CN116660197B - Intelligent plough with soil detection function - Google Patents
Intelligent plough with soil detection function Download PDFInfo
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- CN116660197B CN116660197B CN202310898612.6A CN202310898612A CN116660197B CN 116660197 B CN116660197 B CN 116660197B CN 202310898612 A CN202310898612 A CN 202310898612A CN 116660197 B CN116660197 B CN 116660197B
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- calibration plate
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- 239000002689 soil Substances 0.000 title claims abstract description 234
- 238000001514 detection method Methods 0.000 title claims abstract description 102
- 238000001228 spectrum Methods 0.000 claims abstract description 123
- 238000002329 infrared spectrum Methods 0.000 claims abstract description 34
- 235000021049 nutrient content Nutrition 0.000 claims abstract description 25
- 235000015097 nutrients Nutrition 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 16
- 238000005527 soil sampling Methods 0.000 claims abstract description 4
- 239000000523 sample Substances 0.000 claims description 94
- 230000003287 optical effect Effects 0.000 claims description 18
- 238000004140 cleaning Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000003756 stirring Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004720 fertilization Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 229910052736 halogen Inorganic materials 0.000 description 1
- 150000002367 halogens Chemical class 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 229910052594 sapphire Inorganic materials 0.000 description 1
- 239000010980 sapphire Substances 0.000 description 1
- 238000004856 soil analysis Methods 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N21/3563—Investigating 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B15/00—Elements, tools, or details of ploughs
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B3/00—Ploughs with fixed plough-shares
- A01B3/24—Tractor-drawn ploughs
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N21/359—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light using near infrared light
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
Technical Field
The invention relates to the technical field of soil nutrient detection, in particular to an intelligent plough with a soil detection function.
Background
The research of soil nutrients plays a positive role in reasonably utilizing soil and efficiently developing agriculture, and the measurement and control of the soil nutrients are particularly important for reasonable fertilization of agricultural products.
Near Infrared (NIR) spectrum region (780-2500 nm) is the earliest invisible spectrum region, near infrared spectrum detection of soil is a rapid and nondestructive analysis technology widely applied to soil nutrient research, and the method can analyze soil nutrients under the condition of not damaging the soil, has large data acquisition amount, high precision and strong reliability, and achieves good effect in soil analysis work.
At present, the near infrared spectrum detection of soil still adopts an indoor analysis method, and the processes of sample collection, transportation, preparation and the like required by the indoor near infrared spectrum detection need a great deal of investment of manpower and material resources, and the working difficulty and the cost are high.
Disclosure of Invention
The invention provides an intelligent plough with a soil detection function, which is used for solving the problems that the existing plough is simple in structure, single in function and difficult to complete soil nutrient detection on line in real time.
The invention provides an intelligent plough with a soil detection function, which comprises the following steps: the soil sampling device comprises a plow head, 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 plow head;
the plowshare is provided with a transparent window, and at least part of the soil acquisition component and at least part of the spectrum detection component are respectively arranged at two sides of the transparent window; the spectrum detection assembly and the positioning module are respectively connected with the control module;
the soil collection assembly is used for continuously collecting soil samples in the travelling process of the plowshare, and the spectrum detection assembly is used for obtaining infrared spectrum data of the soil samples collected 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 plowshare in the cultivated land environment.
According to the intelligent plough with the soil detection function, the soil collection assembly comprises a calibration plate, a soil shovel and a driving assembly; the driving assembly is respectively connected with the calibration plate and the soil spader, and the calibration plate and the soil spader are arranged on one side of the transparent window side by side;
the driving assembly is used for driving the calibration plate to reciprocate between a first position and a second position and driving the soil shovel to reciprocate between a third position and a fourth position, and the movement directions of the calibration plate and the soil shovel are opposite;
the first position and the third position are adjacent to each other and are close to the first end of the transparent window, and the second position and the fourth position are adjacent to each other and are close to the second end of the transparent window;
under the condition that the calibration plate is positioned at a first position, the soil shovel is positioned at a fourth position, the calibration plate shields the transparent window, the soil shovel is separated from the ground, and the control module controls the spectrum detection assembly to collect white background spectrum data of the calibration plate;
under the condition that the calibration plate is positioned at the second position, the soil shovel is positioned at a third position, the calibration plate does not shade the transparent window, the soil shovel is in contact with the ground so as to collect soil samples, and the control module controls the spectrum detection assembly to collect infrared spectrum data of the soil samples;
the control module acquires 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 the intelligent plough with the soil detection function, the driving assembly comprises the roller, the cam, the crank arm and the reset spring;
the roller, the cam and the crank arm are respectively and rotatably arranged at different positions on the plow head;
the roller can roll along the ground in the travelling process of the plowshare, a plurality of stirring heads are arranged on the roller along the circumferential direction, and the roller drives the cam to swing along a first rotation direction relative to the plowshare through the stirring heads;
the first connecting point on the cam is connected with the plowshare through the reset spring, and the reset spring is used for driving the cam to swing along a second rotation direction relative to the plowshare;
the second connecting point on the cam is in linkage connection with the crank arm, the first end of the crank arm is in linkage connection with the soil spader, and the second end of the crank arm is in linkage connection with the calibration plate.
