CN116660197A - Intelligent plough with soil detection function - Google Patents

Intelligent plough with soil detection function Download PDF

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CN116660197A
CN116660197A CN202310898612.6A CN202310898612A CN116660197A CN 116660197 A CN116660197 A CN 116660197A CN 202310898612 A CN202310898612 A CN 202310898612A CN 116660197 A CN116660197 A CN 116660197A
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soil
control module
calibration plate
plowshare
intelligent
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CN116660197B (en
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赵贤德
杜秀可
田宏武
董大明
刘亚超
刘帅
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Research Center of Information Technology of Beijing Academy of Agriculture and Forestry Sciences
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • G01N21/35Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
    • G01N21/3563Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing solids; Preparation of samples therefor
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B15/00Elements, tools, or details of ploughs
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B3/00Ploughs with fixed plough-shares
    • A01B3/24Tractor-drawn ploughs
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00Sampling; Preparing specimens for investigation
    • G01N1/02Devices for withdrawing samples
    • G01N1/04Devices for withdrawing samples in the solid state, e.g. by cutting
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G01N21/31Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
    • G01N21/35Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
    • G01N21/359Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light using near infrared light

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  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Investigating, Analyzing Materials By Fluorescence Or Luminescence (AREA)

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

一种具有土壤检测功能的智能犁具An intelligent plow tool with soil detection function

技术领域technical field

本发明涉及土壤养分检测技术领域,尤其涉及一种具有土壤检测功能的智能犁具。The invention relates to the technical field of soil nutrient detection, in particular to an intelligent plow with soil detection function.

背景技术Background technique

土壤养分研究在合理利用土壤,高效发展农业方面发挥着积极作用,土壤养分的测量和控制对农产品的合理施肥尤为重要。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.

近红外(NIR)光谱区域(780~2500nm)是发现最早的非可见光谱区域,土壤的近红外光谱检测是一种广泛应用于土壤养分研究的快速、无损分析技术,它可以在不破坏土壤的情况下,对土壤的养分进行分析,获取数据量大,精度高而且可靠性强,在土壤分析工作之中取得了良好的效果。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.

目前,土壤的近红外光谱检测还是采取室内分析方法,室内近红外光谱检测所需的样品采集、运输、制备等过程,需要有大量人力、物力的投入,工作难度较大,成本较高。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.

发明内容Contents of the invention

本发明提供一种具有土壤检测功能的智能犁具,用以解决现有的犁具结构简单、功能单一,难以实时在线完成土壤养分检测的问题。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.

本发明提供一种具有土壤检测功能的智能犁具,包括:犁头以及设于所述犁头上的土壤采集组件、光谱检测组件、定位模块和控制模块;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;

所述犁头配置有透明窗口,至少部分所述土壤采集组件和至少部分所述光谱检测组件分设于所述透明窗口的两侧;所述光谱检测组件、所述定位模块分别与所述控制模块连接;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;

所述土壤采集组件用于在所述犁头行进的过程中进行土壤样本的连续采集,所述光谱检测组件用于获取每次采集的所述土壤样本的红外光谱数据;所述定位模块用于获取所述犁头当前的位置信息;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;

所述控制模块用于根据所述红外光谱数据,获取与所述土壤样本对应的土壤养分含量,以及将每次采集的所述土壤样本的土壤养分含量和所述犁头当前的位置信息绑定,获取所述犁头所在的耕地环境的土壤养分分布图。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.

根据本发明提供的一种具有土壤检测功能的智能犁具,所述土壤采集组件包括标定板、铲土器和驱动组件;所述驱动组件分别与所述标定板和所述铲土器连接,所述标定板和所述铲土器并排设置于所述透明窗口的一侧;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;

所述驱动组件用于驱动所述标定板在第一位置和第二位置之间往复运动,以及驱动所述铲土器在第三位置和第四位置之间往复运动,所述标定板和所述铲土器的运动方向相反;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;

所述第一位置和所述第三位置相临近,并靠近所述透明窗口的第一端,所述第二位置和所述第四位置相临近,并靠近所述透明窗口的第二端;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;

在所述标定板处于第一位置的情形下,所述铲土器处于第四位置,所述标定板对所述透明窗口进行遮挡,所述铲土器和地面分离,所述控制模块控制所述光谱检测组件采集所述标定板的白背景光谱数据;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;

在所述标定板处于第二位置的情形下,所述铲土器处于第三位置,所述标定板不再对所述透明窗口进行遮挡,所述铲土器和地面接触,以实现对土壤样本的采集,所述控制模块控制所述光谱检测组件采集所述土壤样本的红外光谱数据;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;

其中,所述控制模块根据所述土壤样本的红外光谱数据和所述标定板的白背景光谱数据,获取与所述土壤样本对应的土壤养分含量。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.

