RU2537908C2 - Device for subsurface measuring agrotechnological characteristics of soil arable layer in motion - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: device relates to the field of agriculture, in particular to the technologies of precision agriculture. The device comprises a bearing frame connected to the means of moving on the field, a support element mounted on the frame and determining its position above the ground, the knife-milling chisel plough placed on a frame, creating longitudinal slit channel in the soil during motion, a measuring unit with the measuring sensors, made elongated along the direction of motion, of the same thickness with the knife-milling chisel plough and mounted behind it in the direction of motion, the assembly of stepped depth adjustment of the position of the measuring unit in the longitudinal slit channel when moving on the field, the assembly of protection of the measuring unit from damage by collision of the knife-milling chisel plough to the obstacles, the control unit of measurements, collection and conversion of the measurement information, the on-board computer and the receiver of the geopositioning system for registering measurement information and mapping. And the housing of the measuring unit is made in the form of a monolithic metal plate with a pointed and bevelled downwards and backwards frontal anterior edge and is fixedly connected to the bearing frame by the front and rear racks. The sensors are embedded in the measuring unit and located on its side walls along the common straight line with the same depth of location of the sensing elements from the soil surface. The support element is made in the form of a support skid located under the measurement unit, pivotally connected with the rack mounted on the bearing frame. And this rack is mounted on the bearing frame with the ability of a stepped change in the given distance between the sole of the support skid and the straight horizontal line with the same depth of location of the sensing elements in the measuring unit from the soil surface. The said knife-milling chisel plough mounted on the frame in front of the measuring unit, has an axial connection with the frame, ensuring the formation of a common vertical longitudinal plane of symmetry with the measuring unit and made with the ability to control the angular position of the knife-milling chisel plough in this plane. The knife with the cutting edge has a length that ensures creation of the slit channel in the soil with the depth enough for embedding the measuring unit until it stops of the support skid on the surface of the soil at any given distance between the sole of the skid and the horizontal line of position of the sensors and any specified angle of the knife-milling chisel plough mounting. The upper end part of the knife-milling chisel plough, located on the other side of the axial connection, is fixed by the safety shear bolt in the assembly of stepped fixing of the angular position of the knife-milling chisel plough located on the frame, and this assembly is equipped with a stop for fixing the position of the blade of the knife-milling chisel plough along the frontal measuring unit when collision to the stone and cutting the safety shear bolt, moreover, to retain the measuring unit in the vertical plane of symmetry coinciding with the direction of movement of the device. The bearing frame is provided with a rigid drawbar to connect with the vehicle for motion on the field.

EFFECT: unit provides measurement efficiency of agrotechnological characteristics.

17 cl, 24 dwg

Description

The invention relates to agriculture, and more specifically to the technology of precision farming and maintaining the productivity of agroecosystems, and is a device designed for continuous intra-soil measurement of agro-technological characteristics of the soil in the arable layer, such as moisture, electrical conductivity, temperature, horizontal penetration resistance, optical reflective characteristics in the visible and near infrared spectrum and others, in the process of moving across the field (on-the-go), when connecting the device to the track torus or other means of transportation. The measurement information obtained with the device is necessary to determine the spatial and temporal variability of the agrotechnological characteristics of the fields and build electronic field maps from the measured characteristics of the soil, which serves as the basis for making management decisions in precision farming technologies and maintaining the productivity of agroecosystems. Using a geographic system (GPS or GLONASS) in the receiver’s device makes it possible to build electronic field maps in real time while moving around the field (that is, on-line). Periodic measurements at predetermined time intervals on the surveyed fields using the inventive device allows to obtain data on the dynamics of changes in the agrotechnological characteristics of the soil.

Devices for intra-soil measurement of the agrotechnological characteristics of the arable layer of soil in motion provide measurement information from sections of soil directly adjacent to the sensitive elements of the device’s sensors moving in the arable layer, which gives advantages, compared with non-contact and remote devices, in the accuracy of measuring characteristics along the soil depth, where is the root system of plants, and accordingly, in the accuracy of electronic mapping of fields characteristics, increasing the effectiveness of precision agriculture technologies and maintain the productivity of agro-ecosystems, using the measurement information.

Known devices for galvanic contact measurement of electrical conductivity (or electrical resistivity) of the arable soil layer in motion, containing a frame towed behind a tractor, car or walk-behind tractor with disk electrodes in contact with the soil and passively rotating when moving around axes perpendicular to the direction of movement. In the device [1. Veris® Quard EC1000 - Veris Techologies, Inc. (Kansas, USA), http://www.veristech.com] a wheel frame is used on which four electrically isolated passively rotating disk electrodes in contact with the soil are mounted on the spring levers along a common axis perpendicular to the direction of movement. The disk electrodes are connected to a four-electrode conductivity measuring circuit operating at a frequency of 150 Hz, while the outer disks serve as current electrodes, and the internal disks serve as potential electrodes, the voltage on which is a measure of conductivity associated with the calculated ratio to the soil conductivity. The depth of measurement is determined by the distances between the disk electrodes. In another implementation of the device (Veris 3100, [1]) for determining the electrical conductivity at two depth levels in the soil (30 cm and 91 cm), it is equipped with an additional pair of potential disks spaced a greater distance (outside the support wheels). In a similar device [2. Koshelev A.A., Scherbakov S.I. Methods and means of measuring the electrical conductivity of soils and their practical application in precision farming. - Automation and information support of production processes in agriculture. Collection of reports of the X international scientific-practical conference (September 16-17, 2008, Uglich). Part 2, p.588, Fig. 4] uses six spring-loaded disk electrodes passively rotating around axes orthogonal to the direction of movement and equally spaced 31 cm apart from each other to measure electrical conductivity at two depth levels.

