controlling a breaking hammer to press down so as to break the soil layers, wherein a breaking part of the breaking hammer is coated with the isolating layer;
lifting rings around the rotary mixing disc are controlled to lift to form a semi-closed structure surrounding the crushed target soil layer, wherein the crushed target soil layer is paved on the bottom of the rotary mixing disc;
driving the rotary mixing disc to reciprocally rotate according to a preset rotating speed, detecting a first preset thickness part of the middle layer of the target soil layer after being crushed in the rotary mixing disc, and controlling the rotary mixing disc to stop rotating when the content of solid particles and long-strip impurities in the middle layer part is detected to be unchanged;
the control manipulator is used for removing impurities with the second preset thickness on the top layer of the rotary mixing disc after grabbing the impurities, and the control manipulator is used for grabbing soil with the first preset thickness on the middle layer and then transferring the soil into the sealing pocket.
As a further aspect of the present invention, in another aspect, a soil environment intelligent monitoring system, the system includes:
the actual sampling point acquisition module is used for acquiring the position information of the actual sampling point and controlling the sampling main body to move to the position of the actual sampling point;
the sub-sampling point position acquisition module is used for acquiring sub-sampling points meeting the preset flatness condition according to the preset sampling quantity by taking the center of the actual sampling point position as a positioning reference after acquiring the sampling agreement instruction of the central control terminal;
the sundry compaction module is used for controlling the compaction end to compact sundries on the sub-sampling points until the thickness of the sundries is not changed any more and then resetting the sundries;
the moving-out module is used for identifying the thickness of the covered sundries after compaction, controlling the first pushing shovel end to move downwards in an inclined mode through a calculated distance, enabling the projection of the distance of the first pushing shovel section moving downwards in the inclined mode in the vertical direction to be the sum of the thickness of the covered sundries and the partial sampling depth, and controlling the first pushing shovel end to move out of the covered sundries and the soil layer so that the sampling center is exposed;
the first control module is used for controlling the first pushing shovel end to rotate to form an avoidance soil layer which is carried out of the avoidance soil pit;
the sampling module is used for controlling the first pushing shovel end to sample along the avoiding soil pit so as to obtain a first soil layer;
the second control module is used for controlling the cutting end to cut off the contact part of the target soil layer and the first pushing shovel end to obtain the target soil layer;
the sealing and labeling module is used for carrying out mixing and impurity removal treatment on the target soil layer, and controlling the sealing end and the labeling end to carry out sealing treatment and labeling treatment on the bagged soil sample obtained after impurity removal;
and the prompt sending module is used for sending a prompt of sampling completion to the central control terminal.
According to the intelligent monitoring system and method for the soil environment, disclosed by the embodiment of the invention, the compaction end is controlled to compact sundries on the sub-sampling points until the thickness of the sundries is reset after no change, the thickness of the compacted sundries is identified, the first pushing shovel end is controlled to move obliquely downwards for a calculated distance, the projection of the distance of the first pushing shovel section moving obliquely downwards in the vertical direction is the sum of the thickness of the sundries and part of the sampling depth, the first pushing shovel end is controlled to move out of the sundries and the soil layer, so that the sampling center is exposed, the accurate removal of the sundries is facilitated, the accurate and easy implementation of the sampling depth is ensured, meanwhile, the whole-process sampling is automated, the sampling efficiency is greatly reduced, and the target soil layer is obtained by confirming the actual sampling points and controlling the cutting end to cut out the contact part of the target soil layer and the first pushing shovel end, so that the sampling precision can be ensured.
Drawings
FIG. 1 is a main flow chart of a method for intelligently monitoring soil environment.
Fig. 2 is a schematic structural diagram of the operation of the sampling body.
Fig. 3 is a flowchart for acquiring the actual sampling point position information and controlling the sampling subject to move to the actual sampling point position.
FIG. 4 is a flow chart for controlling the first blade end to rotate to form an avoidance soil layer carried out of the formed avoidance soil pit.
Fig. 5 is a flowchart for controlling the cutting end to cut off the portion of the target soil layer in contact with the first blade end, resulting in the target soil layer.