According to the intelligent plough with the soil detection function, the driving assembly further comprises a first linkage rod, a second linkage rod and a third linkage rod;
the second connecting point on the cam is rotationally connected with one end of the first linkage rod, and the other end of the first linkage rod is rotationally connected with the crank arm; the first end of the crank arm is rotationally connected with one end of the second linkage rod, and the other end of the second linkage rod is rotationally connected with the soil shovel; the second end of the crank arm is rotationally connected with one end of the third linkage rod, and the other end of the third linkage rod is rotationally connected with the calibration plate.
According to the intelligent plough with the soil detection function, the trigger piece is arranged on the cam, and the position of the trigger piece is located on the rotation axis of the cam;
a touch switch is arranged on one side of the trigger piece, and the touch switch is electrically connected with the control module;
under the condition that the cam swings along a first rotation direction by a preset angle, the trigger piece is separated from the touch switch, so that a first trigger signal is fed back to the control module;
under the condition that the cam swings along a second rotation direction by a preset angle, the trigger piece and the touch switch are close to each other so as to feed back a second trigger signal to the control module;
and the control module respectively controls the spectrum detection assembly to perform spectrum acquisition operation according to the first trigger signal and the second trigger signal.
According to the intelligent plough with the soil detection function, the plough head is provided with the guide seat;
the guide seat is provided with a first guide part and a second guide part, the first guide part and the second guide part are spaced from each other, and the extending direction of the first guide part is parallel to the extending direction of the second guide part;
the calibration plate is movably arranged on the first guide part, and the soil shovel is movably arranged on the second guide part.
According to the intelligent plough with the soil detection function, the cleaning piece is arranged on the calibration plate;
and in the process of moving the calibration plate, the cleaning piece is used for cleaning the surface of the transparent window.
According to the intelligent plough with the soil detection function, the spectrum detection assembly comprises a light source and a spectrum sensor, and the light source and the spectrum sensor are respectively connected with the control module;
the light emitting end of the light source and the detection end of the spectrum sensor face the first side face of the transparent window, and the soil collection assembly is used for controlling collected soil samples to be piled up to a position opposite to the second side face of the transparent window.
According to the intelligent plough with the soil detection function, the light source is provided with the light emitting probe, and the spectrum sensor is provided with the spectrum receiving probe; the light emitting probe and the spectrum receiving probe extend to the transparent window 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 included angle of 45 degrees with the first side surface of the transparent window.
According to the intelligent plough with the soil detection function provided by the invention, the intelligent plough further comprises: a wireless transmission module; the wireless transmission module is connected with the control module;
and/or, the intelligent plow further comprises: and the power supply is connected with the data interface module and the control module.
According to the intelligent plough with the soil detection function, the soil collection assembly, the spectrum detection assembly, the positioning module and the control module are arranged, so that a soil sample can be continuously collected by the soil collection assembly in the travelling process of the plough head, infrared spectrum data of the collected soil sample can be obtained by the spectrum detection assembly, the soil nutrient content in the soil sample is calculated based on characteristic spectrum intensity information obtained by spectrum detection, meanwhile, the current position information of the plough head can be obtained by the positioning module, and the current position information of the plough head is combined with the soil nutrient content of the currently collected soil sample, so that a soil nutrient distribution map of a plough field environment where the plough head is located is constructed.
Therefore, the intelligent plough with the soil detection function has the advantages that the detection speed is high, the soil nutrient content of a soil sample can be continuously obtained on line in real time during the cultivation period, and a soil nutrient distribution map of the cultivation environment where the ploughshare is located can be constructed.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the structure of an intelligent plow with soil detection function provided by the invention;
FIG. 2 is a schematic diagram of a driving assembly according to the present invention;
FIG. 3 is a control block diagram of the intelligent plow with soil detection function provided by the invention;
FIG. 4 is a flow chart of a method for detecting the soil nutrient content and a method for obtaining a soil nutrient distribution map of the intelligent plow provided by the invention;
fig. 5 is a schematic flow chart of step 412 in fig. 4 provided in the present invention.
