CN116660197A - Intelligent plough with soil detection function - Google Patents

Abstract

The invention relates to the technical field of soil nutrient detection, and provides an intelligent plough with a soil detection function, which comprises the following components: the soil sampling device comprises a plowshare, a soil collecting assembly, a spectrum detecting assembly, a positioning module and a control module, wherein the soil collecting assembly, the spectrum detecting assembly, the positioning module and the control module are arranged on the plowshare; the spectrum detection assembly and the positioning module are respectively connected with the control module; the soil acquisition component is used for continuously acquiring soil samples in the travelling process of the plow head, and the spectrum detection component is used for acquiring infrared spectrum data of the soil samples acquired each time; the positioning module is used for acquiring current position information of the plow head; the control module is used for acquiring the soil nutrient content corresponding to the soil sample according to the infrared spectrum data, binding the soil nutrient content of the soil sample acquired each time with the current position information of the plowshare, and acquiring a soil nutrient distribution map of the cultivated land environment where the plowshare is located. The invention has high detection speed, can continuously acquire the soil nutrient content of the soil sample on line in real time, and can also construct a soil nutrient distribution map.

Description

An intelligent plow tool with soil detection function

technical field

The invention relates to the technical field of soil nutrient detection, in particular to an intelligent plow with soil detection function.

Background technique

Soil nutrient research plays an active role in the rational use of soil and the efficient development of agriculture. The measurement and control of soil nutrient is particularly important for the rational fertilization of agricultural products.

The near-infrared (NIR) spectral region (780-2500nm) is the earliest discovered non-visible spectral region. The near-infrared spectral detection of soil is a rapid and non-destructive analysis technology widely used in soil nutrient research. It can be used without destroying the soil. Under certain circumstances, the analysis of soil nutrients has obtained a large amount of data, high precision and strong reliability, and has achieved good results in soil analysis work.

At present, the near-infrared spectrum detection of soil still adopts indoor analysis methods. The sample collection, transportation, and preparation processes required for indoor near-infrared spectrum detection require a lot of manpower and material resources, which is difficult and expensive.

Contents of the invention

The invention provides an intelligent plow with soil detection function, which is used to solve the problem that the existing plow has simple structure and single function, and it is difficult to complete soil nutrient detection on-line in real time.

The present invention provides an intelligent plow tool with soil detection function, comprising: a plowshare, a soil collection component, a spectrum detection component, a positioning module and a control module arranged on the plowshare;

The plow share is equipped with a transparent window, at least part of the soil collection component and at least part of the spectral detection component are located on both sides of the transparent window; the spectral detection component and the positioning module are respectively connected to the control module connect;

The soil collection component is used for continuous collection of soil samples during the travel of the plowshare, and the spectrum detection component is used for acquiring infrared spectrum data of the soil samples collected each time; the positioning module is used for Obtain the current position information of the plowshare;

The control module is used to obtain the soil nutrient content corresponding to the soil sample according to the infrared spectrum data, and bind the soil nutrient content of the soil sample collected each time with the current position information of the plowshare , to obtain the soil nutrient distribution map of the cultivated land environment where the plowshare is located.

According to an intelligent plow tool with soil detection function provided by the present invention, the soil collection assembly includes a calibration plate, a shovel and a drive assembly; the drive assembly is connected to the calibration plate and the shovel respectively, the The calibration board and the shovel are arranged side by side on one side of the transparent window;

The drive assembly is used to drive the calibration plate to reciprocate between a first position and a second position, and to drive the scraper to reciprocate between a third position and a fourth position, the calibration plate and the The movement direction of the shovel is opposite;

The first position is adjacent to the third position and is close to the first end of the transparent window, and the second position is adjacent to the fourth position and is close to the second end of the transparent window;

When the calibration board is in the first position, the scraper is in the fourth position, the calibration board blocks the transparent window, the scraper is separated from the ground, and the control module controls the spectrum The detection component collects the white background spectral data of the calibration plate;

When the calibration plate is in the second position, the shovel is in the third position, the calibration plate no longer blocks the transparent window, and the shovel is in contact with the ground to realize the soil sample. Collecting, the control module controls the spectral detection component to collect infrared spectral data of the soil sample;

Wherein, the control module obtains the soil nutrient content corresponding to the soil sample according to the infrared spectrum data of the soil sample and the white background spectrum data of the calibration plate.