根据本发明提供的一种具有土壤检测功能的智能犁具,所述驱动组件包括滚轮、凸轮、拐臂和复位弹簧;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;

所述滚轮、所述凸轮和所述拐臂分别可转动地设于所述犁头上的不同位置;The roller, the cam and the crank arm are respectively rotatably arranged at different positions on the plowshare;

所述滚轮能够在所述犁头行进的过程中沿地面滚动,所述滚轮沿周向设有多个拨动头,所述滚轮通过所述拨动头驱动所述凸轮相对于所述犁头沿第一旋向摆动;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

所述凸轮上的第一连接点通过所述复位弹簧和所述犁头连接,所述复位弹簧用于驱动所述凸轮相对于所述犁头沿第二旋向摆动;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;

所述凸轮上的第二连接点和所述拐臂联动连接,所述拐臂的第一端和所述铲土器联动连接,所述拐臂的第二端和所述标定板联动连接。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.

根据本发明提供的一种具有土壤检测功能的智能犁具,所述驱动组件还包括第一联动杆、第二联动杆和第三联动杆;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;

所述凸轮上的第二连接点和所述第一联动杆的一端转动连接,所述第一联动杆的另一端和所述拐臂转动连接;所述拐臂的第一端和所述第二联动杆的一端转动连接,所述第二联动杆的另一端和所述铲土器转动连接;所述拐臂的第二端和所述第三联动杆的一端转动连接,所述第三联动杆的另一端和所述标定板转动连接。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.

根据本发明提供的一种具有土壤检测功能的智能犁具,所述凸轮上设有触发件,所述触发件设置的位置位于所述凸轮的旋转轴线上;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;

所述触发件的一侧设置有触控开关,所述触控开关和所述控制模块电性连接;A touch switch is provided on one side of the trigger, and the touch switch is electrically connected to the control module;

在所述凸轮沿第一旋向摆动预设角度的情形下,所述触发件和所述触控开关分离,以向所述控制模块反馈第一触发信号;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;

在所述凸轮沿第二旋向摆动预设角度的情形下,所述触发件和所述触控开关相靠近,以向所述控制模块反馈第二触发信号;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;

所述控制模块根据所述第一触发信号和所述第二触发信号分别控制所述光谱检测组件进行光谱采集作业。The control module respectively controls the spectrum detection component to perform spectrum acquisition according to the first trigger signal and the second trigger signal.

根据本发明提供的一种具有土壤检测功能的智能犁具,所述犁头配置有导向座;According to an intelligent plow tool with soil detection function provided by the present invention, the plow share is equipped with a guide seat;

所述导向座上设有第一引导部和第二引导部,所述第一引导部和所述第二引导部彼此间隔,所述第一引导部的延伸方向和所述第二引导部的延伸方向平行;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;

所述标定板可移动地设于所述第一引导部,所述铲土器可移动地设于所述第二引导部。The calibration plate is movably arranged on the first guide part, and the shovel is movably arranged on the second guide part.

根据本发明提供的一种具有土壤检测功能的智能犁具,所述标定板上设有清扫件;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;

在所述标定板移动的过程中,所述清扫件用于对所述透明窗口的表面进行清洁。During the movement of the calibration plate, the cleaning member is used to clean the surface of the transparent window.

根据本发明提供的一种具有土壤检测功能的智能犁具,所述光谱检测组件包括光源和光谱传感器,所述光源和所述光谱传感器分别与所述控制模块连接;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;

所述光源的出光端和所述光谱传感器的检测端朝向所述透明窗口的第一侧面,所述土壤采集组件用于控制采集的土壤样本堆积至与所述透明窗口的第二侧面相对的位置。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 .

根据本发明提供的一种具有土壤检测功能的智能犁具,所述光源配置有出光探头,所述光谱传感器配置有光谱接收探头;所述出光探头和所述光谱接收探头分别伸向所述透明窗口;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;

所述出光探头的光轴和所述光谱接收探头的光轴垂直设置,所述出光探头的光轴和所述光谱接收探头的光轴分别与所述透明窗口的第一侧面呈45°夹角。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 .

根据本发明提供的一种具有土壤检测功能的智能犁具,所述智能犁具还包括:无线传输模块;所述无线传输模块和所述控制模块连接;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;

和/或,所述智能犁具还包括:电源与数据接口模块,所述电源与数据接口模块和所述控制模块连接。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.

本发明提供的具有土壤检测功能的智能犁具,通过设置土壤采集组件、光谱检测组件、定位模块和控制模块,可以在犁头行进的过程中,使用土壤采集组件连续的采集土壤样本,并使用光谱检测组件获取所采集的土壤样本的红外光谱数据,基于光谱检测得到的特征光谱强度信息,计算土壤样本中的土壤养分含量,与此同时,还能够通过定位模块获取犁头当前的位置信息,将犁头当前的位置信息与当前采集的土壤样本的土壤养分含量相结合,以构建犁头所在耕地环境的土壤养分分布图。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.