Reference numerals:
1. an intelligent plow;
11. a plowshare; 111. a transparent window;
12. a soil collection assembly; 121. a calibration plate; 122. a shovel; 123. a drive assembly; 1231. a roller; 1232. a cam; 1233. a crank arm; 1234. a return spring; 1235. a first linkage rod; 1236. a second linkage rod; 1237. a third linkage rod; 12311. a toggle head; 12321. a trigger; 12322. a touch switch; 12323. a first connection point; 12324. a second connection point;
13. a spectrum detection assembly; 131. a light source; 132. a spectral sensor; 133. a light emitting probe; 134. a spectrum receiving probe;
14. a positioning module; 15. a control module;
16. a guide seat; 161. a first guide portion; 162. a second guide portion;
17. a wireless transmission module; 18. a power and data interface module;
2. soil samples.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The intelligent plow with soil detection function provided by the embodiment of the invention is described in detail below with reference to fig. 1 to 5 through specific embodiments and application scenarios thereof.
In some embodiments, as shown in fig. 1, 2 and 3, the present embodiment provides an intelligent plow with soil detection function, including: the soil sampling assembly 12, the spectrum detection assembly 13, the positioning module 14 and the control module 15 are arranged on the plow 11.
The plowshare 11 is provided with a transparent window 111, and at least part of the soil collecting assembly 12 and at least part of the spectrum detecting assembly 13 are respectively arranged at two sides of the transparent window 111; the spectrum detection assembly 13 and the positioning module 14 are respectively connected with the control module 15.
The soil collecting assembly 12 is used for continuously collecting the soil samples 2 in the travelling process of the plow head 11, and the spectrum detecting assembly 13 is used for obtaining the infrared spectrum data of the soil samples 2 collected each time; the positioning module 14 is used for acquiring current position information of the plow head 11.
The control module 15 is configured to obtain a soil nutrient content corresponding to the soil sample 2 according to the infrared spectrum data, bind the soil nutrient content of the soil sample 2 collected each time with the current position information of the plowshare 11, and obtain a soil nutrient distribution map of a cultivated land environment where the plowshare 11 is located.
It will be appreciated that soil collection assembly 12 is located between transparent window 111 and soil sample 2.
The spectrum detection assembly 13 is isolated inside the plowshare 11 by a transparent window 111, the spectrum detection assembly 13 comprises a light-emitting component and a spectrum acquisition component, the light-emitting component emits light to irradiate the soil sample 2, and the spectrum acquisition component acquires reflected light on the soil sample 2 to acquire infrared spectrum data of the soil sample 2.
The transparent window 111 of this embodiment can transmit light, and protects the spectrum detection component 13 located at one side of the transparent window 111, and blocks the soil sample 2 from contacting with the photoelectric device in the spectrum detection component 13, so as to affect the spectrum 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 for controlling the spectrum detection assembly 13, calculating and processing spectrum data acquired by the spectrum detection assembly 13, calculating the nutrient content of soil through a built-in algorithm, and meanwhile, the control module 15 is used for acquiring current position information of the plowshare 11 acquired by the positioning module 14.
According to the intelligent plough with soil detection function 1 provided by the invention, through the arrangement of the soil collection assembly 12, the spectrum detection assembly 13, the positioning module 14 and the control module 15, the soil collection assembly 12 can be used for continuously collecting the soil samples 2 in the travelling process of the plough head 11, the spectrum detection assembly 13 is used for obtaining the infrared spectrum data of the collected soil samples 2, the soil nutrient content in the soil samples is calculated based on the characteristic spectrum intensity information obtained by spectrum detection, meanwhile, the current position information of the plough head 11 can be obtained through the positioning module 14, and the current position information of the plough head 11 is combined with the soil nutrient content of the currently collected soil samples 2, so that the soil nutrient distribution map of the plough field environment where the plough head 11 is located is constructed.
From the above, the intelligent plough 1 with the soil detection function has high detection speed, can continuously acquire the soil nutrient content of the soil sample 2 on line in real time during the cultivation period, and can also construct a soil nutrient distribution diagram of the cultivation environment where the plowshare 11 is positioned.
In some embodiments, as shown in fig. 1 and 2, soil collection assembly 12 of the present embodiment includes calibration plate 121, scraper 122, and drive assembly 123; the driving assembly 123 is connected with the calibration plate 121 and the shovel 122, respectively, and the calibration plate 121 and the shovel 122 are arranged side by side on one side of the transparent window 111.
The driving assembly 123 is used for driving the calibration plate 121 to reciprocate between a first position and a second position and driving the shovel 122 to reciprocate between a third position and a fourth position, and the movement directions of the calibration plate 121 and the shovel 122 are opposite.
