DE102015206404A1 - Floor sensor arrangement and corresponding soil profile determination method - Google Patents

Abstract

The present invention provides a soil sensor assembly and a corresponding soil profile determination method. The floor sensor arrangement comprises at least one probe device (S1, S2, S4, S5, S1 ', S2', S3 ', S4', S1a) which can be driven into the floor (1) and which has at least one measuring-wave transmitting / receiving device (SE1, SE2; SE11 ', SE12', SE21 ', SE22', SE1a, SE1a ') for transmitting measurement waves (MW) into the ground (1) and for receiving measurement waves (MW') reflected in the ground (1), and a determination device ( BE 'BE') for determining a soil profile with regard to at least one soil property over a wave reflection profile of the measuring waves (MW, MW ') as a function of a depth of penetration of the probe device (S1, S2, S4, S5, S1', which can be driven into the soil (1), S2 ', S3', S4 ', S1a). Alternatively, a first probe device (S1, S2, S3, S4, S5, S1 ', S2', S3 ', S4', S1a), which has at least one measuring-wave transmitting device (SS2) for transmitting measuring waves (MW) into the ground (1), and a second probe device (S1, S2, S3, S4, S5; S1 ', S2', S3 ', S4'; S1a), which has at least one measuring wave receiving device (E1) for receiving in the ground ( 1), wherein at least one of the first probe device (S1, S2, S4, S5, S1 ', S2', S3 ', S4', S1a) and the second probe device (S1, S2, S3, S4, S5, S1 ', S2', S3 ', S4'; S1a) can be driven into the floor (1).

Description

The present invention relates to a soil sensor assembly and a corresponding soil profile determination method.

State of the art

The soil or soil represents a complex three-phase system of solids, water and gases. The local strength or density of the soil is regulated by the action of external and internal stresses. Soil compaction poses a risk to the soil as long-term and possibly irreversible degradation of soil fertility may result. Thus, a monitoring or determination of soil compaction is particularly important for agriculture.

The DE 44 11 829 A1 discloses a method for determining soil mechanical characteristics and a corresponding probe for carrying out the method, wherein a measurement of the penetration force, penetration depth and penetration time is performed. The probe has a penetration body in the form of a force sensor and a displacement sensor for depth measurement. The probe penetrates into the ground and measures during penetration the force acting on the force sensor, which has to be expended during penetration. This allows selective measurement of soil compaction.

The WO 03/038730 A1 discloses a method for determining soil properties using a sensor device having invasive sensors as well as non-invasive sensors. The non-invasive sensors include radar sensors.

The DE 10 2013 202 075 A1 discloses a device for determining a movement strategy of an autonomous lawnmower, wherein environment data in the ground are detected by means of a radar sensor device and based thereon the movement strategy is worked out.

Disclosure of the invention

The present invention provides a soil sensor assembly according to claim 1 and a soil profile determination method according to claims 13 and 14, respectively.

Preferred developments are the subject of the respective subclaims.

Advantages of the invention

The idea underlying the present invention is a comprehensive determination of a soil profile with regard to at least one soil property via a wave reflection profile of measuring waves as a function of a penetration depth of one or more probe devices that can be driven into the soil and send measuring waves into the soil and which reflect in the soil Receive measuring waves to perform. Due to the wave reflection in a corresponding frequency range, soil properties, e.g. Soil density, water content, inclusions (stones or similar), as well as numerous other properties can be determined. The data of different measuring points can be combined to a common nationwide map.

It is possible to use only one or more probe devices that can be driven into the ground. In particular, a combination of a probe device which can be driven into the floor and a probe device arranged on the floor is also possible.

The fact that the measuring waves are emitted or received in the ground enables a particularly accurate profile representation. The accuracy can be increased by using arrangements with a plurality of probe devices, which are driven in predetermined geometry to each other in the ground.

The driving can be realized manually, for example by a hammer, or automatically, for example by means of a corresponding feed motor. To facilitate the driving, it may be appropriate to support the driving operation by a rotational movement. A depth sensor can be used to determine the respective measuring depth.

According to a preferred development, a plurality of probe devices which can be driven into the floor are provided, which are aligned in a predetermined geometric arrangement via a connecting frame. This makes it possible to create a particularly accurate measuring profile.

According to a further preferred development, a probe device lying on the floor is provided. This further increases the resolution.

According to a further preferred development, the probe devices which can be driven into the floor are rotatable. This allows angle scans and makes it easier to drive into the ground.

According to a further preferred refinement, at least one probe device which can be driven into the ground is provided, which has a soil sample collecting device. Thus, in addition to the soil profile and the soil composition can be determined.