由上可知,本发明的具有土壤检测功能的智能犁具,不仅检测速度快,在耕地期间就能够实时在线连续的获取土壤样本的土壤养分含量,而且还可以构建犁头所在耕地环境的土壤养分分布图。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.

附图说明Description of drawings

为了更清楚地说明本发明或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。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.

图1是本发明提供的具有土壤检测功能的智能犁具的结构示意图;Fig. 1 is the structural representation of the intelligent plow with soil detection function provided by the present invention;

图2是本发明提供的驱动组件的结构示意图;Fig. 2 is a schematic structural view of the drive assembly provided by the present invention;

图3是本发明提供的具有土壤检测功能的智能犁具的控制结构框图;Fig. 3 is the block diagram of the control structure of the intelligent plow with soil detection function provided by the present invention;

图4是本发明提供的智能犁具的土壤养分含量的检测方法,以及土壤养分分布图的获取方法的流程示意图;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;

图5是本发明提供的图4中步骤412的流程示意图。FIG. 5 is a schematic flowchart of step 412 in FIG. 4 provided by the present invention.

附图标记:Reference signs:

1、智能犁具;1. Smart plow;

11、犁头;111、透明窗口;11. Plowshare; 111. Transparent window;

12、土壤采集组件;121、标定板;122、铲土器;123、驱动组件;1231、滚轮;1232、凸轮;1233、拐臂;1234、复位弹簧;1235、第一联动杆;1236、第二联动杆;1237、第三联动杆;12311、拨动头;12321、触发件;12322、触控开关;12323、第一连接点;12324、第二连接点;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、光谱检测组件;131、光源;132、光谱传感器;133、出光探头;134、光谱接收探头;13. Spectrum detection component; 131. Light source; 132. Spectrum sensor; 133. Light emitting probe; 134. Spectrum receiving probe;

14、定位模块;15、控制模块;14. Positioning module; 15. Control module;

16、导向座;161、第一引导部;162、第二引导部;16. Guide seat; 161. First guide part; 162. Second guide part;

17、无线传输模块;18、电源与数据接口模块;17. Wireless transmission module; 18. Power supply and data interface module;

2、土壤样本。2. Soil samples.

具体实施方式Detailed ways

为使本发明的目的、技术方案和优点更加清楚,下面将结合本发明中的附图,对本发明中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。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.

下面结合图1至图5,通过具体的实施例及其应用场景,对本发明实施例提供的具有土壤检测功能的智能犁具进行详细地说明。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 .

在一些实施例中,如图1、图2和图3所示,本实施例提供一种具有土壤检测功能的智能犁具,包括:犁头11以及设于犁头11上的土壤采集组件12、光谱检测组件13、定位模块14和控制模块15。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.

犁头11配置有透明窗口111,至少部分土壤采集组件12和至少部分光谱检测组件13分设于透明窗口111的两侧;光谱检测组件13、定位模块14分别与控制模块15连接。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.

土壤采集组件12用于在犁头11行进的过程中进行土壤样本2的连续采集,光谱检测组件13用于获取每次采集的土壤样本2的红外光谱数据;定位模块14用于获取犁头11当前的位置信息。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.

控制模块15用于根据红外光谱数据,获取与土壤样本2对应的土壤养分含量,以及将每次采集的土壤样本2的土壤养分含量和犁头11当前的位置信息绑定,获取犁头11所在的耕地环境的土壤养分分布图。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.

可理解的是,土壤采集组件12位于透明窗口111与土壤样本2之间。It can be understood that the soil collection assembly 12 is located between the transparent window 111 and the soil sample 2 .

光谱检测组件13被透明窗口111隔离在犁头11的内部,光谱检测组件13包括发光部件和光谱采集部件,发光部件发光照射在土壤样本2上,光谱采集部件采集土壤样本2上的反射光,以获取土壤样本2的红外光谱数据。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.

本实施例的透明窗口111可以透光,并且保护位于透明窗口111的一侧的光谱检测组件13,阻挡土壤样本2与光谱检测组件13中的光电器件接触,影响土壤的光谱检测效果。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.

其中,透明窗口111的材料可以是蓝宝石玻璃。Wherein, the material of the transparent window 111 may be sapphire glass.

本实施例的定位模块14可以为GPS定位模块或者北斗定位模块。The positioning module 14 of this embodiment may be a GPS positioning module or a Beidou positioning module.

控制模块15用于对光谱检测组件13的控制,并对光谱检测组件13采集到的光谱数据进行计算处理,通过内置算法计算土壤的养分含量,同时,控制模块15用于获取定位模块14采集的犁头11当前的位置信息。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.