In also a known device for galvanic contact measurement of the electrical conductivity of the soil in motion [3. Geocarta ARP - Geocarta company (Paris, France), http://www.geocarta.net] behind the walk-behind tractor the wheel frame is towed, on which four pairs of disc (with teeth) passively rotating are mounted on four separate spaced axes perpendicular to the direction of movement the movement of the electrodes. The axis with exciting current electrodes is the first in the direction of movement, followed by the axis with potential output electrodes for measuring electrical conductivity at a depth of 0.5 m. The axis with electrodes for measuring electrical conductivity at a depth of 1 m follows, and the last axis with electrodes serves for measuring electrical conductivity at a depth of 2 m. The distance of the second, third and fourth axes from the axis with the exciting electrodes, as well as the distance between the electrodes on these axes, are set on the basis of obtaining the maximum signal from the electrical conductivity of the soil at depths of 0.5 m, 1 m and 2 m. The frequency of the measuring current is 220 Hz.

A device for contact measurement in motion of the electrical resistivity of soils Geophilus electricus has been developed at the University of Potsdam (Germany), containing a pair of rolling exciting disk electrodes mounted rotatably on the axis transverse to the direction of movement of the towing means and 1 meter apart, and five pairs identical measuring electrodes, the axes of which are spaced a fixed distance of 0.5 m from the axis of the exciting electrodes and from each other in the direction of movement. Geophilus electricus uses four measuring frequencies in the range of 1 millihertz - 1 kilohertz and is capable of measuring the amplitude and phase of voltages on five pairs of measuring electrodes simultaneously. The use of five pairs of electrodes and four measuring frequencies gives more detailed information about the vertical structure of the soil and about the layers within the investigated range of depths 0-2 m [4. E. Lueck, J. Ruehlmann. Resistivity mapping with GEOPHILUS ELECTRICUS - information about lateral and vertical soil heterogeneity. The Second Global Workshop on Proximal Soil Sensing - Montreal 2011. http://bse.unl.edu/adamchuk/gwpss/Papers/GWPSS_2011_Lueck.pdf].

The described devices for contact galvanic measurement of soil electrical conductivity [1-4] are used to map the spatial heterogeneity of the soil structure, determined by the ratio of the content of sand, fine earth and clay (sand has a relatively low electrical conductivity, fine earth is medium, clay is high due to an increase in contact conductivity with decreasing particle size ), while the depth and width of the sensing channel is determined by the spacing of the current and measuring electrodes and ranges from 0.3 to units of meters. The advantage of these devices is their high performance in mapping conductivity due to a sufficiently large spatial separation of the measuring electrodes, as well as good natural protection against breakdowns when hitting obstacles (stones in the soil) due to the round shape of passively rotating disk electrodes and a shallow depth of immersion in the soil of the lower edge of the disks when the device moves across the field. However, the electrical conductivity measured by these devices is an integral indicator, depending both on the soil structure and on the volumetric moisture content, the amount of dissolved mineral nutrition elements, and soil acidity. The measurement of only one parameter - the electrical conductivity of the soil, without a separate measurement of the volumetric moisture content does not allow us to estimate the amount of dissolved elements of mineral nutrition, which is an important agrotechnological characteristic of soils. In addition, the devices [1-4] are not designed to measure the electrical conductivity of the soil at a given depth inside the arable layer of the soil, which is important for precision farming technologies.

(КДП) почв:The conductivity of soils in the described devices [1-4] is measured at the low frequencies of the measuring current indicated above, for which the component of the bias currents due to the dielectric constant of the soil is negligible compared to the conductivity currents used to measure the conductivity of soils. At the same time, devices are known operating at high frequencies of a measuring current of 10-100 MHz for measuring the real ε 'and imaginary ε''components of the complex dielectric constant $$\dot{\epsilon }$$

(KDP) soils:

$$\dot{\epsilon }=\epsilon \text{'}\text{'}\text{-j}\epsilon \text{''}\text{'}\text{'}\text{, (one)}$$

характеризует способность вещества обратимо поляризоваться в электрическом поле, а мнимый компонент КДП ε'' (фактор потерь) характеризует необратимые тепловые потери при поляризации и связан с электропроводностью почв σ соотношением:where the real component ε 'of the complex permittivity $$\dot{\epsilon }$$

characterizes the ability of a substance to reversibly polarize in an electric field, and the imaginary component of the KDP ε '' (loss factor) characterizes irreversible heat loss during polarization and is associated with the soil electrical conductivity σ by the ratio:

$$\epsilon \text{''}\text{'}\text{'}=\sigma \text{/ (}\omega {\epsilon }_{\text{0}}\text{), (2)}$$