Fig. 6 is a flowchart of the mixing and impurity removal process for the target soil layer.
Fig. 7 is a main structural diagram of an intelligent monitoring system for soil environment.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
The intelligent monitoring system and method for the soil environment provided by the invention solve the technical problems in the background technology.
As shown in fig. 1 and fig. 2, a main flow chart of a soil environment intelligent monitoring method and a structural schematic diagram of a sampling main work according to an embodiment of the present invention are provided, where the soil environment intelligent monitoring method includes:
step S10: acquiring the position information of an actual sampling point, and controlling the sampling main body to move to the position of the actual sampling point;
step S11: after obtaining an agreeing sampling instruction of the central control end, taking the center of an actual sampling point as a positioning reference, and obtaining sub-sampling points meeting the preset flatness condition according to the preset sampling quantity, so that the follow-up sampling and the removal of covering sundries are facilitated;
step S12: controlling the compaction end to compact sundries on the sub-sampling points until the thickness of the sundries is not changed any more and resetting the sundries;
step S13: identifying the thickness of the covered sundries after compaction, controlling the first pushing shovel end to move downwards in an inclined mode through a calculated distance, enabling the projection of the distance of the first pushing shovel section moving downwards in the inclined mode in the vertical direction to be the sum of the thickness of the covered sundries and the partial sampling depth, and controlling the first pushing shovel end to move out of the covered sundries and the soil layer so that the sampling center is exposed; the sampling points can be used for sampling surface samples or soil profiles, surface soil is generally monitored and collected, the sampling depth is 0-20 cm, and monitoring (soil background, critique, pollution accidents and the like) with special requirements selects part of sampling points to collect profile samples when necessary. The profile is typically 1.5m long, 0.8m wide and 1.2m deep. Digging a soil profile to enable an observation surface to face the sun, and placing surface soil and bottom soil on two sides, wherein partial sampling depth means that soil with sampling depth of a preset percentage thickness is removed while impurities are removed according to the characteristics of an actual sampling bottom, the percentage thickness is between 0 and 50%, sampling trace can be formed by removing the soil with sampling depth of the preset percentage thickness, and a preliminary sampling template is formed by no subsequent actual sampling;
step S14: controlling the first pushing shovel end to rotate to form an avoidance soil layer, and taking the avoidance soil layer out of the formed avoidance soil pit;
step S15: controlling the first pushing shovel end to sample along the avoiding soil pit to obtain a first soil layer;
step S16: the cutting end is controlled to cut off the contact part of the target soil layer and the first pushing shovel end, so that the target soil layer is obtained;
step S17: mixing and impurity removing treatment are carried out on the target soil layer, and sealing treatment and labeling treatment are carried out on the bagged soil sample obtained after impurity removing are carried out by controlling the sealing end and the labeling end;
step S18: and sending a prompt of sampling completion to the central control terminal.
When the method is applied, the compaction end is controlled to compact sundries on the sub-sampling points until the thickness of the sundries is reset after no more change, the thickness of the compacted sundries is identified, the first pushing shovel end is controlled to move obliquely downwards to a calculated distance, the projection of the distance of the first pushing shovel section moving obliquely downwards in the vertical direction is the sum of the thickness of the sundries and the partial sampling depth, the first pushing shovel end is controlled to move out of the sundries and the soil layer, so that the sampling center is exposed, the covering sundries are convenient to accurately remove, the accuracy and the easiness of the sampling depth are guaranteed, meanwhile, the whole-process sampling is automated, the labor intensity is greatly reduced, the sampling efficiency is guaranteed, and the target soil layer is obtained by confirming the actual sampling point and controlling the cutting end to cut off the contact part of the target soil layer and the first pushing shovel end.