According to a further preferred development, the soil sample collecting device has a collecting opening and a plurality of collecting chambers which can be filled via the collecting opening, wherein the collecting chambers can be conveyed via an elevator mechanism from the collecting opening to a removal side of the probe device and back to the collecting opening. This facilitates the application of the soil samples.

According to a further preferred development, at least one probe device which can be driven into the floor is provided which has an additional sensor device. This increases the versatility of the arrangement and provides more ground data.

According to a further preferred development, the additional sensor device has one or more sensors selected from the following group: force sensor, conductivity sensor, temperature sensor, moisture sensor, chemosensor.

According to a further preferred refinement, at least one probe device which can be driven into the floor is provided which has an additional actuator device, in particular a vibrator or loudspeaker. This also allows active intervention in the soil.

According to a further preferred development, at least one probe device that can be driven into the ground is provided, the tip of which has a measuring-wave transmitting / receiving device or a measuring-wave transmitting device or a measuring-wave receiving device and which can be decoupled. Thus, a measurement can be carried out for a long time at a position in the ground.

According to a further preferred development, the measuring waves are radar waves or ultrasonic waves. These measuring waves penetrate the soil very well.

Brief description of the drawings

The present invention will be explained in more detail with reference to the exemplary embodiments indicated in the schematic figures of the drawings.

Show it

1a) , b) schematic representations of a bottom sensor arrangement according to a first embodiment of the present invention, namely 1a) as a vertical cross-sectional view along a line AA 'according to the plan view 1b) ;

2a) , b) schematic representations of a bottom sensor arrangement according to a second embodiment of the present invention, namely 2a) as a vertical cross-sectional view along a line AA 'according to the plan view 2 B) ; and

3 a schematic vertical cross-sectional view of a bottom sensor assembly according to a third embodiment of the present invention.

Embodiments of the invention

In the figures, like reference numerals designate the same or functionally identical elements.

1a) , b) are schematic representations of a bottom sensor assembly according to a first embodiment of the present invention, namely 1a) as a vertical cross-sectional view along a line AA 'according to the plan view 1b) ,

In 1a) , b) denotes reference numerals 1 the ground. From the top O of the ground 1 four probe devices S1, S2, S4, S5 are in the ground 1 driven to a depth T, for example manually by a hammer or automatically by a drive mechanism (not shown). The depth measurement is carried out via a depth sensor (not shown) The probe devices S1, S2, S4, S5 are connected to one another via a rigid connection frame V so that their geometric orientation is fixed relative to each other Another probe device S3 is at the top O of the bottom 1 placed and also fixed to the connection frame V.

The connection frame V preferably comprises a wheel arrangement (not shown) in order to be able to be moved to another measuring location after a depth scan has been carried out by the probe devices S1, S2, S4, S5.

The first probe device S1 has a first measuring-wave transmitting / receiving device SE1 and a first measuring-wave receiving device E1. The second probe device S2 has a second measuring-wave transmitting / receiving device SE2 and a measuring-wave transmitting device SS2. The further probe device S3, which is located on the upper side O of the bottom 1, has a third measuring-wave transmitting / receiving device SE31 and a fourth measuring-wave transmitting / receiving device SE32.

Analogously constructed measuring wave transmitting / receiving devices or measuring wave transmitting devices or measuring wave receiving devices are provided in the probe devices S4 and S5.

By sending measuring waves MW into the ground 1 and by receiving measuring waves MW 'reflected in the ground by means of the probe devices S1, S2, S3, S4, S5, it is possible to determine a soil profile with regard to at least one soil property, for example the soil density, via a wave reflection profile of the measuring waves MW' as a function of the penetration depth T of the soil 1 to create drivable probe devices S1, S2, S4, S5. Preferably, the probe devices S1, S2, S4, S5 are in each case at the same drive-in depth T.

The determination of the soil profile is done by means of a determination device BE, which is provided either in the probe devices S1, S2, S3, S4, S5 or outside and via a (not shown) connecting means electrically connected to the probe devices S1, S2, S3, S4, S5 is. In addition to soil density, other sizes, e.g. Water retention, rock deposits, metal deposits, gas deposits, etc., are determined.

By using a plurality of probe devices S1, S2, S3, S4, S5, it is possible to create a particularly accurate soil profile via cross-correlations of the transmission and reception of the measuring waves at the various probe devices S1, S2, S3, S4, S5.

In particular, radar waves or ultrasonic waves are suitable as measuring waves. Depending on the structural species to be determined, the waveband or regions can be selected accordingly. The transmission of the measuring waves can be either isotropic or anisotropic. In the case of anisotropic emission, a higher energy density can be achieved, but in the case of anisotropic emission it is necessary to rotate the probe devices S1, S2, S4, S5 in order to obtain a complete angle scan.