The first position and the third position are adjacent and near the first end of the transparent window 111, and the second position and the fourth position are adjacent and near the second end of the transparent window 111.
In the case that the calibration plate 121 is at the first position, the scraper 122 is at the fourth position, the calibration plate 121 shields the transparent window 111, the scraper 122 is separated from the ground, and the control module 15 controls the spectrum detection assembly 13 to collect white background spectrum data of the calibration plate 121.
Under the condition that the calibration plate 121 is at the second position, the soil shovel 122 is at the third position, the calibration plate 121 does not shade the transparent window 111 any more, the soil shovel 122 is in contact with the ground, so that the collection of the soil sample 2 is realized, and the control module 15 controls the spectrum detection assembly 13 to collect the infrared spectrum 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 will be appreciated that when the soil sample 2 is subjected to infrared spectrum detection, there will generally be noise effects, and the white background spectrum data of the calibration plate 121 is used for standard white board calibration of the infrared spectrum data of the soil sample 2, so that the influence of equipment and environment on the spectrum data can be eliminated.
When the driving assembly 123 drives the calibration plate 121 to move to the first position, the soil scraper 122 moves to the fourth position, the calibration plate 121 covers the whole transparent window 111, the soil scraper 122 leaves the ground, and the spectrum detection assembly 13 collects white background spectrum data of the calibration plate 121.
When the driving assembly 123 drives the calibration plate 121 to move to the second position, the soil scraper 122 moves to the third position, the calibration plate 121 leaves the transparent window 111, the soil is scraped up after the soil scraper 122 stretches into the soil, the soil sample 2 is piled in a gap between the transparent window 111 and the soil scraper 122, and the spectrum detection assembly 13 collects infrared spectrum data of the soil sample 2.
According to the embodiment, the calibration plate 121, the soil spader 122 and the driving assembly 123 are arranged in the soil collecting assembly 12, the driving assembly 123 can drive the calibration plate 121 and the soil spader 122 to move in opposite directions at the same time, when the calibration plate 121 covers the transparent window 111, the soil spader 122 leaves the ground, the spectrum detecting assembly 13 collects white background spectrum data of the calibration plate 121, when the calibration plate 121 leaves the transparent window 111, the soil spader 122 penetrates deep into the ground to collect the soil sample 2, the spectrum detecting assembly 13 collects infrared spectrum data of the soil sample 2, and then the control module 15 obtains 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, and the obtained soil nutrient content of the soil sample 2 is more accurate due to standard white board calibration on the infrared spectrum data of the soil sample 2.
In some embodiments, as shown in fig. 1 and 2, the drive assembly 123 of the present 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 rotatably disposed at different positions on the plow head 11, respectively.
The roller 1231 can roll along the ground during the travel of the plowshare 11, the roller 1231 is provided with a plurality of toggle heads 12311 along the circumferential direction, and the roller 1231 swings along the first rotation direction relative to the plowshare 11 through the toggle heads 12311 driving the cam 1232.
The first connection point 12323 on the cam 1232 is connected to the plow head 11 by a return spring 1234, which return spring 1234 is used to urge the cam 1232 to oscillate in a second rotational direction relative to the plow head 11.
A second connection point 12324 on the cam 1232 is connected with the crank arm 1233 in a linkage manner, a first end of the crank arm 1233 is connected with the shovel 122 in a linkage manner, and a second end of the crank arm 1233 is connected with the calibration plate 121 in a linkage manner.
It is understood that the first direction of rotation may be in a clockwise direction as opposed to the second direction of rotation, and accordingly the second direction of rotation may be in a counter-clockwise direction.
The gyro wheel 1231 can be connected with the plowshare 11 through the frame of gyro wheel 1231 rotation axis, and when gyro wheel 1231 rolled along ground anticlockwise, the protruding part of cam 1232 is stirred to the plowshare 12311, and gyro wheel 1231 drives cam 1232 and swings clockwise for plowshare 11, and the first end of cam 1232 drive turning arm 1233 swings clockwise, and turning arm 1233 drive shovel 122 moves to the third position, because plowshare 11 has broken ground when advancing, shovel 122 in deep ground, with the soil on the ground scooped up of advancing of plowshare 11 to realize soil sample 2's collection.
Further, the toggle head 12311 is separated from the protruding portion of the cam 1232 after rotating by a certain angle, the elastic force of the return spring 1234 drives the cam 1232 to swing in the counterclockwise direction relative to the plowshare 11, the cam 1232 is pulled back to the initial position, the cam 1232 pulls the second end of the crank arm 1233 to swing in the counterclockwise direction, and 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.