本发明提供的具有土壤检测功能的智能犁具1,通过设置土壤采集组件12、光谱检测组件13、定位模块14和控制模块15,可以在犁头11行进的过程中,使用土壤采集组件12连续的采集土壤样本2,并使用光谱检测组件13获取所采集的土壤样本2的红外光谱数据,基于光谱检测得到的特征光谱强度信息,计算土壤样本中的土壤养分含量,与此同时,还能够通过定位模块14获取犁头11当前的位置信息,将犁头11当前的位置信息与当前采集的土壤样本2的土壤养分含量相结合,以构建犁头11所在耕地环境的土壤养分分布图。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.

由上可知,本发明的具有土壤检测功能的智能犁具1,不仅检测速度快,在耕地期间就能够实时在线连续的获取土壤样本2的土壤养分含量,而且还可以构建犁头11所在耕地环境的土壤养分分布图。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.

在一些实施例中,如图1和图2所示,本实施例的土壤采集组件12包括标定板121、铲土器122和驱动组件123;驱动组件123分别与标定板121和铲土器122连接,标定板121和铲土器122并排设置于透明窗口111的一侧。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 .

驱动组件123用于驱动标定板121在第一位置和第二位置之间往复运动,以及驱动铲土器122在第三位置和第四位置之间往复运动,标定板121和铲土器122的运动方向相反。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.

第一位置和第三位置相临近,并靠近透明窗口111的第一端,第二位置和第四位置相临近,并靠近透明窗口111的第二端。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 .

在标定板121处于第一位置的情形下,铲土器122处于第四位置,标定板121对透明窗口111进行遮挡,铲土器122和地面分离,控制模块15控制光谱检测组件13采集标定板121的白背景光谱数据。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.

在标定板121处于第二位置的情形下,铲土器122处于第三位置,标定板121不再对透明窗口111进行遮挡,铲土器122和地面接触,以实现对土壤样本2的采集,控制模块15控制光谱检测组件13采集土壤样本2的红外光谱数据。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.

其中,控制模块15根据土壤样本2的红外光谱数据和标定板121的白背景光谱数据,获取与土壤样本2对应的土壤养分含量。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 .

可理解的是,在对土壤样本2进行红外光谱检测时,通常会有噪声的影响,标定板121的白背景光谱数据用于对土壤样本2的红外光谱数据进行标准白板标定,能够消除设备和环境对光谱数据的影响。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.

在驱动组件123驱动标定板121运动至第一位置时,铲土器122运动至第四位置,标定板121覆盖整个透明窗口111,铲土器122离开地面,光谱检测组件13采集标定板121的白背景光谱数据。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.

在驱动组件123驱动标定板121运动至第二位置时,铲土器122运动至第三位置,标定板121离开透明窗口111,铲土器122伸入土壤后将土壤铲起,将土壤样本2堆积在透明窗口111和铲土器122之间的空隙里,光谱检测组件13采集土壤样本2的红外光谱数据。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 .

本实施例通过在土壤采集组件12中设置标定板121、铲土器122和驱动组件123,使得驱动组件123能够同时驱动标定板121和铲土器122沿相反的方向运动,在标定板121覆盖透明窗口111时,铲土器122离开地面,光谱检测组件13采集标定板121的白背景光谱数据,在标定板121离开透明窗口111时,铲土器122深入地面采集土壤样本2,光谱检测组件13采集土壤样本2的红外光谱数据,然后,控制模块15根据土壤样本2的红外光谱数据和标定板121的白背景光谱数据,获取与土壤样本2对应的土壤养分含量,由于对土壤样本2的红外光谱数据进行了标准白板标定,使得获取的土壤样本2的土壤养分含量更加准确。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.

在一些实施例中,如图1和图2所示,本实施例的驱动组件123包括滚轮1231、凸轮1232、拐臂1233和复位弹簧1234。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 .

滚轮1231、凸轮1232和拐臂1233分别可转动地设于犁头11上的不同位置。The roller 1231 , the cam 1232 and the crank arm 1233 are respectively rotatably arranged at different positions on the plowshare 11 .

滚轮1231能够在犁头11行进的过程中沿地面滚动,滚轮1231沿周向设有多个拨动头12311,滚轮1231通过拨动头12311驱动凸轮1232相对于犁头11沿第一旋向摆动。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 .

凸轮1232上的第一连接点12323通过复位弹簧1234和犁头11连接,复位弹簧1234用于驱动凸轮1232相对于犁头11沿第二旋向摆动。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.

凸轮1232上的第二连接点12324和拐臂1233联动连接,拐臂1233的第一端和铲土器122联动连接,拐臂1233的第二端和标定板121联动连接。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 .