After carrying out the measurements at different drive-in depths T, which is e.g. can be reached by turning R, the measured values can be combined to form a nationwide map.

2a) , b) are schematic representations of a bottom sensor assembly according to a second embodiment of the present invention, namely 2a) as a vertical cross-sectional view along a line AA 'according to the plan view 2 B) ,

In the second embodiment, four probe devices S1 ', S2', S4 ', S5' are provided, which are connected via the connection frame V and into the ground 1 are collectable.

The first probe device S1 'has a first measuring-wave transmitting / receiving device SE11' and a second measuring-wave transmitting / receiving device SE12 ', and the second probe device S2' has a third measuring-wave transmitting / receiving device S21 'and a fourth measuring-wave transmitting / Receiving device S22 'on. These may, as in the first embodiment described above, by sending and receiving measuring waves, determine a soil profile with respect to at least one soil property, e.g. Soil density, via a wave reflection profile of the measuring waves as a function of the Eintreibtiefe T via a determination device BE 'allow.

In addition, the probe devices S1 ', S2', S4 ', S5' have conductivity sensors, wherein a current flow MS between the probe devices S1 ', S2', S4 ', S5' in the ground 1 induced to derive the conductivity of the soil 1 to investigate. By the determined conductivity value in the soil 1 conclusions about the moisture and the structure of the soil can be made.

Of course, further sensor devices can be provided in the probe devices S1 ', S2', S3 ', S4'. A combination with a force sensor is conceivable to penetrate the ground 1 To determine calibration values for soil compaction or to support the probe function. Also, a combination with a sensor for temperature determination, moisture measurement, phosphorus content measurement, nitrate content measurement, air / carbon / nitrogen content measurement, pH value measurement, heat distribution measurement (thermal imaging camera) can be provided.

Another possibility is the integration of an additional (not shown) actuator device in the probe devices, such as a vibrator or a speaker in the ground 1 to drive away living animals, such as mice or moles.

3 FIG. 12 is a schematic vertical cross-sectional view of a floor sensor assembly according to a third embodiment of the present invention. FIG.

In the third embodiment, that is in the ground 1 drivable probe device with Reference numeral S1a denotes. It has a first measuring-wave transmitting / receiving device SE1a and a second measuring-wave transmitting / receiving device SE1a '.

The first measuring-wave transmitting / receiving device SE1a is provided in a tip SP of the probe device S1a, which can be decoupled from the rest of the probe device S1a via a coupling KP. For example, the coupling KP is a magnetic coupling. Thus, it is possible to separate the tip SP and in the ground 1 to leave for a long time. The tip SP is preferably equipped with an autonomous energy unit and a storage unit in order to be able to collect data over a longer period of time.

After completion of the measurement data recording, the tip is coupled again via the coupling KP and out of the ground 1 removed along with the remainder of the probe device S1a.

Furthermore, in the third embodiment, the probe device S1a has a soil sample collecting device which has a collecting port BO and a plurality of collecting chambers K1 to K10 which can be filled via the collecting port BO. Filling a collection chamber located in front of the collection port BO, e.g. in the present case K6, can be done by turning R the special device.

The collecting chambers K1 to K10 are connected to each other via an elevator mechanism which functions according to the paternoster principle. It is thus possible to move the collecting chambers K1, K2, K3, K4, K5 in the downward direction AB and at the same time to move the collecting chambers K7, K8, K9, K10 in the upward direction AU. Thus, it is possible to convey a respective collection chamber from the collection port BO to a withdrawal side OS at the upper end of the probe device S1a and back to the collection port BO. The soil samples can thus be stored in the separate collection chambers depending on the depth of penetration, and it has proven advantageous, depending on the dimensions of the collection chambers K1 to K10, to collect soil samples of the order of 1 to 50 cm in a single chamber.

Although the present invention has been fully described above with reference to preferred embodiments, it is not limited thereto but is modifiable in a variety of ways.