The linkage connection of the crank arm 1233 with the cam 1232, the shovel 122 and the calibration plate 121 can be realized by a connecting rod or a connecting shaft.
Specifically, by changing the setting angle of the setting head 12311 along the circumferential direction of the roller 1231 and the length of the setting head 12311, different soil sample 2 detection pitches can be set.
In this embodiment, by providing the roller 1231, the cam 1232, the lever 1233 and the return spring 1234 on the driving component 123, by pulling the cam 1232 by the pulling head 12311 of the roller 1231 and pulling the cam 1232 by the return spring 1234, the cam 1232 and the return spring 1234 are matched, so that the lever 1233 can be driven to swing relative to the rotation axis of the lever 1233, the lever 1233 can drive the shovel 122 to move towards the third position, and the calibration plate 121 moves towards the second position, or the lever 1233 can drive the shovel 122 to move towards the fourth position, and the calibration plate 121 moves towards the first position.
In some embodiments, as shown in fig. 1 and 2, the drive assembly 123 of the present embodiment further includes a first linkage rod 1235, a second linkage rod 1236, and a third linkage rod 1237.
A second connection point 12324 on the cam 1232 is rotatably connected with one end of the first linkage rod 1235, and the other end of the first linkage rod 1235 is rotatably connected with the crank arm 1233; the first end of the turning arm 1233 is rotatably connected with one end of the second linkage rod 1236, and the other end of the second linkage rod 1236 is rotatably connected with the shovel 122; the second end of the crank arm 1233 is rotatably connected to one end of the third link lever 1237, and the other end of the third link lever 1237 is rotatably connected to the calibration plate 121.
It will be appreciated that the first linkage rod 1235 is used to effect the linkage of the second connection point 12324 on the cam 1232 and the lever 1233, the second linkage rod 1236 is used to effect the linkage of the first end of the lever 1233 and the scraper 122, and the third linkage rod 1237 is used to effect the linkage of the second end of the lever 1233 and the calibration plate 121.
In this embodiment, by providing the first linkage rod 1235, the second linkage rod 1236 and the third linkage rod 1237 on the driving assembly 123, pushing and pulling of the crank arm 1233 and pushing and pulling of the shovel 122 and the calibration plate 121 by the crank arm 1233 can be conveniently realized when the cam 1232 swings clockwise and counterclockwise.
In some embodiments, as shown in fig. 1 and 2, the cam 1232 of the present embodiment is provided with a trigger member 12321, where the trigger member 12321 is disposed on the rotation axis of the cam 1232.
One side of the triggering piece 12321 is provided with a touch switch 12322, and the touch switch 12322 is electrically connected with the control module 15.
In case that the cam 1232 swings in the first rotation direction by a preset angle, the trigger 12321 and the touch switch 12322 are separated to feed back the first trigger signal to the control module 15.
In the case that the cam 1232 swings in the second rotation direction by a preset angle, the trigger 12321 and the touch switch 12322 approach each other to feed back the second trigger signal to the control module 15.
The control module 15 controls the spectrum detection assembly 13 to perform spectrum acquisition operation according to the first trigger signal and the second trigger signal respectively.
It can be appreciated that, in the case that the cam 1232 swings along the first rotation direction by a preset angle, the shovel 122 contacts the ground, the shovel 122 shovel the soil sample 2, and the touch switch 12322 feeds back the first trigger signal to the controller, so as to control the spectrum detection assembly 13 to perform spectrum detection on the soil sample 2.
Under the condition that the cam 1232 swings along the second rotation direction by a preset angle, the calibration plate 121 covers the transparent window 111, and the touch switch 12322 feeds back a second trigger signal to the controller, so as to control the spectrum detection assembly 13 to detect the white background of the transparent window 111.
Wherein the triggering member 12321 may be a positioning pin.
According to the embodiment, the trigger piece 12321 and the touch switch 12322 are arranged on the cam 1232, so that the control module 15 can automatically acquire the rotation direction of the cam 1232 through the trigger signal fed back by the touch switch 12322, and further acquire the real-time positions of the shovel 122 and the calibration plate 121, so that the control module 15 can control the spectrum detection assembly 13 to perform spectrum detection on the soil sample 2 or perform white background detection on the transparent window 111.
In some embodiments, as shown in FIGS. 1 and 2, the plow head 11 of the present embodiment is configured with a guide shoe 16.
The guide holder 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 being spaced apart from each other, and an extending direction of the first guide portion 161 and an extending direction of the second guide portion 162 being parallel.
The calibration plate 121 is movably provided to the first guide portion 161, and the scraper 122 is movably provided to the second guide portion 162.