where ω is the circular frequency of the electromagnetic field, ε ₀ = 8.854 · 10 ^-12 F / m is the electric constant. The two components ε 'and ε''of the KDP, as well as σ of the soils, are determined by the electric capacitance C _PIP , conductivity G _PIP and the frequency of the supply current ω of the capacitive sensor (primary measuring transducer) introduced into the soil, according to the ratios:

$$\epsilon \text{'}\text{'}=\frac{C_{P\mathrm{AND}\mathrm{<figure-callout\; id="0"\; label="P\; \epsilon "\; filenames="00000018.png,00000026.png"\; state="\{\{state\}\}">P\; </figure-callout>}}}{{\epsilon }_{}}{\mathrm{TO}}_P,\epsilon \text{'}\text{'}\text{'}\text{'}=\frac{G_{P\mathrm{AND}P}}{\omega {\epsilon }_0}{K}_P,\sigma =G_{P\mathrm{AND}P}{\mathrm{TO}}_P,\left(3\right)$$

where K _P is the geometric constant of the capacitive sensor.

To date, studies of the dielectric properties of soils in the frequency range from low to 100 MHz show that at frequencies above 10 MHz, the influence of the double electric layer at the contacts of the measuring electrodes with the soil on the measurement results can be neglected, while the actual component ε 'of the CDP is an increasing function volumetric moisture content of the soil θ (which also depends on the type of soil), and the electrical conductivity of the soil σ is close to the values measured by the four-electrode method of measuring electrical conductivity on izkih frequencies used in devices [1-4] described above. Thus, the simultaneous measurement of the ε 'component of the KDP and electrical conductivity σ at the same measurement frequency ω (two-component dielcometry) makes it possible to determine both the volumetric moisture content and the electrical conductivity of the soil using a single capacitive sensor. An important advantage of the simultaneous measurement of ε 'and σ is the ability to calculate the electrical conductivity of soil water, which is a measure of the mineral nutrients dissolved in the soil that are accessible to the plant root system (for example, according to the Hilhorst model: [5. Hilhorst MA A pore water conductivity sensor. Soil Sci Soc. Am. J., 2000, Vol.64, No.6, p.1922-1925]. This is important for managing plant nutrition and fertilizing.

A device for simultaneous measurement of volumetric moisture content, electrical conductivity and soil temperature based on two-component dielcometry, designed for point field measurements and having a capacitive sensor in the form of a three-pin probe with a central potential and two side housing electrodes [6. User Manual for the WET Sensor type WET-2. WET-UM-1.4. Delta-T Devices Ltd. http://www.delta-t.co.uk]. The thermosensitive element is mounted in a potential electrode. The device contains an oscillator with a fixed operating frequency of 20 MHz, the output of which is connected to a capacitive sensor. To separately measure the actual component of the KDP ε '(by which the volumetric moisture content of the soil is determined) by the capacitance of the _PIP sensor C and the soil electrical conductivity σ by the conductivity of the G _PIP sensor, the device is constructed according to the principle of a vector voltmeter with phase separation of the active and reactive components of the capacitance sensor impedance. The device is intended for point-by-field field measurements of soil moisture content during route inspection of fields, and the measurement depth varies from measuring the surface soil layer to a depth of the order of one meter when using a drill for preliminary drilling of a well into the bottom of which sensor electrodes are introduced. It can also be used for stationary measurements of the dynamics of the measured parameters as part of an agrometeorological station with constant installation at a given depth in the soil. However, this device is not intended for continuous measurement of the dielectric properties of soils in motion.

A device for measuring the volumetric moisture content of the soil in motion using a capacitive dielcometric sensor mounted on the back of a vertical slit-knife on a dielectric plate. The slit knife is mounted on the rear linkage of the tractor and is equipped with a support wheel that sets the immersion depth of the sensor in the soil when it moves in the slit created by the slit knife when the tractor moves across the field. The sensor has electrodes in the form of three parallel planar strips installed in a vertical plane and elongated along the direction of movement (the central electrode is potential, upper and lower are body), and is included in the self-generating measurement circuit, the self-oscillation frequency of which is 12.7 MHz for moist soil and 18.9 MHz for dry [6. V.I. Adamchuk, C.R. Hempleman, D.G. Jahraus. On-the-go capacitance sensing of soil water content. An ASABE meeting presentation. Paper number: MC09-201, p.3, fig. 1 (2009 ASABE Mid-Central Conference, Ames, Iowa, April 4-5, 2009). 7. V.I. Adamchuk. Precision farming: what's the point? Journal: Plant Nutrition, 2011, No. 1, p. 3, Fig. 2]. The advantage of the device is the possibility of continuous contact measurement of soil moisture at a given depth in the arable soil layer when the tractor moves across the field, the disadvantage is the lack of protection of the sensor from breakage when the knife creep on stones. In addition, the sensor and the measuring device did not realize the possibility of simultaneously measuring soil moisture and electrical conductivity with a capacitive sensor using the principles of two-component dielcometry, which would make it possible to evaluate and map the content of dissolved mineral nutrition elements in the arable soil layer.