可理解的是,第一旋向与第二旋向方向相反,第一旋向可以是顺时针的方向,相应地,第二旋向可以是逆时针的方向。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.

滚轮1231可以通过穿过滚轮1231旋转轴线的机架与犁头11连接,滚轮1231沿地面逆时针方向滚动时,拨动头12311拨动凸轮1232的凸出部分,滚轮1231带动凸轮1232相对于犁头11沿顺时针方向摆动,凸轮1232驱动拐臂1233的第一端沿顺时针方向摆动,拐臂1233驱动铲土器122向第三位置移动,由于犁头11在行进时已将地面破碎,铲土器122深入地面中,随着犁头11的行进将地面上的土壤铲起,从而实现土壤样本2的采集。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 .

进一步地,拨动头12311与凸轮1232凸出部分旋转一定角度后分离,复位弹簧1234的弹性力带动凸轮1232相对于犁头11沿逆时针方向摆动,将凸轮1232拉拽回初始位置,凸轮1232拉动拐臂1233的第二端沿逆时针方向摆动,拐臂1233驱动标定板121向第一位置移动,以使标定板121覆盖透明窗口111。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 .

其中,拐臂1233与凸轮1232、铲土器122和标定板121的联动连接可以通过连杆或者连接轴实现。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.

具体地,通过改变拨动头12311沿滚轮1231周向的设置角度和拨动头12311的长度,可以设置不同的土壤样本2检测间距。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.

本实施例通过在驱动组件123上设置滚轮1231、凸轮1232、拐臂1233和复位弹簧1234,通过滚轮1231的拨动头12311对凸轮1232的拨动,以及复位弹簧1234对凸轮1232的回拉,使凸轮1232和复位弹簧1234相配合,能够驱动拐臂1233相对其旋转轴线摆动,拐臂1233能够驱动铲土器122朝第三位置运动,同时标定板121朝第二位置运动,或者,拐臂1233能够驱动铲土器122朝第四位置运动,同时标定板121朝第一位置运动。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.

在一些实施例中,如图1和图2所示,本实施例的驱动组件123还包括第一联动杆1235、第二联动杆1236和第三联动杆1237。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 .

凸轮1232上的第二连接点12324和第一联动杆1235的一端转动连接,第一联动杆1235的另一端和拐臂1233转动连接;拐臂1233的第一端和第二联动杆1236的一端转动连接,第二联动杆1236的另一端和铲土器122转动连接;拐臂1233的第二端和第三联动杆1237的一端转动连接,第三联动杆1237的另一端和标定板121转动连接。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 .

可理解的是,第一联动杆1235用于实现凸轮1232上的第二连接点12324和拐臂1233的联动,第二联动杆1236用于实现拐臂1233的第一端和铲土器122的联动,第三联动杆1237用于实现拐臂1233的第二端和标定板121的联动。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 .

本实施例通过在驱动组件123上设置第一联动杆1235、第二联动杆1236和第三联动杆1237,可以便捷的实现凸轮1232在顺时针和逆时针摆动时,对拐臂1233的推动及拉动,以及拐臂1233对铲土器122和标定板121的推动及拉动。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.

在一些实施例中,如图1和图2所示,本实施例的凸轮1232上设有触发件12321,触发件12321设置的位置位于凸轮1232的旋转轴线上。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 .

触发件12321的一侧设置有触控开关12322,触控开关12322和控制模块15电性连接。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 .

在凸轮1232沿第一旋向摆动预设角度的情形下,触发件12321和触控开关12322分离,以向控制模块15反馈第一触发信号。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 .

在凸轮1232沿第二旋向摆动预设角度的情形下,触发件12321和触控开关12322相靠近,以向控制模块15反馈第二触发信号。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 .

控制模块15根据第一触发信号和第二触发信号分别控制光谱检测组件13进行光谱采集作业。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.

可理解的是,在凸轮1232沿第一旋向摆动预设角度的情形下,铲土器122和地面接触,铲土器122将土壤样本2铲起,触控开关12322向控制器反馈的第一触发信号,用于控制光谱检测组件13对土壤样本2进行光谱检测。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 .

在凸轮1232沿第二旋向摆动预设角度的情形下,标定板121覆盖透明窗口111,触控开关12322向控制器反馈的第二触发信号,用于控制光谱检测组件13对透明窗口111进行白背景检测。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.

其中,触发件12321可以是定位销。Wherein, the trigger member 12321 may be a positioning pin.

本实施例通过在凸轮1232上设置触发件12321和触控开关12322,使得控制模块15可以通过触控开关12322反馈的触发信号自动获知凸轮1232的旋向,进而获知铲土器122和标定板121的实时位置,以便于控制模块15控制光谱检测组件13对土壤样本2进行光谱检测或者对透明窗口111进行白背景检测。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 .