As shown in FIG. 2, as a preferred embodiment of the present invention, the situation that the actual land utilization is changed and the point is required to be moved is considered actually, and according to the collected data, if the soil in the monitored area has obvious types, the area can be divided into a plurality of blocks, the pollutants in each block are more uniform, and the difference between the blocks is more obvious. Taking each block as a monitoring unit, and randomly distributing points in each monitoring unit; the step of obtaining the position information of the actual sampling point, the step of controlling the sampling main body to move to the actual sampling point specifically comprises the following steps:
step S101: acquiring position information of a target sampling point, and controlling the sampling main body to move to a preset area according to the position information, wherein the preset area is an area with a preset area size including the target sampling point;
step S102: identifying environment information in a target area, judging whether the environment information around a target sampling point is consistent with the environment information of the target sampling point, otherwise, re-determining an actual sampling point, avoiding roads, civil houses, landfill sites and the like during sampling, shifting unsuitable sampling points, and confirming a central end when the sampling point is larger than 50-100m, wherein the displacement is generally not more than 50 m;
step S103: identifying whether the environmental information of a first preset range taking a target sampling point as a center is consistent, if so, selecting any position point in the first preset range as an actual sampling point, and if not, selecting the position point meeting the preset flatness condition in a second preset range as the actual sampling point, wherein the second preset range is larger than the first preset range; and selecting the position points meeting the preset flatness conditions in the second preset range as actual sampling points, namely, when the related conditions are not met through the first preset range, the position points meeting the preset flatness conditions are taken as actual sampling points, so that the covering sundries can be conveniently removed later.
Step S104: and recording the position information of the actual sampling center and reporting the position of the actual sampling center after the point is shifted.
Considering that the target sampling point may be changed with environmental information due to respective reasons, so that the difference between the environmental information and the surrounding environment is large, therefore, whether the environmental information around the target sampling point is consistent with the environmental information of the target sampling point is judged, the actual sampling point is determined again, the confirmation of the sampling point under the consideration of the actual situation can be ensured, and the practicability of the operation is ensured.
As a preferred embodiment of the present invention, the method further comprises:
step S201: and (3) the identification end identifies whether covering sundries exist on the sub-sampling points, if so, the sampling main body is controlled to move to one side of the sub-sampling points, the compacting end is controlled to press down, the structural arrangement of equipment ends such as the compacting end is not limited, and the detection can be carried out according to the actual situation.
As a preferred embodiment of the present invention, the specific step of identifying the thickness of the compacted covered sundries includes:
step S111: controlling the sensing detection end to extend downwards, and detecting the time point when the pressure detected by the bottom end of the sensing detection end changes;
step S112: when the pressure detected by the bottom end of the sensing detection end changes, recording the extending distance of the sensing detection end, and calculating the thickness of the covered sundries according to the extending distance; this may be done in part by the control terminal.
When the method is applied, because the density between the covering impurities and the soil surface layer is generally different, the pressure detected at the bottom end of the interface between the covering impurities and the soil surface layer is changed, so that the thickness of the covering impurities can be calculated by the extending distance, the covering impurities can be removed accurately, and the accuracy and the easiness in sampling depth are ensured.
As shown in fig. 3, as a preferred embodiment of the present invention, the controlling the first pushing shovel end to rotate to form the avoidance soil layer specifically includes:
step S121: acquiring a soil sample acquisition instruction of the planned area and the planned depth on the exposed sampling center, and controlling a marking end to mark the soil surface meeting the planned area according to the soil sample acquisition instruction to form a marking pattern; for example, forming a rectangular cursor pattern;
step S122: controlling the first pushing shovel end to extend to a first depth along the edge of the marking pattern in the soil depth direction in an inclined manner, wherein the first depth is not smaller than the planned depth; that is to say that the first depth of oblique penetration can be realized to be at least the planned depth, i.e. the sampling depth, in the vertical direction; the first pushing shovel end in the drawing can be a combination of a pushing shovel piece, a power telescopic piece and the like, the pushing shovel piece can push forwards according to the related power piece, the pushing shovel piece can be a shovel-shaped structure with a friction part, the pushing shovel piece descends, inclines and rotates, and the forward pushing and the downward pushing can be realized by arranging the power piece, such as an electric push rod; while tilting can be achieved by hinging the power member; the rotation can be realized by the rotation of a stepping motor;
step S123: and controlling the first pushing shovel end to rotate at least one circle by taking a point, far away from the marking pattern, as a circle center and taking a preset distance as a radius, and controlling the first pushing shovel end to take out the formed avoiding soil layer from the formed avoiding soil pit.