It will be appreciated that the guide shoes 16 serve to define the sliding of the calibration plate 121 along the first guide 161 and the sliding of the scraper 122 along the second guide 162, ensuring the stability of the reciprocating movement of the calibration plate 121 between the first and second positions and the stability of the reciprocating movement of the scraper 122 between the third and fourth positions.
In some embodiments, as shown in fig. 1 and 2, the calibration plate 121 of the present embodiment is provided with a cleaning member.
The cleaning member is used to clean the surface of the transparent window 111 during the movement of the calibration plate 121.
It can be understood that when the calibration plate 121 moves relative to the transparent window 111, the cleaning member is attached to the transparent window 111, and is used for pushing and cleaning the soil sample 2 on the transparent window 111, so as to clean the transparent window 111.
Wherein the cleaning member may be a rubber cushion.
In the embodiment, the cleaning piece is arranged on the calibration plate 121, so that after the transparent window 111 is subjected to infrared spectrum detection, the soil sample 2 on the surface is cleaned in real time, and the reliability and accuracy of the white background detection performed later are improved.
In some embodiments, as shown in fig. 1 and 2, the spectrum sensing assembly of the present embodiment includes a light source 131 and a spectrum sensor 132, where the light source 131 and the spectrum sensor 132 are respectively connected to the control module 15.
The light emitting end of the light source 131 and the detection end of the spectrum sensor 132 face the first side of the transparent window 111, and the soil collecting assembly 12 is used for controlling the collected soil sample 2 to be piled up to a position opposite to the second side of the transparent window 111.
It is understood that the light source 131 is used for generating the optical signal, and the spectrum sensor 132 is used for collecting the spectrum signal.
The optical signal sent by the light source 131 is transmitted to the soil sample 2 through the transparent window 111, the spectrum sensor 132 collects the infrared spectrum data of the soil sample 2 through the transparent window 111, and the light source 131 and the spectrum sensor 132 are both located on the first side face of the transparent window 111 so as to ensure that the light source 131 and the spectrum sensor 132 are isolated from the soil sample 2 by the transparent window 111, and meanwhile, the soil sample 2 is piled up on the opposite position of the second side face of the transparent window 111, so that the collection of the infrared spectrum of the soil sample 2 is facilitated.
Wherein the light source 131 can be a halogen lamp, the spectrum sensor 132 can be a miniature near infrared spectrometer, and the acquisition range is 900-1700nm.
In some embodiments, as shown in fig. 1 and 2, the light source 131 of the present embodiment is configured with a light emitting probe 133, and the spectrum sensor 132 is configured with a spectrum receiving probe 134; the light emitting probe 133 and the spectrum receiving probe 134 extend toward the transparent window 111, respectively.
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 respectively form an included angle of 45 degrees with the first side surface of the transparent window 111.
It can be understood that, since the light source 131 and the spectrum sensor 132 are disposed at a distance from the transparent window 111, the light emitting probe 133 is configured for the light source 131, the spectrum receiving probe 134 is configured for the spectrum sensor 132, for transmitting the light signal, and one optical fiber is used to connect the light source 131 and the light emitting probe 133, and the other optical fiber is used to connect the spectrum sensor 132 and the spectrum 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 disposed vertically, and the optical axis of the light emitting probe 133 and the optical axis of the spectrum receiving probe 134 respectively form an angle of 45 ° with the first side surface of the transparent window 111, so that the receiving amount of the spectrum receiving probe 134 to the infrared light can be maximized, and the best effect of spectrum detection is ensured.
In some embodiments, as shown in fig. 1 and 3, the intelligent plow 1 of the present embodiment further includes: a wireless transmission module 17; the wireless transmission module 17 is connected with the control module 15.
It is understood that the wireless transmission module 17 may be a mobile network. The control module 15 can establish communication connection with an upper computer through the wireless transmission module 17.
The upper computer can be any one of a smart phone, a tablet personal computer and a smart bracelet.
In some embodiments, as shown in fig. 1 and 3, the intelligent plow 1 further comprises: the power and data interface module 18, the power and data interface module 18 and the control module 15 are connected.
It can be understood that the power and data interface module 18 is used for supplying power to the intelligent plow 1 and transmitting data to the upper computer, and the control module 15 can control the power and data interface module 18 to transmit collected data information to the upper computer.
The power and data interface module 18 may be a USB interface or a type_c interface.
As shown in fig. 4, the present embodiment provides a detection method of the intelligent plow 1 with soil detection function, which includes the following steps:
in step 411, the traction device is controlled to drive the intelligent plow to travel.
Step 412, controlling the soil collection assembly to continuously collect soil samples, and controlling the spectrum detection assembly to obtain infrared spectrum data of the soil samples collected each time.