According to an intelligent plow with soil detection function provided by the present invention, the drive assembly includes a roller, a cam, a crank arm and a return spring;

The roller, the cam and the crank arm are respectively rotatably arranged at different positions on the plowshare;

The roller can roll along the ground during the travel of the plowshare, and the roller is provided with a plurality of toggle heads along the circumference, and the roller drives the cam along the first row relative to the plowshare through the toggle heads. swing in one direction

The first connection point on the cam is connected to the plowshare through the return spring, and the return spring is used to drive the cam to swing in the second rotation direction relative to the plowshare;

The second connection point on the cam is linked to the crank arm, the first end of the crank arm is linked to the scraper, and the second end of the crank arm is linked to the calibration plate.

According to an intelligent plow tool with a soil detection function provided by the present invention, the drive assembly further includes a first linkage lever, a second linkage lever and a third linkage lever;

The second connection point on the cam is rotatably connected to one end of the first linkage lever, and the other end of the first linkage lever is rotatably connected to the crank arm; the first end of the crank arm is rotatably connected to the first linkage lever. One end of the two linkage rods is rotationally connected, and the other end of the second linkage rod is rotationally connected to the shovel; the second end of the crank arm is rotationally connected to one end of the third linkage rod, and the third linkage The other end of the rod is rotatably connected with the calibration plate.

According to an intelligent plow with soil detection function provided by the present invention, a trigger is provided on the cam, and the position of the trigger is located on the rotation axis of the cam;

A touch switch is provided on one side of the trigger, and the touch switch is electrically connected to the control module;

When the cam swings at a preset angle along the first rotation direction, the trigger member is separated from the touch switch to feed back a first trigger signal to the control module;

When the cam swings at a preset angle along the second rotation direction, the trigger member is close to the touch switch to feed back a second trigger signal to the control module;

The control module respectively controls the spectrum detection component to perform spectrum acquisition according to the first trigger signal and the second trigger signal.

According to an intelligent plow tool with soil detection function provided by the present invention, the plow share is equipped with a guide seat;

The guide seat is provided with a first guide portion and a second guide portion, the first guide portion and the second guide portion are spaced apart from each other, the extending direction of the first guide portion and the direction of the second guide portion The direction of extension is parallel;

The calibration plate is movably arranged on the first guide part, and the shovel is movably arranged on the second guide part.

According to an intelligent plow tool with a soil detection function provided by the present invention, a cleaning member is provided on the calibration plate;

During the movement of the calibration plate, the cleaning member is used to clean the surface of the transparent window.

According to an intelligent plow with a soil detection function provided by the present invention, the spectrum detection component includes a light source and a spectrum sensor, and the light source and the spectrum sensor are respectively connected to the control module;

The light output end of the light source and the detection end of the spectral sensor face the first side of the transparent window, and the soil collection component is used to control the accumulation of collected soil samples to a position opposite to the second side of the transparent window .

According to an intelligent plow tool with soil detection function provided by the present invention, the light source is configured with a light-emitting probe, and the spectrum sensor is configured with a spectrum receiving probe; the light-emitting probe and the spectrum receiving probe are respectively extended to the transparent window;

The optical axis of the light-emitting probe and the optical axis of the spectrum receiving probe are vertically arranged, and the optical axis of the light-emitting probe and the optical axis of the spectrum receiving probe respectively form an angle of 45° with the first side of the transparent window .

According to an intelligent plow with soil detection function provided by the present invention, the intelligent plow further includes: a wireless transmission module; the wireless transmission module is connected to the control module;

And/or, the intelligent plow tool further includes: a power supply and data interface module, the power supply and data interface module is connected to the control module.

The intelligent plow tool with soil detection function provided by the present invention can use the soil collection component to continuously collect soil samples during the plowshare traveling process by setting the soil collection component, spectrum detection component, positioning module and control module, and use the The spectral detection component obtains the infrared spectral data of the collected soil samples, and calculates the soil nutrient content in the soil samples based on the characteristic spectral intensity information obtained by spectral detection. At the same time, it can also obtain the current position information of the plow through the positioning module. The current location information of the plowshare is combined with the soil nutrient content of the currently collected soil samples to construct a soil nutrient distribution map of the cultivated land environment where the plowshare is located.

It can be seen from the above that the intelligent plow tool with soil detection function of the present invention not only has a fast detection speed, but also can obtain the soil nutrient content of soil samples online and continuously in real time during the plowing period, and can also construct the soil nutrient content of the plowshare's plowland environment. Distribution.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

Fig. 1 is the structural representation of the intelligent plow with soil detection function provided by the present invention;

Fig. 2 is a schematic structural view of the drive assembly provided by the present invention;

Fig. 3 is the block diagram of the control structure of the intelligent plow with soil detection function provided by the present invention;

Fig. 4 is the detection method of the soil nutrient content of intelligent plow tool provided by the present invention, and the schematic flow chart of the acquisition method of soil nutrient distribution map;

FIG. 5 is a schematic flowchart of step 412 in FIG. 4 provided by the present invention.