When the soil sampling device is applied, the first soil layer under the sampling depth can be conveniently and easily taken out through avoiding the arrangement of the soil pit.
As a preferred embodiment of the present invention, the controlling the first pushing shovel end to sample along the avoidance pit to obtain the first soil layer specifically includes:
step S131: controlling the first pushing shovel end to sequentially move a preset depth along the edge of the marking pattern in the depth direction to obtain a first preset depth groove, and controlling the first pushing shovel end to vertically reset;
step S132: the first pushing shovel end is controlled to move to the depth of the first preset depth groove from the longest side of the first preset depth groove to the depth of the first preset depth groove, the first pushing shovel end is controlled to move obliquely to the avoidance pit direction, and the first soil layer is taken out.
When the method is applied, the first pushing shovel end is controlled to move from the longest side of the first preset depth groove to the depth of the first preset depth groove, so that the movement is easier and the surrounding soil layers are not carried, and the taken-out first soil layer is a soil layer under the marked patterns.
As shown in fig. 4, as a preferred embodiment of the present invention, the controlling the cutting end to cut the portion of the target soil layer in contact with the first pushing blade end, the obtaining the target soil layer specifically includes:
step S141: controlling the first pushing and shoveling end to keep a moving inclined state, controlling the holding disk to move to one side of the first pushing and shoveling end, and controlling the first pushing and shoveling end to turn over a preset angle, for example, 45-90 degrees, so that the first soil layer slides onto the holding disk, wherein an angle identification sensor can be arranged at the first pushing and shoveling end;
step S142: the vertical cutters at the top of the holding disk are controlled to reset and cut the periphery of the first soil layer, and each plane is cut by each shovel to the bottom, and the blowing equipment is controlled to blow off the soil blocks cut by the shovel in a matched mode, so that the vertical cutters and the transverse cutters can independently realize feeding actions;
step S143: controlling the holding disc to be close to the vertical cutter, enabling the remaining second soil layer after blowing to be in contact with the vertical cutter, controlling the transverse cutter to cut the top and the bottom of the second soil layer respectively, and simultaneously, matching with control blowing equipment to blow off the soil blocks cut by the shovel to obtain a target soil layer;
step S144: the cleaning end is controlled to clean all equipment ends in the single soil monitoring and sampling process, and the drying end piece is controlled to dry after cleaning, wherein the drying end and the cleaning end are not shown in the figure;
step S145: and obtaining the target soil layer according with the number and the weight of the sampling points according to the steps.
When the method is applied, the second soil layer and the first pushing shovel end can be partially cut through the vertical cutter and the transverse cutter (which are made of nonmetal, such as wood cutters), so that the target soil layer is obtained, and the purpose is to partially cut the metal and the soil, such as a cuboid shape, because the first pushing shovel end is made of metal materials under normal conditions, and the accuracy of subsequent monitoring is guaranteed.