And 413, acquiring the soil nutrient content according to the obtained infrared spectrum data of the soil sample, and acquiring a soil nutrient distribution map of the cultivated land environment where the plowshare is located according to the soil nutrient content of the soil sample acquired each time and the current position information of the plowshare.
It is understood that the intelligent plough is driven by the traction device to advance, and the intelligent plough breaks the ground soil in the advancing process.
The soil collecting component is arranged on the second side of the transparent window so as to continuously collect soil samples; the spectrum detection assembly is arranged on the first side of the transparent window to acquire infrared spectrum data of the soil sample acquired each time, and the positioning module acquires current position information of the plow head.
According to the obtained infrared spectrum data of the soil sample, the data are processed and analyzed through a soil nutrient calculation model integrated by a data calculation and control module, the nutrient content corresponding to the soil sample is calculated, and the soil nutrient distribution map is completed by combining the position information acquired by the positioning module and is transmitted to an upper computer through a power supply and data transmission interface, or is wirelessly uploaded to the upper computer by using a wireless transmission module.
As shown in fig. 5, in step 412, the spectrum sensing assembly acquires infrared spectrum data of each acquired soil sample, including:
step 511, the shovel is controlled to be in the third position, and the calibration plate is in the second position, so that the shovel collects a soil sample in the process of the intelligent plow advancing, and the spectrum detection assembly is controlled to perform spectrum detection on the soil sample.
In step 512, the shovel is controlled to be in the fourth position, and the calibration plate is in the first position, so that the calibration plate covers the transparent window, and the spectrum detection assembly is controlled to detect the white background of the calibration plate.
It is understood that the toggle head driving cam of the roller swings along the first rotation direction relative to the plowshare, the soil shovel contacts with the ground under the action of the first linkage rod, the second linkage rod and the crank arm, the soil sample is accumulated to the corresponding position of the second side surface of the transparent window, the calibration plate does not cover the transparent window any more under the action of the first linkage rod, the third linkage rod and the crank arm, the trigger piece on the cam is separated from the touch switch, the first trigger signal is fed back to the control module, and the control module is used for controlling the spectrum detection assembly to carry out spectrum detection on the soil sample.
The roller continues to rotate, when the toggle head rotates the cam, the reset spring drives the cam to swing along the second rotation direction relative to the plowshare, the soil shovel is separated from the ground under the action of the first linkage rod, the second linkage rod and the crank arm, the calibration plate covers the transparent window under the action of the first linkage rod, the third linkage rod and the crank arm, the trigger piece on the cam is close to the touch switch, and a second trigger signal is fed back to the control module and used for controlling the spectrum detection assembly to detect the white background of the transparent window.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. Intelligent plough utensil with soil detection function, its characterized in that includes: the soil sampling device comprises a plow head, 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 plow head;
the plowshare is provided with a transparent window, and at least part of the soil acquisition component and at least part of the spectrum detection component are respectively arranged at two sides of the transparent window; the spectrum detection assembly and the positioning module are respectively connected with the control module;
the soil collection assembly is used for continuously collecting soil samples in the travelling process of the plowshare, and the spectrum detection assembly is used for obtaining infrared spectrum data of the soil samples collected 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 a plowing environment where the plowshare is positioned;
the soil collection assembly comprises a calibration plate, a soil shovel and a driving assembly; the driving assembly is respectively connected with the calibration plate and the soil spader, and the calibration plate and the soil spader are arranged on one side of the transparent window side by side;
the driving assembly is used for driving the calibration plate to reciprocate between a first position and a second position and driving the soil shovel to reciprocate between a third position and a fourth position, and the movement directions of the calibration plate and the soil shovel are opposite;
the first position and the third position are adjacent to each other and are close to the first end of the transparent window, and the second position and the fourth position are adjacent to each other and are close to the second end of the transparent window;
under the condition that the calibration plate is positioned at a first position, the soil shovel is positioned at a fourth position, the calibration plate shields the transparent window, the soil shovel is separated from the ground, and the control module controls the spectrum detection assembly to collect white background spectrum data of the calibration plate;
under the condition that the calibration plate is positioned at the second position, the soil shovel is positioned at a third position, the calibration plate does not shade the transparent window, the soil shovel is in contact with the ground so as to collect soil samples, and the control module controls the spectrum detection assembly to collect infrared spectrum data of the soil samples;
the control module acquires 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.