Reference signs:

1. Smart plow;

11. Plowshare; 111. Transparent window;

12. Soil collection assembly; 121. Calibration plate; 122. Shovel; 123. Driving assembly; 1231. Roller; 1232. Cam; Linkage lever; 1237, third linkage lever; 12311, toggle head; 12321, trigger piece; 12322, touch switch; 12323, first connection point; 12324, second connection point;

13. Spectrum detection component; 131. Light source; 132. Spectrum sensor; 133. Light emitting probe; 134. Spectrum receiving probe;

14. Positioning module; 15. Control module;

16. Guide seat; 161. First guide part; 162. Second guide part;

17. Wireless transmission module; 18. Power supply and data interface module;

2. Soil samples.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

The intelligent plow with soil detection function provided by the embodiment of the present invention will be described in detail below through specific embodiments and application scenarios with reference to FIG. 1 to FIG. 5 .

In some embodiments, as shown in FIG. 1 , FIG. 2 and FIG. 3 , this embodiment provides a smart plow tool with a soil detection function, including: a plow share 11 and a soil collection assembly 12 arranged on the plow share 11 , a spectrum detection component 13, a positioning module 14 and a control module 15.

The plowshare 11 is equipped with a transparent window 111, and at least part of the soil collection component 12 and at least part of the spectral detection component 13 are located on both sides of the transparent window 111; the spectral detection component 13 and the positioning module 14 are respectively connected to the control module 15.

The soil collection component 12 is used for continuous collection of soil samples 2 during the plowshare 11 travels, and the spectral detection component 13 is used to obtain the infrared spectrum data of the soil sample 2 collected each time; the positioning module 14 is used to obtain the plowshare 11 Current location information.

The control module 15 is used to obtain the soil nutrient content corresponding to the soil sample 2 according to the infrared spectrum data, and bind the soil nutrient content of the soil sample 2 collected each time with the current position information of the plowshare 11 to obtain the location of the plowshare 11. Soil nutrient distribution map of cultivated land environment.

It can be understood that the soil collection assembly 12 is located between the transparent window 111 and the soil sample 2 .

The spectrum detection component 13 is isolated inside the plowshare 11 by the transparent window 111. The spectrum detection component 13 includes a light-emitting component and a spectrum collection component. The light-emitting component shines on the soil sample 2, and the spectrum collection component collects the reflected light on the soil sample 2. To obtain the infrared spectrum data of soil sample 2.

The transparent window 111 of this embodiment can transmit light, and protect the spectral detection component 13 located on one side of the transparent window 111, preventing the soil sample 2 from contacting the photoelectric device in the spectral detection component 13, affecting the spectral detection effect of the soil.

Wherein, the material of the transparent window 111 may be sapphire glass.

The positioning module 14 of this embodiment may be a GPS positioning module or a Beidou positioning module.

The control module 15 is used to control the spectrum detection component 13, and calculates and processes the spectral data collected by the spectrum detection component 13, and calculates the nutrient content of the soil through a built-in algorithm. The current position information of plowshare 11.

The intelligent plow tool 1 with soil detection function provided by the present invention can use the soil collection component 12 to continuously move the plowshare 11 during the process of advancing the plowshare 11 by setting the soil collection component 12, the spectrum detection component 13, the positioning module 14 and the control module 15. The soil sample 2 is collected, and the infrared spectrum data of the collected soil sample 2 is obtained by using the spectral detection component 13, and the soil nutrient content in the soil sample is calculated based on the characteristic spectral intensity information obtained by the spectral detection. At the same time, it can also be obtained through The positioning module 14 acquires the current location information of the plowshare 11, and combines the current location information of the plowshare 11 with the soil nutrient content of the currently collected soil sample 2 to construct a soil nutrient distribution map of the cultivated land environment where the plowshare 11 is located.

It can be seen from the above that the intelligent plow tool 1 with soil detection function of the present invention not only has a fast detection speed, but also can obtain the soil nutrient content of the soil sample 2 continuously online in real time during the cultivation period, and can also construct the cultivation environment where the plowshare 11 is located. soil nutrient distribution map.

In some embodiments, as shown in FIGS. 1 and 2 , the soil collection assembly 12 of this embodiment includes a calibration plate 121, a shovel 122 and a drive assembly 123; the drive assembly 123 is connected to the calibration plate 121 and the shovel 122, respectively, The calibration plate 121 and the shovel 122 are arranged side by side on one side of the transparent window 111 .

The drive assembly 123 is used to drive the calibration plate 121 to reciprocate between the first position and the second position, and to drive the shovel 122 to reciprocate between the third position and the fourth position, and the movement direction of the calibration plate 121 and the shovel 122 on the contrary.