To determine the temperature and humidity state of the arable layer of soil in the fields, especially when determining the timing of sowing, it is necessary to perform intra-soil temperature measurement in motion. A known sensor for measuring in motion in real time and mapping parameters of the soil (RTSS - real time soil sensor), including an infrared temperature sensor [8. M. Kodaira, S. Shibusawa, K. Ninomiya. Dozen parameters soil mapping using the real-time soil sensor. - 10th International Conference on Precision Agriculture. July 18-21, 2010. Denver. Colorado USA http://s3.amazonaws.com/zanran_storage/www.icpaonline.org/ContentPages/116510321.pdf]. The RTSS sensor has a penetrator mounted on the tractor and is equipped with a mechanism for setting the bottom edge of the penetrator and measuring the reflectivity of the soil at depths from 0.05 to 0.35 m in increments of 0.05 m. When the tractor moves, the tip and lower horizontal edge of the penetrator provide soil cutting and create a channel behind it with a flat, aligned horizontal surface that coincides with the bottom face of the penetrator. Above this surface, a transmitter and receiver are installed to measure the reflectivity of the soil, as well as a radiation thermometer using the near infrared region of the spectrum. The advantage of an infrared thermometer is its low inertia, which is important when measuring in motion, but its readings significantly depend on the reflectivity of the soil, which leads to a large error in temperature measurement.

An important agrotechnological characteristic of soils is the hardness of the soil, which is determined by pressing a deforming element (penetrator) into the soil with a low constant speed, measuring the indentation force and calculating the ratio of the indentation force to the cross-sectional area of the deforming element in the indentation direction. This ratio, expressed in units of pressure, is called soil hardness, or penetration resistance, or soil mechanical resistance. The hardness of the soil determines the modes of its processing by agricultural implements. High soil hardness inhibits the development of the root system of plants, reduces the filtration and movement of nutrients in the soil, and worsens the air regime of the soil. A common method for measuring soil hardness is vertical indentation of a cone tip with a given angle at the apex and a given cross-sectional area, measurement of the force of indentation and calculation of pressure during indentation. The need for continuous measurement of the movement of soil hardness and the construction of soil hardness maps has led to the creation of horizontal soil hardness testers - horizontal penetrometers.

A device for continuously determining in motion the hardness of the soil [9. Auth. testimonial. USSR No. 397847. Instrument for continuous determination of soil hardness 07/30/1971, publ. 09/17/1973, IPC G01N 33/24], containing a trolley towed behind the tractor with runners and a deforming element (penetrator), which is made in the form of a conical tip and is installed horizontally in the lower part of the strain gauge rack, mounted on the frame of the trolley through a rigid hinged four-link mechanism, associated with a screw adjusting rod that sets the depth of the conical deforming element in the soil. In the upper part of the strain gauge rack, strain gauge sensors are glued, registering a bending moment proportional to the drag of the conical deforming element. In front of the strain gauge stand, a protective knife is installed above the deformation element, which cuts the soil layer and unloads the strain gauge stand, as a result of which strain gauges measure the effect of soil on the deformation element only. The disadvantage of this device is the insecurity of the cone deforming element when it is overloaded or hit a stone, which causes damage to the device. In addition, the measured value of soil hardness depends on the moisture content of the soil, which is not measured by this device.

The disadvantage of the device [9], associated with insecurity from damage to the deforming element when overloading or running over stones, is eliminated in the known device for continuous determination in motion of soil hardness [10. Auth. testimonial. USSR No. 1201773. Instrument for continuous determination of soil hardness 07/13/1984, publ. 12/30/1985, IPC G01N 33/24]. As in the previous device, a strain gauge rack with a deforming element fixed in the lower part and strain gauge sensors in the upper part and a protective knife mounted in front of the strain gauge rack are used here. The deforming element is made in the form of a vertical additional knife with a trapezoidal section in a plane transverse to the vertical plane of deformation, with a large base at the top. A protective knife is installed in front of the deforming element with the possibility of vertical movement relative to the rack, which allows you to adjust the depth of the measured soil layer. The deforming element is fixed on the strain gauge rack using an axis and a safety pin, which provides a fixed connection between the deforming element and the stand, and in case of overload or collision with a stone, the deforming element deviates backward, turning about the axis and cutting the pin, which eliminates its breakage. However, the device does not provide simultaneous measurement of soil moisture content, which makes it difficult to interpret the results of hardness measurements.

Another device for measuring the resistance of horizontal penetration of soil in motion is a dynamometric plane cutter containing a frame with a support wheel and a hinged system for mounting on a mobile vehicle. A vertical strut is fixed on the frame through a hinge, in the lower part of which a working body is installed - a plane cutter paw, and between the upper end of the rack and the frame is fixed a force meter acting from the soil side on the working body - a plane cutter paw. The device is designed to determine the thickness of the humus layer of the soil cover by the value of penetration resistance [11. RF patent №2143112. A method for determining the thickness of the humus layer of the soil cover. IPC: G01N 33/24, A01B 79/00, claimed 04/29/1998, publ. 12/20/1999]. When the plane cutter moves along the field at a constant speed at a constant depth, the force on the working body is more important for areas with a smaller thickness of the humus layer due to more dense soil compaction in these areas (greater bulk mass). The advantage of the device is the self-deepening of the plane cutter when moving across the field, which simplifies the design of the device, the disadvantages are the lack of protection against breakdowns when hitting obstacles and the lack of simultaneous measurement of soil moisture content.