As shown in fig. 5, as a preferred embodiment of the present invention, the mixing and impurity removal treatment for the target soil layer specifically includes:
step S151: transferring all target soil layers from a containing disc to a rotary mixing disc with an isolating layer, controlling a breaking hammer to press downwards so as to break the soil layers, wherein a breaking part of the breaking hammer is coated with the isolating layer, the isolating layer is preferably a polyethylene film, the layer number of the isolating layer is not limited, the isolating layer is mainly arranged to avoid contact between a metal part and the soil layers as much as possible, and the breaking hammer is not shown in fig. 2 and can be arranged at the top of the rotary mixing disc;
step S152: lifting rings around the rotary mixing disc are controlled to lift to form a semi-closed structure surrounding the crushed target soil layer, wherein the crushed target soil layer is paved on the bottom of the rotary mixing disc; the bottom of the rotary mixing disc is fully paved with the target soil layer, so that the phenomenon that impurities are easy to mix with non-impurity soil when the target soil layer is insufficient is mainly avoided;
step S153: driving the rotary mixing disc to reciprocally rotate according to a preset rotating speed, detecting a first preset thickness part of the middle layer of the target soil layer after being crushed in the rotary mixing disc, and controlling the rotary mixing disc to stop rotating when the content of solid particles and long-strip impurities in the middle layer part is detected to be unchanged; the detection can be performed by acquiring an internal image and then performing identification detection, wherein the images displayed by the impurities such as stones and the strip-shaped objects are different from the images displayed without the impurities, the impurities such as stones and the strip-shaped objects can be identified by a training model trained in advance, and many technologies are designed to the impurities such as Convolutional Neural Network (CNN) identification;
step S154: the control manipulator is used for grabbing impurities with the second preset thickness on the top layer of the rotating mixing disc, removing the impurities, grabbing soil with the first preset thickness on the middle layer, transferring the soil into the sealing pocket, and setting the manipulator to be a nonmetallic and inactive nonmetallic material, such as polyethylene and other materials, wherein the manipulator is not shown in fig. 2, and the installation position and the separation type of the manipulator are not limited.
The method combines mixing and impurity removal, obtains a soil mixed sample through mixing, and needs to meet the weight requirement, and the collection of the soil mixed sample mainly comprises four methods: (1) diagonal method: the device is suitable for soil in a soil-filled farmland, the diagonal line is divided into 5 equal parts, and the equal division points are taken as sampling division points; (2) plum blossom spotting method: the method is suitable for plots with small area, flat topography, relatively uniform soil composition and pollution degree, and about 5 points of division are set; (3) checkerboard method: the method is suitable for plots with medium area, flat topography and uneven soil, and has about 10 points of division; soil polluted by solid wastes such as sludge, garbage and the like is divided into more than 20 points; (4) snaking: the method is suitable for plots with larger area, uneven soil and uneven topography, has about 15 division points, is mostly used for agriculture pollution type soil, and is used for mixing the soil to remove foreign matters such as gravel, plant root systems and the like, and the method can also be used for sieving and impurity removing treatment if the final sample particles are too large.
As another preferred embodiment of the present invention, as shown in fig. 6, in another aspect, a soil environment intelligent monitoring system, the system comprising:
the actual sampling point obtaining module 100 is configured to obtain actual sampling point position information, and control the sampling body to move to an actual sampling point position;
the sub-sampling point position acquisition module 200 is configured to acquire sub-sampling points meeting a preset flatness condition according to a preset sampling number by taking an actual sampling point position center as a positioning reference after acquiring a sampling agreement instruction of the central control terminal;
a debris compacting module 300 for controlling the compaction end to compact debris on the sub-sampling points until the thickness of the debris is not changed any more and then resetting the debris;
a removing module 400, configured to identify a thickness of the compacted covered sundries, and control the first pushing shovel end to move obliquely downward by a calculated distance, so that a projection of the distance of the first pushing shovel section moving obliquely downward in a vertical direction is a sum of the thickness of the covered sundries and a part of sampling depth, and control the first pushing shovel end to travel to remove the covered sundries and the soil layer, so that the sampling center is exposed;
the first control module 500 is used for controlling the first pushing shovel end to rotate to form an avoidance soil layer to be carried out of the formed avoidance soil pit;
the sampling module 600 is used for controlling the first pushing shovel end to sample along the avoidance soil pit so as to obtain a first soil layer;
the second control module is used for controlling the cutting end to cut off the contact part of the target soil layer and the first pushing shovel end to obtain the target soil layer;
the sealing and labeling module 700 is used for mixing and impurity removing treatment of the target soil layer, and controlling the sealing end and the labeling end to seal and label the bagged soil sample obtained after impurity removing;
the prompt sending module 800 is configured to send a prompt for completing sampling to the central control end.