The first position is adjacent to the third position and is close to the first end of the transparent window 111 , and the second position is adjacent to the fourth position and is close to the second end of the transparent window 111 .

When the calibration plate 121 is in the first position, the scraper 122 is in the fourth position, the calibration plate 121 blocks the transparent window 111, the scraper 122 is separated from the ground, and the control module 15 controls the spectral detection component 13 to collect the data of the calibration board 121. Spectral data on white background.

When the calibration plate 121 is in the second position, the shovel 122 is in the third position, the calibration plate 121 no longer blocks the transparent window 111, and the shovel 122 is in contact with the ground to realize the collection of the soil sample 2, and the control module 15 Control the spectral detection component 13 to collect infrared spectral data of the soil sample 2.

Wherein, the control module 15 obtains the soil nutrient content corresponding to the soil sample 2 according to the infrared spectrum data of the soil sample 2 and the white background spectrum data of the calibration plate 121 .

It is understandable that when the infrared spectrum detection of the soil sample 2 is usually affected by noise, the white background spectral data of the calibration board 121 is used for standard white-board calibration of the infrared spectral data of the soil sample 2, which can eliminate equipment and Environmental effects on spectral data.

When the driving assembly 123 drives the calibration plate 121 to move to the first position, the shovel 122 moves to the fourth position, the calibration plate 121 covers the entire transparent window 111, the shovel 122 leaves the ground, and the spectrum detection component 13 collects the white background of the calibration plate 121 spectral data.

When the driving assembly 123 drives the calibration plate 121 to move to the second position, the shovel 122 moves to the third position, the calibration plate 121 leaves the transparent window 111, the shovel 122 extends into the soil and scoops up the soil, and the soil sample 2 is piled up in the In the gap between the transparent window 111 and the shovel 122 , the spectral detection component 13 collects infrared spectral data of the soil sample 2 .

In this embodiment, the calibration plate 121, the shovel 122 and the drive assembly 123 are set in the soil collection assembly 12, so that the drive assembly 123 can drive the calibration plate 121 and the shovel 122 to move in opposite directions at the same time, and the transparent window is covered on the calibration plate 121. At 111, the shovel 122 leaves the ground, and the spectral detection component 13 collects the white background spectral data of the calibration plate 121. When the calibration plate 121 leaves the transparent window 111, the shovel 122 goes deep into the ground to collect the soil sample 2, and the spectral detection component 13 collects the soil sample 2, then, the control module 15 obtains the soil nutrient content corresponding to the soil sample 2 according to the infrared spectrum data of the soil sample 2 and the white background spectral data of the calibration plate 121, since the infrared spectrum data of the soil sample 2 is A standard white board was calibrated to make the soil nutrient content of the obtained soil sample 2 more accurate.

In some embodiments, as shown in FIG. 1 and FIG. 2 , the driving assembly 123 of this embodiment includes a roller 1231 , a cam 1232 , a crank arm 1233 and a return spring 1234 .

The roller 1231 , the cam 1232 and the crank arm 1233 are respectively rotatably arranged at different positions on the plowshare 11 .

The roller 1231 can roll along the ground when the plowshare 11 is moving. The roller 1231 is provided with a plurality of toggle heads 12311 along the circumference, and the roller 1231 drives the cam 1232 to swing relative to the plowshare 11 in the first rotational direction through the toggle heads 12311 .

The first connection point 12323 on the cam 1232 is connected to the plowshare 11 through a return spring 1234, and the return spring 1234 is used to drive the cam 1232 to swing relative to the plowshare 11 along the second rotation direction.

The second connection point 12324 on the cam 1232 is linked to the crank arm 1233 , the first end of the crank arm 1233 is linked to the scraper 122 , and the second end of the crank arm 1233 is linked to the calibration plate 121 .

It can be understood that the first rotation direction is opposite to the second rotation direction, the first rotation direction may be a clockwise direction, and correspondingly, the second rotation direction may be a counterclockwise direction.

The roller 1231 can be connected with the plowshare 11 through the frame passing through the axis of rotation of the roller 1231. When the roller 1231 rolls counterclockwise along the ground, the toggle head 12311 moves the protruding part of the cam 1232, and the roller 1231 drives the cam 1232 relative to the plow. The head 11 swings clockwise, and the cam 1232 drives the first end of the crank arm 1233 to swing clockwise, and the crank arm 1233 drives the shovel 122 to move to the third position. The earthenware 122 goes deep into the ground, and scoops up the soil on the ground as the plowshare 11 advances, so as to realize the collection of the soil sample 2 .