A known probe for measuring the vertical profile of the resistance of horizontal penetration in motion with several prismatic sensitive elements (penetrators) located vertically on the supporting console [12. Chung, S.O., Sudduth, K.A., Hummel, J.W. Design and validation of an on-the-go soil strength profile sensor. Transactions of the ASABE (American Society of Agricultural and Biological Engineering), 2006, Vol. 49 (1), p.5-14]. Each of the sensitive elements is equipped with a strain gauge force sensor, which allows you to measure the vertical resistance profile of horizontal penetration in motion.

To measure the resistance profile of horizontal penetration in motion, a device with three cutting blades of different lengths mounted one after the other in the direction of movement is also used, with each blade equipped with a strain gauge force sensor. The upper blade measures the mechanical resistance of the soil within the horizontal layer cut by this blade; the middle blade installed behind it measures the resistance of the soil layer cut by the end of the middle blade protruding below the first blade; the last blade in the direction of movement measures the resistance of the soil, cut by the end of the third blade, protruding below the middle blade [13. V.I. Adamchuk. On-the-go proximal soil sensing for agriculture, p. 4. AGRI-SENING 2011 (Haifa, Israel, February 21, 2011), http://bse.unl.edu/adamchuk/presentations/Agri-Sensing_2011.pdf].

In the article [14. A. Sharifi, A. Mohsenimanesh. Soil mechanical resistance measurement by an unique multi-cone tips horizontal sensor. International Agrophysics, 2012, 26, 61-64] considered a sensor for measuring horizontal penetration resistance in motion with five cone penetrators installed at different depth levels, on the back of which there are transducers of the force acting on the penetrators into an electrical signal. A feature of the sensor is the installation of conical penetrators on a vertical knife using rods whose length is maximum for the upper penetrator and gradually decreases to the lower penetrator. This solution allows the penetrators to move forward beyond the area in front of the slit-cutting knife, in which this knife destroys the soil structure (loosens and sows the soil from the upper layers to the lower ones), which increases the accuracy of measuring the horizontal penetration resistance. Laboratory tests on a soil channel with soil having a given density and moisture showed that such a sensor design allows increasing the correlation coefficient R between the results of measuring vertical penetration resistance by a conventional conical vertical penetrometer and horizontal penetration resistance to R ² = 0.86 at depths in the soil 0-400 mm. The usual designs of horizontal penetrometers for measurements in motion give a correlation coefficient R ² = 0.51 [15. Sun, Y., Ma, D., Lammers, P., Schmittmann, O., Rose, M. On-the-go measurement of soil water content and mechanical resistance by a combined horizontal penetrometer. Soil and Tillage Research, 2006, 86, p.209-217], or R ² = 0.76 [16. Chukwu E., at all. Instantaneous multi-depth soil mechanical impedance sensing from a moving vehicle. Trans. ASAE, 2005, 48 (3), 885-894]. However, the design considered does not have protection against breakdowns when hitting stones and does not measure the moisture content of the soil, on which the horizontal penetration resistance depends.

A device is also known for measuring the resistance of horizontal penetration of soil in motion, comprising a vertical knife placed on a frame of a moving carrier with a blade oriented in the direction of movement, in the lower part of which there is a sensing element (penetrator) of a mechanical impedance sensor facing in the direction of movement, from the back of which a soil pressure transducer is mounted in an electric signal [17. US Patent US 6647799, Nov. 18, 2003]. The device is equipped with a mechanism of vertical reciprocating oscillatory motion of the sensor with a bearing knife, which is carried out simultaneously with the horizontal movement of the device across the field, which simplifies the identification of compacted soil layers when examining agricultural fields.

Devices [12-17] do not have protection against breakdowns when hitting obstacles and do not provide measurement of soil moisture content simultaneously with horizontal penetration resistance.

A device is known for continuous measurement of horizontal penetration resistance in motion and determination of bulk density and compaction of the arable soil layer mounted on a frame behind the tractor and containing a working member — a plane cutter, as well as a radar mounted above the soil — moisture meter, support wheels with a motion depth sensor in the soil plane cutter and measuring force of soil cutting at a given depth [18. Abdul Mounem Mouazen, Herman Ramon and Josse de Baerdemaeber. Modeling compaction from on-line measurement of soil properties and sensor draught. Pecision Agriculture, 2003, 4 (2): 203-212]. A numerical-statistical hybrid model has been developed for calculating dry bulk density from the moisture content measured in real time, the depth of processing, and the readings of the measuring instrument for soil cutting by a plane cutter. For continuous mapping in motion (on-line mode) of the values of the determined dry bulk density of the soil and revealing its compaction when exceeding the permissible density value, a global positioning system (GPS) is used. Monitoring the values of dry bulk density of the soil and identifying areas with compacted soil allows agrotechnological measures to soften the soil, since soil compaction reduces crop yields due to the deterioration of water and air conditions of plants. The disadvantages of the device include: the lack of protection of the working body from damage when hitting obstacles; non-contact humidity measurement using the radar, giving an average value of humidity over the depth of sounding of the radar instead of the humidity value, at the depth of movement of the working body, which reduces the accuracy of calculating dry bulk density; the use of a plane cutter as a working body of a horizontal penetrometer, which makes it difficult to take measurements between rows of plants grown.