2. The intelligent plow with soil detection function of claim 1, wherein the drive assembly comprises a roller, a cam, a crank arm and a return spring;
the roller, the cam and the crank arm are respectively and rotatably arranged at different positions on the plow head;
the roller can roll along the ground in the travelling process of the plowshare, a plurality of stirring heads are arranged on the roller along the circumferential direction, and the roller drives the cam to swing along a first rotation direction relative to the plowshare through the stirring heads;
the first connecting point on the cam is connected with the plowshare through the reset spring, and the reset spring is used for driving the cam to swing along a second rotation direction relative to the plowshare;
the second connecting point on the cam is in linkage connection with the crank arm, the first end of the crank arm is in linkage connection with the soil spader, and the second end of the crank arm is in linkage connection with the calibration plate.
3. The intelligent plow having a soil detection function as claimed in claim 2 wherein said drive assembly further comprises a first linkage rod, a second linkage rod and a third linkage rod;
the second connecting point on the cam is rotationally connected with one end of the first linkage rod, and the other end of the first linkage rod is rotationally connected with the crank arm; the first end of the crank arm is rotationally connected with one end of the second linkage rod, and the other end of the second linkage rod is rotationally connected with the soil shovel; the second end of the crank arm is rotationally connected with one end of the third linkage rod, and the other end of the third linkage rod is rotationally connected with the calibration plate.
4. The intelligent plow with soil detection function according to claim 2, wherein the cam is provided with a trigger member, and the trigger member is arranged at a position on the rotation axis of the cam;
a touch switch is arranged on one side of the trigger piece, and the touch switch is electrically connected with the control module;
under the condition that the cam swings along a first rotation direction by a preset angle, the trigger piece is separated from the touch switch, so that a first trigger signal is fed back to the control module;
under the condition that the cam swings along a second rotation direction by a preset angle, the trigger piece and the touch switch are close to each other so as to feed back a second trigger signal to the control module;
and the control module respectively controls the spectrum detection assembly to perform spectrum acquisition operation according to the first trigger signal and the second trigger signal.
5. The intelligent plow with soil detection function as claimed in claim 1 wherein said plow head is configured with a guide seat;
the guide seat is provided with a first guide part and a second guide part, the first guide part and the second guide part are spaced from each other, and the extending direction of the first guide part is parallel to the extending direction of the second guide part;
the calibration plate is movably arranged on the first guide part, and the soil shovel is movably arranged on the second guide part.
6. The intelligent plow with soil detection function according to claim 1, wherein the calibration plate is provided with a cleaning element;
and in the process of moving the calibration plate, the cleaning piece is used for cleaning the surface of the transparent window.
7. The intelligent plow with soil detection function according to any one of claims 1 to 6, wherein said spectrum detection assembly comprises a light source and a spectrum sensor, said light source and said spectrum sensor being respectively connected to said control module;
the light emitting end of the light source and the detection end of the spectrum sensor face the first side face of the transparent window, and the soil collection assembly is used for controlling collected soil samples to be piled up to a position opposite to the second side face of the transparent window.
8. The intelligent plow with soil detection function according to claim 7, wherein 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 extend to the transparent window 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 included angle of 45 degrees with the first side surface of the transparent window.
9. The intelligent plow having a soil detection function according to any one of claims 1 to 6, wherein said intelligent plow further comprises: a wireless transmission module; the wireless transmission module is connected with the control module;
and/or, the intelligent plow further comprises: and the power supply is connected with the data interface module and the control module.
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| CN106644962A (en) * | 2016-12-21 | 2017-05-10 | 浙江大学 | Vehicle-mounted miniature furrow plough device for continuously testing in-situ rice soil hyper-spectrum outdoors |
| WO2023031725A1 (en) * | 2021-08-31 | 2023-03-09 | Precision Planting Llc | Agricultural sampling system and related methods |
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| US20190289775A1 (en) * | 2007-10-24 | 2019-09-26 | Veris Technologies, Inc. | Mobile soil optical mapping system |
| AR110140A1 (en) * | 2016-11-07 | 2019-02-27 | Climate Corp | AGRICULTURAL IMPLEMENTS FOR SOIL ANALYSIS AND VEGETATION |
| US20200249217A1 (en) * | 2019-02-06 | 2020-08-06 | CNH Industrial America, LLC | System and method for monitoring soil conditions based on data received from a sensor mounted within a non-rotating tool |
| US11566997B2 (en) * | 2020-01-14 | 2023-01-31 | Cnh Industrial Canada, Ltd. | System and method for monitoring soil composition at different depths within a field |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106644962A (en) * | 2016-12-21 | 2017-05-10 | 浙江大学 | Vehicle-mounted miniature furrow plough device for continuously testing in-situ rice soil hyper-spectrum outdoors |
| WO2023031725A1 (en) * | 2021-08-31 | 2023-03-09 | Precision Planting Llc | Agricultural sampling system and related methods |
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