According to the soil environment intelligent monitoring system provided by the embodiment of the invention, the compaction end is controlled to compact sundries on the sub-sampling points until the thickness of the sundries is reset after no change, the thickness of the sundries covered after compaction is identified, the first pushing shovel end is controlled to move obliquely downwards to pass through a calculated distance, the projection of the distance of the first pushing shovel section moving obliquely downwards in the vertical direction is the sum of the thickness of the sundries covered and the part of the sampling depth, the first pushing shovel end is controlled to move out the sundries covered and the soil layer, so that the sampling center is exposed, the accurate and easy removal of the sundries covered is facilitated, the sampling depth is ensured to be accurately and easily carried out, meanwhile, the whole-process sampling is automated, the labor intensity is greatly reduced, the sampling efficiency is ensured, and the target soil layer is obtained by confirming the actual sampling point and controlling the cutting end to cut off the contact part of the target soil layer and the first pushing shovel end.
In order to be able to load the method and system described above to function properly, the system may include more or less components than those described above, or may combine some components, or different components, in addition to the various modules described above, for example, may include input and output devices, network access devices, buses, processors, memories, and the like.
The processor may be a central processing unit (CentralProcessingUnit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (ApplicationSpecificIntegratedCircuit, ASIC), off-the-shelf programmable gate arrays (Field-ProgrammableGateArray, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is a control center of the above system, and various interfaces and lines are used to connect the various parts.
The memory may be used to store a computer and a system program and/or module, and the processor may perform the various functions described above by running or executing the computer program and/or module stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function (such as an information acquisition template presentation function, a product information distribution function, etc.), and the like. The storage data area may store data created according to the use of the berth status display system (e.g., product information acquisition templates corresponding to different product types, product information required to be released by different product providers, etc.), and so on. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card (SmartMediaCard, SMC), secure digital (SecureDigital, SD) card, flash card (FlashCard), at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. An intelligent monitoring method for soil environment is characterized by comprising the following steps:
acquiring the position information of an actual sampling point, and controlling the sampling main body to move to the position of the actual sampling point;
after obtaining an agreeing sampling instruction of the central control terminal, taking the center of an actual sampling point as a positioning reference, and obtaining sub-sampling points meeting the preset flatness condition according to the preset sampling quantity;
controlling the compaction end to compact sundries on the sub-sampling points until the thickness of the sundries is not changed any more and resetting the sundries;
identifying the thickness of the covered sundries after compaction, controlling the first pushing shovel end to move obliquely downwards for a calculated distance, enabling the projection of the distance of the first pushing shovel end which moves obliquely downwards in the vertical direction to be the sum of the thickness of the covered sundries and the partial sampling depth, and controlling the first pushing shovel end to move out of the covered sundries and the soil layer so as to enable the sampling center to be exposed;
controlling the first pushing shovel end to rotate to form an avoidance soil layer, and taking the avoidance soil layer out of the formed avoidance soil pit;
controlling the first pushing shovel end to sample along the avoiding soil pit to obtain a first soil layer;
the cutting end is controlled to cut off the contact part of the target soil layer and the first pushing shovel end, so that the target soil layer is obtained;
mixing and impurity removing treatment are carried out on the target soil layer, and sealing treatment and labeling treatment are carried out on the bagged soil sample obtained after impurity removing are carried out by controlling the sealing end and the labeling end;
sending a prompt of sampling completion to a central control end;
wherein, control first shovel end is along dodging soil pit sampling, and it specifically includes to obtain first soil horizon: controlling the first pushing shovel end to sequentially move a preset depth along the edge of the marking pattern in the depth direction to obtain a first preset depth groove, and controlling the first pushing shovel end to vertically reset; controlling the first pushing shovel end to move from the longest side of the first preset depth groove to the depth of the first preset depth groove, controlling the first pushing shovel end to move obliquely to the avoidance pit direction, and taking out the first soil layer;