Another device for the simultaneous measurement of horizontal penetration resistance and humidity in the process of moving across the field (see [15] above) also refers to the analogues of the claimed device for contact measurement of the agrotechnological characteristics of the arable soil layer in motion. The device contains a horizontal conical penetration rod, rigidly mounted on the lower end of the power lever, pivotally mounted in the upper part on the supporting frame. Below the point of articulation of the lever on the frame, a horizontally mounted force sensor is pivotally attached to the lever, the second end of which is mounted on a support mounted on the supporting frame. A vertical blade is installed on the frame in front of the power lever, eliminating the force action of the soil directly on the lever when moving in the soil and providing measurement of only the force acting on the penetrometer cone at the depth of measurement. In addition, the blade protects the penetrometer’s power arm from breaking when it collides with stones. Behind the cone, on the penetration rod through the insulators, two ring electrodes are installed, forming a capacitive sensor connected to a dielcometric device for determining humidity from the sensor’s electric capacitance. This device mounted on a mobile device is used for continuous measurement in motion at depths of up to 20 cm. The disadvantages of the device are: inappropriateness for measuring more than two agrotechnological parameters of the soil; the absence of nodes providing a given fixed depth of the location of the sensitive elements of the sensors from the soil surface; lack of penetration cone rod protection with a capacitive sensor from damage when hitting stones.

A further development of the device [15] is a horizontal penetrometer with a combined three-parameter sensor for measuring the moisture content, electrical conductivity and mechanical resistance of the soil in motion [19. Q. Zeng, Y. Sun, P.S. Lammers. A triple-sensor horizontal penetrometer for on-the-go measuring soil moisture content, electrical conductivity and mechanical resistance. Abstract CSBE 101339. XVII-th World Congress of the International Commission of Agricultural and Biosystems Engineering (CIGR) - Quebec City, Canada, June 13-17, 2010], [20. Q. Zeng, Y. Sun, P.S. Lammers at al. Improvement of a dual-sensor horizontal penetrometer by incorporating an EC sensor. Computers and Electronics in Agriculture, 2008, Volume 64, Issue 64 (2), p. 333-337]. A conductivity sensor in the form of a set of four ring electrodes with equal intervals is mounted in the conical tip of a horizontal penetrometer in addition to a capacitive humidity sensor with two cylindrical electrodes installed through insulators on the supporting rod near the conical tip. The measurement of electrical conductivity in the penetration zone provides additional information about the structure of the soil, however, the disadvantage of the device is the lack of protection against breakdowns when hitting obstacles.

In addition to the above devices, it is known to use visible - near infrared reflectance spectroscopy to study the physical and chemical characteristics of soils in both laboratory and field conditions, including subsurface inspection in motion to map soil properties.

A known sensor for measuring the movement of organic matter of the soil in real time, mounted on a device paired with a means of transportation, and containing a housing inside which there is a light source and a photosensitive element [21. US patent US 5044756, Sep.3, 1991. Real-time soil organic matter sensor. IPC: G01N 21/49; G01N 21/84; G01N 33/24]. A photosensitive element perceives light reflected from the illuminated soil, and creates an output signal that depends on the content of organic matter in the illuminated soil. The sensor housing is mounted on the device so that when the sensor moves in the soil, the illuminated soil area, from which light is perceived by the photosensitive element, is located below the surface of the surrounding soil and the housing shields the illuminated soil area from external light. The sensor case has a shoe-shaped shape with a pointed nose to cut the soil during movement and a flat bottom to create a channel in the soil with a smooth horizontal surface. The bottom of the housing has a cutout, a niche is located in the housing against it, in which a photosensitive element (photodiode) and surrounding light sources (light emitting diodes) are installed perpendicular to the soil surface. The photosensitive element and light-emitting diodes are mounted on a common base at a distance of 1 inch from the soil surface, covered with a translucent plate and create a lighted area of about 70 mm ² on the soil surface. In order to reduce the effect of soil roughness on the reflection coefficient of the soil, an arcuate flange is mounted at the bottom of the cut-out at the base of the body, and the surface is in contact with the convex surface. As light sources, red light-emitting diodes are used, which emit light with a wavelength at which the effect of iron oxide on the reflective properties of the soil is less pronounced. The disadvantages of the sensor are the lack of protection against damage when hitting obstacles, protection against soil clogging of a niche with light sources and a receiver, and the lack of measuring instruments for soil moisture content, on which the characteristics of soil reflection substantially depend.

In the materials of the International Conference [22. V.I. Adamchuk. On-the-Go Proximal Soil Sensing for Agriculture, p.3 - (middle slides in the left and right columns). AGRISENING 2011 (Haifa, Israel, February 21, 2011), http://bse.unl.edu/adamchuk/presentations/Agri-Sensing_2011.pdf] presents a sensor made in the form of a hollow shoe with a horizontal sole mounted on a vertical rack and horizontally moved in arable soil layer. The sole is equipped with a sapphire window, against which a radiation detector - a photodiode - and six surrounding emitters - LEDs - with a wavelength of emitted light of 660 nm are installed in the shoe. The optical signal measured by the photodiode from the soil with this wavelength depends on the content of organic matter in the soil. The development of this device is a hyperspectral spectrophotometer of reflected visible - near infrared light (ibid., [22]). It used fiber-optic cables to bring to the sapphire window at the base of the light shoe from the radiation source and to bring light reflected from the soil to a spectrophotometer mounted on the tractor's carrying frame. The sapphire window provides transparency in the wavelength range of the spectrophotometer from visible to near infrared light of 400-1700 nm and is resistant to the grinding effect of the soil. The depth of movement of the shoe in the arable soil layer is set by the support wheel mounted on the supporting frame. The disadvantages of both devices [22] is the location of the optical window at the bottom of the measuring shoe, which causes instability of the measurement results due to the gap between the sole and the soil with vertical fluctuations in the position of the shoe due to irregularities of the soil surface under the support wheel, as well as the lack of measurement of physical parameters of the soil, which necessary for making agrotechnological decisions.