在一些实施例中,如图1和图2所示,本实施例的犁头11配置有导向座16。In some embodiments, as shown in FIG. 1 and FIG. 2 , the plowshare 11 of this embodiment is equipped with a guide seat 16 .

导向座16上设有第一引导部161和第二引导部162,第一引导部161和第二引导部162彼此间隔,第一引导部161的延伸方向和第二引导部162的延伸方向平行。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 .

标定板121可移动地设于第一引导部161,铲土器122可移动地设于第二引导部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 .

可理解的是,导向座16用于限定标定板121沿第一引导部161滑动,以及限定铲土器122沿第二引导部162滑动,确保了标定板121在第一位置和第二位置之间往复运动的稳定性,以及铲土器122在第三位置和第四位置之间往复运动的稳定性。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.

在一些实施例中,如图1和图2所示,本实施例的标定板121上设有清扫件。In some embodiments, as shown in FIG. 1 and FIG. 2 , a cleaning member is provided on the calibration plate 121 of this embodiment.

在标定板121移动的过程中,清扫件用于对透明窗口111的表面进行清洁。During the movement of the calibration plate 121 , the cleaning member is used to clean the surface of the transparent window 111 .

可理解的是,标定板121相对于透明窗口111移动时,清扫件与透明窗口111贴合,用于推扫清理透明窗口111上的土壤样本2,实现透明窗口111的清洁。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 .

其中,清扫件可以是橡胶软垫。Wherein, the cleaning part may be a rubber cushion.

本实施例通过在标定板121上设置清扫件,使得透明窗口111经过红外光谱检测之后,表面的土壤样本2实时清理,提高了随后进行的白背景检测的可靠性和准确度。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.

在一些实施例中,如图1和图2所示,本实施例的光谱检测组件包括光源131和光谱传感器132,光源131和光谱传感器132分别与控制模块15连接。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 .

光源131的出光端和光谱传感器132的检测端朝向透明窗口111的第一侧面,土壤采集组件12用于控制采集的土壤样本2堆积至与透明窗口111的第二侧面相对的位置。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 .

可理解的是,光源131用于光信号的产生,光谱传感器132用于光谱信号的采集。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.

光源131发出的光信号透过透明窗口111传递到土壤样本2上,光谱传感器132透过透明窗口111采集土壤样本2的红外光谱数据,并且光源131和光谱传感器132均位于透明窗口111的第一侧面,以确保光源131和光谱传感器132与土壤样本2被透明窗口111所隔离,与此同时,土壤样本2堆积在透明窗口111的第二侧面相对的位置,便于对土壤样本2的红外光谱的采集。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.

其中光源131可以是卤素灯,光谱传感器132可以是微型近红外光谱仪,采集范围为900-1700nm。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.

在一些实施例中,如图1和图2所示,本实施例的光源131配置有出光探头133,光谱传感器132配置有光谱接收探头134;出光探头133和光谱接收探头134分别伸向透明窗口111。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.

出光探头133的光轴和光谱接收探头134的光轴垂直设置,出光探头133的光轴和光谱接收探头134的光轴分别与透明窗口111的第一侧面呈45°夹角。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.

可理解的是,由于光源131和光谱传感器132与透明窗口111设置有一段距离,本实施例为光源131配置出光探头133,为光谱传感器132配置光谱接收探头134,用于光信号的传递,并使用一条光纤连接光源131和出光探头133,以及另一条光纤连接光谱传感器132和光谱接收探头134。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 .

本实施例通过将出光探头133的光轴和光谱接收探头134的光轴垂直设置,并且出光探头133的光轴和光谱接收探头134的光轴分别与透明窗口111的第一侧面呈45°夹角,能够使得光谱接收探头134对红外光的接收量最大,从而确保光谱检测的效果最好。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.

在一些实施例中,如图1和图3所示,本实施例的智能犁具1还包括:无线传输模块17;无线传输模块17和控制模块15连接。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 .

可理解的是,无线传输模块17可以是移动网络。控制模块15可以通过无线传输模块17与上位机建立通信连接。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 .

其中,上位机可以是智能手机、平板电脑及智能手环当中的任一种。Wherein, the upper computer may be any one of a smart phone, a tablet computer and a smart bracelet.

在一些实施例中,如图1和图3所示,智能犁具1还包括:电源与数据接口模块18,电源与数据接口模块18和控制模块15连接。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 .

可理解的是,电源与数据接口模块18用于智能犁具1的供电以及将数据传输给上位机,控制模块15可控制电源与数据接口模块18将采集的数据信息传给上位机。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.

电源与数据接口模块18可以是USB接口,也可以是Type_C接口。The power supply and data interface module 18 can be a USB interface or a Type_C interface.