the control cutting end cuts off the contact part of the target soil layer and the first pushing shovel end, and the target soil layer obtaining specifically comprises the following steps: controlling the first pushing shovel end to keep a moving inclined state, controlling the containing disc to move to one side of the first pushing shovel end, and controlling the first pushing shovel end to turn over by a preset angle so as to enable the first soil layer to slide onto the containing disc; the method comprises the steps of controlling the reset of a containing disc, controlling a vertical cutter at the top of the containing disc to cut the periphery of a first soil layer, and blowing away soil blocks cut by a shovel in a matched mode when each plane cut by the shovel is at the bottom; controlling the holding disc to be close to the vertical cutter, enabling the remaining second soil layer after blowing to be in contact with the vertical cutter, controlling the transverse cutter to cut the top and the bottom of the second soil layer respectively, and simultaneously, matching with control blowing equipment to blow off the soil blocks cut by the shovel to obtain a target soil layer; the cleaning end is controlled to clean all equipment ends in the single soil monitoring and sampling process, and the drying end piece is controlled to dry after cleaning; obtaining a target soil layer conforming to the number and the weight of the sampling points;
the mixing and impurity removing treatment for the target soil layer specifically comprises the following steps: transferring all target soil layers from a containing disc to a rotary mixing disc with an isolating layer, and controlling a breaking hammer to press down so as to break the soil layers, wherein a breaking part of the breaking hammer is coated with the isolating layer; lifting rings around the rotary mixing disc are controlled to lift to form a semi-closed structure surrounding the crushed target soil layer, wherein the crushed target soil layer is paved on the bottom of the rotary mixing disc; driving the rotary mixing disc to reciprocally rotate according to a preset rotating speed, detecting a first preset thickness part of the middle layer of the target soil layer after being crushed in the rotary mixing disc, and controlling the rotary mixing disc to stop rotating when the content of solid particles and long-strip impurities in the middle layer part is detected to be unchanged; the control manipulator is used for removing impurities with the second preset thickness on the top layer of the rotary mixing disc after grabbing the impurities, and the control manipulator is used for grabbing soil with the first preset thickness on the middle layer and then transferring the soil into the sealing pocket.
2. The intelligent monitoring method for soil environment according to claim 1, wherein the acquiring the position information of the actual sampling point, and controlling the sampling body to move to the actual sampling point specifically comprises:
acquiring position information of a target sampling point, and controlling the sampling main body to move to a preset area according to the position information, wherein the preset area is an area with a preset area size including the target sampling point;
identifying environment information in the target area, judging whether the environment information around the target sampling point is consistent with the environment information of the target sampling point, otherwise, re-determining the actual sampling point;
identifying whether the environmental information of a first preset range taking a target sampling point as a center is consistent, if so, selecting any position point in the first preset range as an actual sampling point, and if not, selecting the position point meeting the preset flatness condition in a second preset range as the actual sampling point, wherein the second preset range is larger than the first preset range;
and recording the position information of the actual sampling center and reporting the position of the actual sampling center after the point is shifted.
3. The intelligent monitoring method of soil environment according to claim 1, wherein the method further comprises:
and identifying whether covering sundries exist on the sub-sampling points, if so, controlling the sampling main body to move to one side of the sub-sampling points, and controlling the compacting end to press down.
4. A method of intelligently monitoring the soil environment according to claim 3, wherein the specific step of identifying the thickness of the compacted covered debris comprises:
controlling the sensing detection end to extend downwards, and detecting the time point when the pressure detected by the bottom end of the sensing detection end changes;
when the pressure detected by the bottom end of the sensing detection end changes, the extending distance of the sensing detection end is recorded, and the thickness of the covered sundries is calculated according to the extending distance.
5. The intelligent soil environment monitoring method according to claim 1, wherein the controlling the first pushing shovel end to rotate the first pushing shovel end to form the avoiding soil layer specifically comprises:
acquiring a soil sample acquisition instruction of the planned area and the planned depth on the exposed sampling center, and controlling a marking end to mark the soil surface meeting the planned area according to the soil sample acquisition instruction to form a marking pattern;
controlling the first pushing shovel end to extend to a first depth along the edge of the marking pattern in the soil depth direction in an inclined manner, wherein the first depth is not smaller than the planned depth;
and controlling the first pushing shovel end to rotate at least one circle by taking a point, far away from the marking pattern, as a circle center and taking a preset distance as a radius, and controlling the first pushing shovel end to take out the formed avoiding soil layer from the formed avoiding soil pit.