Further, the toggle head 12311 is separated from the protruding part of the cam 1232 after rotating a certain angle, and the elastic force of the return spring 1234 drives the cam 1232 to swing counterclockwise relative to the plowshare 11, pulling the cam 1232 back to the initial position, and the cam 1232 Pulling the second end of the crank arm 1233 to swing counterclockwise, the crank arm 1233 drives the calibration plate 121 to move to the first position, so that the calibration plate 121 covers the transparent window 111 .

Wherein, the linkage connection between the crank arm 1233 and the cam 1232 , the scraper 122 and the calibration plate 121 can be realized through a connecting rod or a connecting shaft.

Specifically, by changing the setting angle of the toggle head 12311 along the circumferential direction of the roller 1231 and the length of the toggle head 12311 , different detection intervals of the soil samples 2 can be set.

In this embodiment, a roller 1231, a cam 1232, a crank arm 1233 and a return spring 1234 are provided on the driving assembly 123, and the toggle head 12311 of the roller 1231 is used to toggle the cam 1232, and the return spring 1234 is pulled back to the cam 1232, The cam 1232 is matched with the return spring 1234 to drive the crank arm 1233 to swing relative to its axis of rotation, and the crank arm 1233 can drive the scraper 122 to move toward the third position, while the calibration plate 121 moves toward the second position, or the crank arm 1233 The scraper 122 can be driven to move toward the fourth position, while the calibration plate 121 moves toward the first position.

In some embodiments, as shown in FIG. 1 and FIG. 2 , the driving assembly 123 of this embodiment further includes a first linkage rod 1235 , a second linkage rod 1236 and a third linkage rod 1237 .

The second connecting point 12324 on the cam 1232 is rotationally connected with one end of the first linkage lever 1235, and the other end of the first linkage lever 1235 is rotationally connected with the crank arm 1233; the first end of the crank arm 1233 is connected with one end of the second linkage lever 1236 Rotationally connected, the other end of the second linkage rod 1236 is rotationally connected with the scraper 122; the second end of the crank arm 1233 is rotationally connected with one end of the third linkage rod 1237, and the other end of the third linkage rod 1237 is rotationally connected with the calibration plate 121 .

It can be understood that the first linkage rod 1235 is used to realize the linkage between the second connection point 12324 on the cam 1232 and the crank arm 1233 , and the second linkage rod 1236 is used to realize the linkage between the first end of the crank arm 1233 and the scraper 122 , the third linkage rod 1237 is used to realize the linkage between the second end of the crank arm 1233 and the calibration plate 121 .

In this embodiment, by setting the first linkage lever 1235, the second linkage lever 1236 and the third linkage lever 1237 on the drive assembly 123, it is possible to conveniently realize the push and movement of the crank arm 1233 when the cam 1232 swings clockwise and counterclockwise. Pulling, and the pushing and pulling of the crank arm 1233 to the shovel 122 and the calibration plate 121.

In some embodiments, as shown in FIG. 1 and FIG. 2 , a trigger 12321 is provided on the cam 1232 of this embodiment, and the position of the trigger 12321 is located on the rotation axis of the cam 1232 .

One side of the trigger 12321 is provided with a touch switch 12322 , and the touch switch 12322 is electrically connected to the control module 15 .

When the cam 1232 swings by a preset angle along the first rotation direction, the trigger member 12321 is separated from the touch switch 12322 to feed back a first trigger signal to the control module 15 .

When the cam 1232 swings at a predetermined angle along the second rotation direction, the trigger member 12321 and the touch switch 12322 are close together to feed back a second trigger signal to the control module 15 .

The control module 15 respectively controls the spectrum detection component 13 to perform spectrum acquisition according to the first trigger signal and the second trigger signal.

It can be understood that when the cam 1232 swings at a preset angle along the first rotation direction, the shovel 122 is in contact with the ground, the shovel 122 scoops up the soil sample 2, and the first trigger of the touch switch 12322 is fed back to the controller. The signal is used to control the spectrum detection component 13 to perform spectrum detection on the soil sample 2 .

When the cam 1232 swings at a preset angle along the second rotation direction, the calibration plate 121 covers the transparent window 111, and the second trigger signal fed back from the touch switch 12322 to the controller is used to control the spectral detection component 13 to perform White background detection.

Wherein, the trigger member 12321 may be a positioning pin.

In this embodiment, by setting the trigger member 12321 and the touch switch 12322 on the cam 1232, the control module 15 can automatically know the rotation direction of the cam 1232 through the trigger signal fed back by the touch switch 12322, and then know the rotation direction of the scraper 122 and the calibration plate 121. The real-time position is convenient for the control module 15 to control the spectrum detection component 13 to perform spectrum detection on the soil sample 2 or to perform white background detection on the transparent window 111 .