如图4所示,本实施例提供一种上述所述的具有土壤检测功能的智能犁具1的检测方法,包括如下步骤: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:

步骤411,控制牵引装置带动智能犁具行进。Step 411, control the traction device to drive the smart plow to move forward.

步骤412,控制土壤采集组件进行土壤样本的连续采集,控制光谱检测组件获取每次采集的土壤样本的红外光谱数据。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.

步骤413,根据获得的土壤样本的红外光谱数据,获取土壤养分含量,以及根据每次采集的土壤样本的土壤养分含量和犁头当前的位置信息,获取犁头所在的耕地环境的土壤养分分布图。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 .

可理解的是,智能犁具在牵引装置的带动下前进,智能犁具在前进过程中使地面土壤破碎。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.

土壤采集组件设置在透明窗口的第二侧,以对土壤样本进行连续的采集;光谱检测组件设置于透明窗口的第一侧,以获取每次采集的土壤样本的红外光谱数据,定位模块获取犁头当前的位置信息。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.

根据获得的土壤样本的红外光谱数据,通过数据计算及控制模块集成的土壤养分计算模型,对数据进行处理分析,计算出土壤样本对应的养分含量,结合定位模块所采集的位置信息,完成土壤养分分布图,通过电源和数据传输接口传输至上位机,或使用无线传输模块进行无线上传至上位机。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.

如图5所示,在步骤412当中,光谱检测组件获取每次采集的土壤样本的红外光谱数据,包括: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:

步骤511,控制铲土器处于第三位置,标定板处于第二位置,以在智能犁具行进的过程中,由铲土器进行土壤样本的采集,控制光谱检测组件对土壤样本进行光谱检测。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.

步骤512,控制铲土器处于第四位置,标定板处于第一位置,以使得标定板覆盖透明窗口,控制光谱检测组件对标定板进行白背景检测。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.

可理解的是,滚轮的拨动头驱动凸轮相对于犁头沿第一旋向摆动,铲土器在第一联动杆、第二联动杆和拐臂的作用下和地面接触,并将土壤样本堆积至透明窗口的第二侧面的对应位置,标定板在第一联动杆、第三联动杆和拐臂的作用下,不再覆盖透明窗口,凸轮上的触发件和触控开关分离,向控制模块反馈第一触发信号,控制模块用于控制光谱检测组件对土壤样本进行光谱检测。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.

滚轮继续转动,当拨动头转过凸轮,复位弹簧驱动凸轮相对于犁头沿第二旋向摆动,铲土器在第一联动杆、第二联动杆和拐臂的作用下和地面分离,标定板在第一联动杆、第三联动杆和拐臂的作用下,覆盖透明窗口,凸轮上的触发件和触控开关相靠近,向控制模块反馈第二触发信号,用于控制光谱检测组件对透明窗口进行白背景检测。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.

最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。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)