The present invention is not limited to the geometries described above, in particular, any desired probe arrangements and any implementations of transmitting / receiving devices or transmitting devices or receiving devices can be realized.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 4411829 A1 [0003]
• WO 03/038730 Al [0004]
• DE 102013202075 A1 [0005]

Claims (14)

Floor sensor arrangement with: at least one in the ground ( 1 ) (S1, S2, S4, S5, S1 ', S2', S3 ', S4'; S1a), which comprise at least one measuring-wave transmitting / receiving device (SE1, SE2, SE11 ', SE12', SE21 ', SE22 'SE1a, SE1a') for sending measuring waves (MW) into the ground ( 1 ) and for receiving in the ground ( 1 ) reflected measuring waves (MW '); and a determination device (BE, BE ') for determining a soil profile with regard to at least one soil property via a wave reflection profile of the measurement waves (MW, MW') as a function of a depth of penetration into the soil (BE; 1 ) can be driven in (S1, S2, S4, S5, S1 ', S2', S3 ', S4', S1a). Soil sensor arrangement comprising: a first probe device (S1, S2, S3, S4, S5, S1 ', S2', S3 ', S4', S1a) which has at least one measuring-wave transmitting device (SS2) for transmitting measuring waves (MW) into the Ground ( 1 ) having; a second probe device (S1, S2, S3, S4, S5, S1 ', S2', S3 ', S4'; S1a), which has at least one measuring-wave receiving device (E1) for receiving in the ground ( 1 ) reflected measuring waves (MW '); wherein at least one of the first probe device (S1, S2, S4, S5, S1 ', S2', S3 ', S4', S1a) and the second probe device (S1, S2, S3, S4, S5, S1 ', S2', S3 ', S4', S1a) into the ground ( 1 ) is recoverable; and a determination device (BE; BE ') for determining a soil profile with regard to at least one soil property via a wave reflection profile of the measurement waves (MW, MW') as a function of a depth of penetration into the soil (BE; 1 ) drivable probe device. A floor sensor arrangement according to claim 1 or 2, wherein a plurality of in the ground ( 1 ) is provided drivable probe devices (S1, S2, S4, S5, S1 ', S2', S3 ', S4', S1a) which are aligned over a connecting frame (V) in a predetermined geometric arrangement. Floor sensor arrangement according to one of the preceding claims, wherein one on the floor ( 1 ) lying probe device (S3) is provided. Ground sensor arrangement according to one of the preceding claims, wherein the ground ( 1 ) are rotatable probe devices (S1, S2, S4, S5, S1 ', S2', S3 ', S4', S1a). Floor sensor arrangement according to one of the preceding claims, wherein at least one in the ground ( 1 ) is provided drivable probe device (S1a) having a soil sample collecting means (K1-K10, BO).  A floor sensor arrangement according to claim 6, wherein the soil sample collecting means (K1-K10, BO) has a collecting port (BO) and a plurality of collecting ports (K1-K10) to be filled via the collecting port (BO), and wherein the collecting chambers (K1-K10) via an elevator mechanism from the collection port (BO) to a withdrawal side (OS) of the probe device (S1a) and back to the collection port (BO) are conveyed. Floor sensor arrangement according to one of the preceding claims, wherein at least one in the ground ( 1 ) is provided drivable probe device (S1 ', S2', S3 ', S4'), which has an additional sensor device. Floor sensor arrangement according to claim 8, wherein the additional sensor device comprises one or more sensors selected from the following group: force sensor, conductivity sensor, temperature sensor, humidity sensor, chemosensor. Floor sensor arrangement according to one of the preceding claims, wherein at least one in the ground ( 1 ) is provided drivable probe device (S1 ', S2', S3 ', S4'), which has an additional actuator device, in particular a vibrator or speaker. Floor sensor arrangement according to one of the preceding claims, wherein at least one in the ground ( 1 ) is provided, the tip (SP) of which is a measuring-wave transmitting / receiving device (SE1; SE2; SE11 ', SE12', SE21 ', SE22', SE1a, SE1a ') or a measuring-wave transmitting device (SS2 ) or a measuring wave receiving device (E1) and which can be decoupled.  Ground sensor arrangement according to one of the preceding claims, wherein the measuring waves (MW) are radar waves or ultrasonic waves. A soil profile determination method using a soil sensor assembly according to claim 3, comprising the steps of: simultaneously driving the plurality into the soil ( 1 ) drivable probe devices (S1, S2, S4, S5, S1 ', S2', S3 ', S4', S1a); and isotropic emission from the measuring waves (MW) into the ground ( 1 ) and receiving in the ground ( 1 ) reflected measuring waves (MW ') at different drive-in depths (T). Soil profile determination method using a soil sensor assembly according to Claim 5 in conjunction with claim 3 with the steps: anisotropic emission of the measuring waves (MW) into the ground ( 1 ) and receiving in the ground ( 1 ) reflected measuring waves (MW ') at different drive-in depths (T); and rotating the probe means (S1, S2, S4, S5, S1 ', S2', S3 ', S4', S1a) to receive an angle-dependent wave reflection profile.

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