In some embodiments, as shown in FIG. 1 and FIG. 2 , the plowshare 11 of this embodiment is equipped with a guide seat 16 .

The guide seat 16 is provided with a first guide portion 161 and a second guide portion 162, the first guide portion 161 and the second guide portion 162 are spaced apart from each other, and the extension direction of the first guide portion 161 is parallel to the extension direction of the second guide portion 162 .

The calibration plate 121 is movably disposed on the first guide portion 161 , and the shovel 122 is movably disposed on the second guide portion 162 .

It can be understood that the guide seat 16 is used to limit the sliding of the calibration plate 121 along the first guide portion 161, and to limit the sliding of the earth scraper 122 along the second guide portion 162, so as to ensure that the calibration plate 121 is between the first position and the second position. reciprocating stability, and reciprocating stability of the blade 122 between the third position and the fourth position.

In some embodiments, as shown in FIG. 1 and FIG. 2 , a cleaning member is provided on the calibration plate 121 of this embodiment.

During the movement of the calibration plate 121 , the cleaning member is used to clean the surface of the transparent window 111 .

It can be understood that when the calibration plate 121 moves relative to the transparent window 111 , the cleaning member fits the transparent window 111 to push and broom the soil sample 2 on the transparent window 111 to clean the transparent window 111 .

Wherein, the cleaning part may be a rubber cushion.

In this embodiment, cleaning parts are provided on the calibration plate 121, so that after the transparent window 111 is detected by the infrared spectrum, the soil sample 2 on the surface is cleaned in real time, which improves the reliability and accuracy of the subsequent white background detection.

In some embodiments, as shown in FIG. 1 and FIG. 2 , the spectrum detection component of this embodiment includes a light source 131 and a spectrum sensor 132 , and the light source 131 and the spectrum sensor 132 are respectively connected to the control module 15 .

The light output end of the light source 131 and the detection end of the spectral sensor 132 face the first side of the transparent window 111 , and the soil collection component 12 is used to control the accumulation of the collected soil samples 2 to a position opposite to the second side of the transparent window 111 .

It can be understood that the light source 131 is used for generating light signals, and the spectral sensor 132 is used for collecting spectral signals.

The light signal sent by the light source 131 is transmitted to the soil sample 2 through the transparent window 111, and the spectral sensor 132 collects infrared spectral data of the soil sample 2 through the transparent window 111, and the light source 131 and the spectral sensor 132 are both located on the first side of the transparent window 111. side, to ensure that the light source 131 and the spectral sensor 132 are isolated from the soil sample 2 by the transparent window 111. At the same time, the soil sample 2 is piled up at the position opposite to the second side of the transparent window 111, which is convenient for the infrared spectrum of the soil sample 2. collection.

Wherein the light source 131 may be a halogen lamp, and the spectral sensor 132 may be a miniature near-infrared spectrometer with a collection range of 900-1700nm.

In some embodiments, as shown in Figures 1 and 2, the light source 131 of this embodiment is configured with a light-emitting probe 133, and the spectral sensor 132 is configured with a spectrum receiving probe 134; the light-emitting probe 133 and the spectrum receiving probe 134 extend to the transparent window respectively 111.

The optical axis of the light emitting probe 133 and the optical axis of the spectrum receiving probe 134 are vertically arranged, and the optical axis of the light emitting probe 133 and the optical axis of the spectrum receiving probe 134 form an angle of 45° with the first side of the transparent window 111 respectively.

It can be understood that since the light source 131 and the spectral sensor 132 are arranged at a certain distance from the transparent window 111, in this embodiment, the light source 131 is configured with a light emitting probe 133, and the spectral sensor 132 is configured with a spectral receiving probe 134 for the transmission of optical signals, and One optical fiber is used to connect the light source 131 and the light-emitting probe 133 , and another optical fiber is used to connect the spectral sensor 132 and the spectral receiving probe 134 .

In this embodiment, the optical axis of the light-emitting probe 133 and the optical axis of the spectrum receiving probe 134 are vertically arranged, and the optical axis of the light-emitting probe 133 and the optical axis of the spectrum receiving probe 134 are respectively clamped at 45° with the first side of the transparent window 111. The angle can make the spectrum receiving probe 134 receive the maximum amount of infrared light, so as to ensure the best effect of spectrum detection.

In some embodiments, as shown in FIG. 1 and FIG. 3 , the smart plow 1 of this embodiment further includes: a wireless transmission module 17 ; the wireless transmission module 17 is connected to the control module 15 .