Also known is an optical sensor for measuring in motion in real time the reflective characteristics of the soil [23. U.S. Patent Application US 2011/0102798 Optical real time soil sensor. Publication date May 5, 2011, IPC G01N 21/55], made in the form of a vertical flat box mounted along the direction of movement and moved in the arable layer using a knife stand fixed at the rear of the wheel frame towed behind the tractor. The side wall of the box-case is equipped with a sapphire window, against which inside the box there is a source of soil illumination and a receiver of reflected light from the soil. Sources of illumination of the soil are one or more monochromatic or polychromatic LEDs, or laser diodes, as detectors of light reflected from the soil - photodetectors. A wide variety of light-emitting diodes allows studies of the reflective characteristics of soils from the ultraviolet range (including the area from 350 to 370 nm in which fluorescence is excited in the soil) to the visible and near infrared ranges of the optical spectrum (400-1550 nm). It is also possible the formation of the spectral range with the help of filters installed in front of photodetectors. The sensor is designed to diagnose the organic matter of the soil and build maps to control the application of herbicides, fertilizers and sowing seeds. The advantage of the sensor is the location of the optical window on the side wall of the sensor housing, which eliminates the occurrence of an accidental gap between the window and the soil with vertical fluctuations in the position of the sensor in the soil due to uneven soil surface under the support wheels. The disadvantages include the lack of measurement of the physical parameters of the soil, especially moisture content and density, the values of which determine the rate of application of herbicides, fertilizers and sowing seeds.

Another known device for examining the optical characteristics of subsurface soil in motion for precision farming is described in [24. U.S. Pat. No. 6,608,672, Aug.19, 2003, Soil survey device and system for precision agriculture. IPC G01N 21/00]. The device is equipped with a main unit in the form of a plow, the front of which raises the soil up; a frame that supports the sensor and connects the tractor and the main unit; spectrophotometer mounted on the frame; a tracking wheel that tracks the depth of the track and is connected to the main node by a lever; and a survey control unit, including a GPS receiver mounted on a tractor. Measurement of optical characteristics is carried out using a survey camera at a selected depth underground by examining the spectrum of reflected light in the camera continuously in real time. The main assembly has two parts: the front burrowing part and the rear measuring part. The front digging part raises the soil when the tractor moves and creates a flat surface parallel to the soil surface, so that the measuring part easily examines the open soil surface. The measuring part consists of a measuring chamber, in which the surface of the soil being the object of examination is exposed, and a housing in which a set of sensors is placed. This housing contains: two fiber optic fibers spaced at the edges to illuminate the soil, a digital camera for acquiring soil surface images, optical fibers of reflected visible light and reflected near infrared light, and a receiving fiber of an infrared thermometer. The depth of the viewing surface of the soil is set by lowering or raising the wheels on the support frame and can be at a depth of 15-35 cm below the soil surface; position control is carried out by a tracking wheel with a lever angle sensor.

A further development of this device is a device for examining soil characteristics [25. US patent US 6853937, Feb. 8, 2005. Soil characteristics survey device and soil characteristics survey method. IPC G01V 5/00], which is supplemented by a horizontal penetration resistance sensor installed between the nasal chisel element of the front digging part of the main assembly and the housing of the measuring part of the main assembly. The sensor is equipped with a load cell, which converts the force of soil pressure on the chisel element into an electrical signal. The cell is pressed by a multi-element disc spring to the rear end part of the chisel element, which is movably fixed in the front of the measuring unit with the possibility of displacement under the action of soil pressure during movement. Another addition is a measuring electrode installed flush through the insulator with the upper burrowing surface of the metal chisel element and forming an electrode pair with it, which is used to measure the electrical conductivity and permittivity of the soil in contact with the chisel element.