6. An intelligent monitoring system for soil environment, the system comprising:
the actual sampling point acquisition module is used for acquiring the position information of the actual sampling point and controlling the sampling main body to move to the position of the actual sampling point;
the sub-sampling point position acquisition module is used for acquiring sub-sampling points meeting the preset flatness condition according to the preset sampling quantity by taking the center of the actual sampling point position as a positioning reference after acquiring the sampling agreement instruction of the central control terminal;
the sundry compaction module is used for controlling the compaction end to compact sundries on the sub-sampling points until the thickness of the sundries is not changed any more and then resetting the sundries;
the moving-out module is used for identifying the thickness of the covered sundries after compaction, controlling the first pushing shovel end to move downwards in an inclined mode through a calculated distance, enabling the projection of the distance of the first pushing shovel end moving downwards in an inclined mode in the vertical direction to be the sum of the thickness of the covered sundries and the partial sampling depth, and controlling the first pushing shovel end to move out of the covered sundries and the soil layer so that the sampling center is exposed;
the first control module is used for controlling the first pushing shovel end to rotate to form an avoidance soil layer which is carried out of the avoidance soil pit;
the sampling module is used for controlling the first pushing shovel end to sample along the avoiding soil pit so as to obtain a first soil layer;
the second control module is used for controlling the cutting end to cut off the contact part of the target soil layer and the first pushing shovel end to obtain the target soil layer;
the sealing and labeling module is used for carrying out mixing and impurity removal treatment on the target soil layer, and controlling the sealing end and the labeling end to carry out sealing treatment and labeling treatment on the bagged soil sample obtained after impurity removal;
the prompt sending module is used for sending a prompt of sampling completion to the central control end;
the sampling module is specifically used for: controlling the first pushing shovel end to sequentially move a preset depth along the edge of the marking pattern in the depth direction to obtain a first preset depth groove, and controlling the first pushing shovel end to vertically reset; controlling the first pushing shovel end to move from the longest side of the first preset depth groove to the depth of the first preset depth groove, controlling the first pushing shovel end to move obliquely to the avoidance pit direction, and taking out the first soil layer;
the second control module is specifically configured to: controlling the first pushing shovel end to keep a moving inclined state, controlling the containing disc to move to one side of the first pushing shovel end, and controlling the first pushing shovel end to turn over by a preset angle so as to enable the first soil layer to slide onto the containing disc; the method comprises the steps of controlling the reset of a containing disc, controlling a vertical cutter at the top of the containing disc to cut the periphery of a first soil layer, and blowing away soil blocks cut by a shovel in a matched mode when each plane cut by the shovel is at the bottom; controlling the holding disc to be close to the vertical cutter, enabling the remaining second soil layer after blowing to be in contact with the vertical cutter, controlling the transverse cutter to cut the top and the bottom of the second soil layer respectively, and simultaneously, matching with control blowing equipment to blow off the soil blocks cut by the shovel to obtain a target soil layer; the cleaning end is controlled to clean all equipment ends in the single soil monitoring and sampling process, and the drying end piece is controlled to dry after cleaning; obtaining a target soil layer conforming to the number and the weight of the sampling points;
the mixing and impurity removing treatment for the target soil layer specifically comprises the following steps: transferring all target soil layers from a containing disc to a rotary mixing disc with an isolating layer, and controlling a breaking hammer to press down so as to break the soil layers, wherein a breaking part of the breaking hammer is coated with the isolating layer; lifting rings around the rotary mixing disc are controlled to lift to form a semi-closed structure surrounding the crushed target soil layer, wherein the crushed target soil layer is paved on the bottom of the rotary mixing disc; driving the rotary mixing disc to reciprocally rotate according to a preset rotating speed, detecting a first preset thickness part of the middle layer of the target soil layer after being crushed in the rotary mixing disc, and controlling the rotary mixing disc to stop rotating when the content of solid particles and long-strip impurities in the middle layer part is detected to be unchanged; the control manipulator is used for removing impurities with the second preset thickness on the top layer of the rotary mixing disc after grabbing the impurities, and the control manipulator is used for grabbing soil with the first preset thickness on the middle layer and then transferring the soil into the sealing pocket.
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