It is understandable that the wireless transmission module 17 may be a mobile network. The control module 15 can establish a communication connection with the host computer through the wireless transmission module 17 .

Wherein, the upper computer may be any one of a smart phone, a tablet computer and a smart bracelet.

In some embodiments, as shown in FIG. 1 and FIG. 3 , the smart plow tool 1 further includes: a power supply and data interface module 18 , and the power supply and data interface module 18 is connected to the control module 15 .

It can be understood that the power supply and data interface module 18 is used for powering the smart plow 1 and transmitting data to the host computer, and the control module 15 can control the power supply and data interface module 18 to transmit the collected data information to the host computer.

The power supply and data interface module 18 can be a USB interface or a Type_C interface.

As shown in Figure 4, the present embodiment provides a detection method for the above-mentioned smart plow 1 with soil detection function, including the following steps:

Step 411, control the traction device to drive the smart plow to move forward.

Step 412, controlling the soil collection component to continuously collect soil samples, and controlling the spectrum detection component to obtain infrared spectrum data of soil samples collected each time.

Step 413, obtain the soil nutrient content according to the obtained infrared spectrum data of the soil sample, and obtain the soil nutrient distribution map of the cultivated land environment where the plowshare is located according to the soil nutrient content of each collected soil sample and the current position information of the plowshare .

It is understandable that the intelligent plow advances under the drive of the traction device, and the intelligent plow breaks the ground soil during the advancement process.

The soil collection component is set on the second side of the transparent window to continuously collect soil samples; the spectrum detection component is set on the first side of the transparent window to obtain the infrared spectrum data of the soil samples collected each time, and the positioning module obtains the The current position information of the header.

According to the obtained infrared spectrum data of the soil sample, through the data calculation and the soil nutrient calculation model integrated by the control module, the data is processed and analyzed, and the nutrient content corresponding to the soil sample is calculated, combined with the location information collected by the positioning module, the soil nutrient is completed. The distribution map is transmitted to the host computer through the power supply and data transmission interface, or wirelessly uploaded to the host computer using the wireless transmission module.

As shown in Figure 5, in step 412, the spectral detection component obtains the infrared spectral data of the soil samples collected each time, including:

Step 511 , control the shovel to be at the third position, and the calibration plate to be at the second position, so that the shovel collects soil samples during the progress of the smart plow, and controls the spectral detection component to perform spectral detection on the soil samples.

Step 512, control the shovel to be at the fourth position, and the calibration plate to be at the first position, so that the calibration plate covers the transparent window, and control the spectral detection component to detect the white background of the calibration plate.

It can be understood that the toggle head of the roller drives the cam to swing relative to the plowshare in the first direction of rotation, and the earth scraper contacts the ground under the action of the first linkage lever, the second linkage lever and the crank arm, and accumulates the soil sample. to the corresponding position on the second side of the transparent window, under the action of the first linkage lever, the third linkage lever and the crank arm, the calibration plate no longer covers the transparent window, the trigger on the cam is separated from the touch switch, and sends to the control module The first trigger signal is fed back, and the control module is used to control the spectrum detection component to perform spectrum detection on the soil sample.