1.一种具有土壤检测功能的智能犁具,其特征在于,包括:犁头以及设于所述犁头上的土壤采集组件、光谱检测组件、定位模块和控制模块;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; 所述犁头配置有透明窗口,至少部分所述土壤采集组件和至少部分所述光谱检测组件分设于所述透明窗口的两侧;所述光谱检测组件、所述定位模块分别与所述控制模块连接;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; 所述土壤采集组件用于在所述犁头行进的过程中进行土壤样本的连续采集,所述光谱检测组件用于获取每次采集的所述土壤样本的红外光谱数据;所述定位模块用于获取所述犁头当前的位置信息;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; 所述控制模块用于根据所述红外光谱数据,获取与所述土壤样本对应的土壤养分含量,以及将每次采集的所述土壤样本的土壤养分含量和所述犁头当前的位置信息绑定,获取所述犁头所在的耕地环境的土壤养分分布图。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.根据权利要求1所述的具有土壤检测功能的智能犁具,其特征在于,所述土壤采集组件包括标定板、铲土器和驱动组件;所述驱动组件分别与所述标定板和所述铲土器连接,所述标定板和所述铲土器并排设置于所述透明窗口的一侧;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; 所述驱动组件用于驱动所述标定板在第一位置和第二位置之间往复运动,以及驱动所述铲土器在第三位置和第四位置之间往复运动,所述标定板和所述铲土器的运动方向相反;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; 所述第一位置和所述第三位置相临近,并靠近所述透明窗口的第一端,所述第二位置和所述第四位置相临近,并靠近所述透明窗口的第二端;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; 在所述标定板处于第一位置的情形下,所述铲土器处于第四位置,所述标定板对所述透明窗口进行遮挡,所述铲土器和地面分离,所述控制模块控制所述光谱检测组件采集所述标定板的白背景光谱数据;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; 在所述标定板处于第二位置的情形下,所述铲土器处于第三位置,所述标定板不再对所述透明窗口进行遮挡,所述铲土器和地面接触,以实现对土壤样本的采集,所述控制模块控制所述光谱检测组件采集所述土壤样本的红外光谱数据;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; 其中,所述控制模块根据所述土壤样本的红外光谱数据和所述标定板的白背景光谱数据,获取与所述土壤样本对应的土壤养分含量。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.根据权利要求2所述的具有土壤检测功能的智能犁具,其特征在于,所述驱动组件包括滚轮、凸轮、拐臂和复位弹簧;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; 所述滚轮、所述凸轮和所述拐臂分别可转动地设于所述犁头上的不同位置;The roller, the cam and the crank arm are respectively rotatably arranged at different positions on the plowshare; 所述滚轮能够在所述犁头行进的过程中沿地面滚动,所述滚轮沿周向设有多个拨动头,所述滚轮通过所述拨动头驱动所述凸轮相对于所述犁头沿第一旋向摆动;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 所述凸轮上的第一连接点通过所述复位弹簧和所述犁头连接,所述复位弹簧用于驱动所述凸轮相对于所述犁头沿第二旋向摆动;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; 所述凸轮上的第二连接点和所述拐臂联动连接,所述拐臂的第一端和所述铲土器联动连接,所述拐臂的第二端和所述标定板联动连接。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.根据权利要求3所述的具有土壤检测功能的智能犁具,其特征在于,所述驱动组件还包括第一联动杆、第二联动杆和第三联动杆;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; 所述凸轮上的第二连接点和所述第一联动杆的一端转动连接,所述第一联动杆的另一端和所述拐臂转动连接;所述拐臂的第一端和所述第二联动杆的一端转动连接,所述第二联动杆的另一端和所述铲土器转动连接;所述拐臂的第二端和所述第三联动杆的一端转动连接,所述第三联动杆的另一端和所述标定板转动连接。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.根据权利要求3所述的具有土壤检测功能的智能犁具,其特征在于,所述凸轮上设有触发件,所述触发件设置的位置位于所述凸轮的旋转轴线上;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; 所述触发件的一侧设置有触控开关,所述触控开关和所述控制模块电性连接;A touch switch is provided on one side of the trigger, and the touch switch is electrically connected to the control module; 在所述凸轮沿第一旋向摆动预设角度的情形下,所述触发件和所述触控开关分离,以向所述控制模块反馈第一触发信号;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; 在所述凸轮沿第二旋向摆动预设角度的情形下,所述触发件和所述触控开关相靠近,以向所述控制模块反馈第二触发信号;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; 所述控制模块根据所述第一触发信号和所述第二触发信号分别控制所述光谱检测组件进行光谱采集作业。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.根据权利要求2所述的具有土壤检测功能的智能犁具,其特征在于,所述犁头配置有导向座;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; 所述导向座上设有第一引导部和第二引导部,所述第一引导部和所述第二引导部彼此间隔,所述第一引导部的延伸方向和所述第二引导部的延伸方向平行;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; 所述标定板可移动地设于所述第一引导部,所述铲土器可移动地设于所述第二引导部。The calibration plate is movably arranged on the first guide part, and the shovel is movably arranged on the second guide part. 7.根据权利要求2所述的具有土壤检测功能的智能犁具,其特征在于,所述标定板上设有清扫件;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; 在所述标定板移动的过程中,所述清扫件用于对所述透明窗口的表面进行清洁。During the movement of the calibration plate, the cleaning member is used to clean the surface of the transparent window. 8.根据权利要求1至7任一项所述的具有土壤检测功能的智能犁具,其特征在于,所述光谱检测组件包括光源和光谱传感器,所述光源和所述光谱传感器分别与所述控制模块连接;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; 所述光源的出光端和所述光谱传感器的检测端朝向所述透明窗口的第一侧面,所述土壤采集组件用于控制采集的土壤样本堆积至与所述透明窗口的第二侧面相对的位置。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.根据权利要求8所述的具有土壤检测功能的智能犁具,其特征在于,所述光源配置有出光探头,所述光谱传感器配置有光谱接收探头;所述出光探头和所述光谱接收探头分别伸向所述透明窗口;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; 所述出光探头的光轴和所述光谱接收探头的光轴垂直设置,所述出光探头的光轴和所述光谱接收探头的光轴分别与所述透明窗口的第一侧面呈45°夹角。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.根据权利要求1至7任一项所述的具有土壤检测功能的智能犁具,其特征在于,所述智能犁具还包括:无线传输模块;所述无线传输模块和所述控制模块连接;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 ; 和/或,所述智能犁具还包括:电源与数据接口模块,所述电源与数据接口模块和所述控制模块连接。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.
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