The roller continues to rotate. When the toggle head turns over the cam, the return spring drives the cam to swing in the second rotation direction relative to the plow share. Under the action of the first linkage lever, the third linkage lever and the crank arm, the plate covers the transparent window, the trigger on the cam is close to the touch switch, and feeds back the second trigger signal to the control module, which is used to control the spectral detection component to Transparent window for white background detection.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. A kind of intelligent plow with soil detection function, it is characterized in that, comprises: plow share and be located at the soil collection assembly on described plow share, spectral detection assembly, positioning module and control module; The plow share is equipped with a transparent window, at least part of the soil collection component and at least part of the spectral detection component are located on both sides of the transparent window; the spectral detection component and the positioning module are respectively connected to the control module connect; The soil collection component is used for continuous collection of soil samples during the travel of the plowshare, and the spectrum detection component is used for acquiring infrared spectrum data of the soil samples collected each time; the positioning module is used for Obtain the current position information of the plowshare; The control module is used to obtain the soil nutrient content corresponding to the soil sample according to the infrared spectrum data, and bind the soil nutrient content of the soil sample collected each time with the current position information of the plowshare , to obtain the soil nutrient distribution map of the cultivated land environment where the plowshare is located. 2. The intelligent plow tool with soil detection function according to claim 1, characterized in that, the soil collection assembly comprises a calibration plate, a shovel and a drive assembly; the drive assembly is connected to the calibration plate and the The shovel is connected, and the calibration plate and the shovel are arranged side by side on one side of the transparent window; The drive assembly is used to drive the calibration plate to reciprocate between a first position and a second position, and to drive the scraper to reciprocate between a third position and a fourth position, the calibration plate and the The movement direction of the shovel is opposite; The first position is adjacent to the third position and is close to the first end of the transparent window, and the second position is adjacent to the fourth position and is close to the second end of the transparent window; When the calibration board is in the first position, the scraper is in the fourth position, the calibration board blocks the transparent window, the scraper is separated from the ground, and the control module controls the spectrum The detection component collects the white background spectral data of the calibration plate; When the calibration plate is in the second position, the shovel is in the third position, the calibration plate no longer blocks the transparent window, and the shovel is in contact with the ground to realize the soil sample. Collecting, the control module controls the spectral detection component to collect infrared spectral data of the soil sample; Wherein, the control module obtains the soil nutrient content corresponding to the soil sample according to the infrared spectrum data of the soil sample and the white background spectrum data of the calibration plate. 3. The intelligent plow tool with soil detection function according to claim 2, characterized in that, the drive assembly comprises rollers, cams, crank arms and return springs; The roller, the cam and the crank arm are respectively rotatably arranged at different positions on the plowshare; The roller can roll along the ground during the travel of the plowshare, and the roller is provided with a plurality of toggle heads along the circumference, and the roller drives the cam along the first row relative to the plowshare through the toggle heads. swing in one direction The first connection point on the cam is connected to the plowshare through the return spring, and the return spring is used to drive the cam to swing in the second rotation direction relative to the plowshare; The second connection point on the cam is linked to the crank arm, the first end of the crank arm is linked to the scraper, and the second end of the crank arm is linked to the calibration plate. 4. The intelligent plow tool with soil detection function according to claim 3, characterized in that, the drive assembly further comprises a first linkage lever, a second linkage lever and a third linkage lever; The second connection point on the cam is rotatably connected to one end of the first linkage lever, and the other end of the first linkage lever is rotatably connected to the crank arm; the first end of the crank arm is rotatably connected to the first linkage lever. One end of the two linkage rods is rotationally connected, and the other end of the second linkage rod is rotationally connected to the shovel; the second end of the crank arm is rotationally connected to one end of the third linkage rod, and the third linkage The other end of the rod is rotatably connected with the calibration plate. 5. The intelligent plow tool with soil detection function according to claim 3, characterized in that, the cam is provided with a trigger, and the position of the trigger is located on the rotation axis of the cam; A touch switch is provided on one side of the trigger, and the touch switch is electrically connected to the control module; When the cam swings at a preset angle along the first rotation direction, the trigger member is separated from the touch switch to feed back a first trigger signal to the control module; When the cam swings at a preset angle along the second rotation direction, the trigger member is close to the touch switch to feed back a second trigger signal to the control module; The control module respectively controls the spectrum detection component to perform spectrum acquisition according to the first trigger signal and the second trigger signal. 6. The intelligent plow tool with soil detection function according to claim 2, characterized in that, the plow share is equipped with a guide seat; The guide seat is provided with a first guide portion and a second guide portion, the first guide portion and the second guide portion are spaced apart from each other, the extending direction of the first guide portion and the direction of the second guide portion The direction of extension is parallel; The calibration plate is movably arranged on the first guide part, and the shovel is movably arranged on the second guide part. 7. The intelligent plow tool with soil detection function according to claim 2, characterized in that, the calibration plate is provided with a cleaning piece; During the movement of the calibration plate, the cleaning member is used to clean the surface of the transparent window. 8. The intelligent plow tool with soil detection function according to any one of claims 1 to 7, characterized in that, the spectral detection component includes a light source and a spectral sensor, and the light source and the spectral sensor are respectively connected to the control module connection; The light output end of the light source and the detection end of the spectral sensor face the first side of the transparent window, and the soil collection component is used to control the accumulation of collected soil samples to a position opposite to the second side of the transparent window . 9. The intelligent plow tool with soil detection function according to claim 8, characterized in that, the light source is configured with a light-emitting probe, and the spectral sensor is configured with a spectrum receiving probe; the light-emitting probe and the spectrum receiving probe are extending towards the transparent windows respectively; The optical axis of the light-emitting probe and the optical axis of the spectrum receiving probe are vertically arranged, and the optical axis of the light-emitting probe and the optical axis of the spectrum receiving probe respectively form an angle of 45° with the first side of the transparent window . 10. The intelligent plow with soil detection function according to any one of claims 1 to 7, characterized in that, the intelligent plow further comprises: a wireless transmission module; the wireless transmission module is connected to the control module ; And/or, the intelligent plow tool further includes: a power supply and data interface module, the power supply and data interface module is connected to the control module.