Another analogue in purpose and technical nature of the claimed device is a real-time sensor (RTSS - real time soil sensor) for assessing the movement and mapping of soil parameters (see [8] above). The sensor is mounted on the rear frame of the tractor, which has support wheels and is equipped with a mechanism for deepening and removing the sensor from the soil. The sensor has a soil penetrator protruding forward in the direction of movement, made in the form of a triangular pyramid, one of the side faces of which is installed horizontally, and the other two are the same and form an edge lying in the vertical longitudinal plane of symmetry of the device. The penetrator at the rear is connected to a vertical stand, which serves for its mounting on the rear frame of the tractor. The rack in the frontal part is equipped with a blade, and its rear part is extended by two vertical side walls, the lower edges of which are a continuation of the horizontal side of the penetrator. In the niche between the side walls at a predetermined distance (72 mm) from the plane coinciding with the bottom face of the penetrator, the ends of the fiber optic cables of the soil irradiation source and two spectrophotometer receivers, as well as the optical cable of the infrared thermometer, are placed. At the same distance, a receiving matrix of a digital video camera is installed in the niche, which is used for periodically photographing in the visible part of the spectrum of the soil surface at the bottom of the channel formed by the bottom face of the penetrator, as well as a laser marker that measures the distance to the soil surface. The niche does not have a protective dividing translucent screen with the soil surface, however, the camera allows you to control the state of the soil surface at the bottom of the channel created by the penetrator, and the laser marker allows you to control the absence of lumps of soil and random objects on this surface. A 150-watt halogen lamp is used to illuminate the surface of the soil. The spectrophotometer (Carl Zeiss Co., Ltd) has a visible channel with a spectrum from 310 to 1100 nm and a near infrared channel with a spectrum from 950 to 1700 nm. The resolution of the spectrophotometer is 5 nm. A digital camera with a receiving matrix (charge-coupled device) is configured to monitor a spot on the surface of the soil at a focal length of 75 mm. A radiation thermometer uses the near infrared region of the spectrum. An electrode for measuring the electrical conductivity of the soil is mounted in the penetrator. In the penetrator rack, a strain gauge transducer of mechanical resistance of the soil is placed. The outputs of the optical cables, a halogen lamp, measuring blocks of the channels of the spectrophotometer, infrared thermometer, video camera, channels for measuring electrical conductivity and horizontal penetration resistance are installed in a common housing on the rear suspension of the tractor. It also houses the control and recording computer, the receiver of the differential global positioning system DGPS.

The RTSS sensor is equipped with a mechanism for setting the bottom face of the penetrator and measuring the reflectivity of the soil at depths from 0.05 to 0.35 m in increments of 0.05 m. When the tractor moves, the tip and lower horizontal face of the penetrator provide soil cutting and create a channel behind it a flat aligned horizontal surface that coincides with the bottom face of the penetrator. Measurements are taken at a speed of 0.2-0.6 m / s.

Based on the results of field spectrophotometric measurements in motion and laboratory analysis of soil samples taken at the tracks and depths of these measurements, regression calibration models were developed for 12 soil parameters: pH, moisture content (thermostatic-weighted), organic matter content, total carbon, ammonium nitrogen , nitrate nitrogen, total nitrogen, dissolved nitrogen, available phosphorus, phosphorus absorption coefficient, phosphorus absorption coefficient and cation exchange capacity.

Despite the high analytical capabilities of the RTSS sensor, its disadvantages include: the lack of protection of sensors (conductivity electrode) from damage when hitting obstacles; lack of protection of a niche with fiber optic cables from clogging with soil during measurements in motion.

The closest in purpose and technical nature to the claimed device (prototype) is a mobile system of soil mapping according to measurements of reflectivity of the soil in the arable layer [26. US Patent Application US 2009/0112475, Apr. 30, 2009. Mobile soil mapping system for collecting soil reflectance measurements. IPC G01V 3/38]. The system comprises a frame towed behind the vehicle with support wheels, on which a supporting longitudinal strut-slider is mounted with a cutting tooth in the lower part. At the rear of the strut, on the parallel flat links mounted with the possibility of angular displacement, a soil reflectivity measuring unit is mounted. The links have the same length and are placed one above the other on the sides of the rack and block, forming parallelograms with them, which ensures a longitudinal (i.e., in the direction of movement) position of the measuring unit. In addition, these links are spring-loaded so that they tightly press the flat bottom of the measuring unit to the bottom of the gutter in the soil created by the slot-resistant stand with a cutting tooth. A wheel with a cutting rim is installed in front of the slider rack for cutting the remains of vegetation and creating a narrow gap in the soil. The working depth in the soil of the slot-rack with the measuring unit is regulated by a set of holes in the rack, with which the vertical distance of the slot-rack with the measuring unit relative to the frame is set in steps. In addition, to set the working depth of the rack-glue, as well as to remove it from the soil when moving in the transport position, the supporting wheels of the frame are made with the possibility of vertical lifting or lowering of the frame relative to the soil. A protective unit is mounted in the upper part of the gullet rack, which provides protection for the gleam rack and the measuring unit from breakdowns when hitting stones and other obstacles. For the purpose of protection, the rack is movably mounted on the frame using a transverse shaft and is connected by a rod to the end of a flat spring, the beginning of which is rigidly fixed to the frame. The protective mechanism has a geometry in which the spring ensures that the strut is held in working position with a force that, when hitting obstacles, transfers the spring to a second stable state, while the strut rotates around the shaft axis and deviates backward, leaving the soil. The measuring unit is hollow and elongated in the direction of movement. In the measuring unit there is a sensor for intra-ground reflection spectroscopy in the near infrared region of the spectrum and an infrared temperature sensor. A round sapphire window is made for the first sensor in the lower horizontal part of the block, which serves to measure diffuse optical reflection from the soil. A soil illumination source, a tungsten halogen lamp, is installed against the window inside the measuring unit, and the reflected light (in the near infrared region) is perceived by an optical receiver mounted at an acute angle to the axis of the light source and made in the form of optical lenses directing the reflected light into fiber optic cable connected to a near infrared spectrophotometer. The tight pressing of the bottom of the measuring unit with a sapphire window to the soil with the help of spring-loaded links provides self-cleaning of the optical window from dust and dirt during movement, and the use of sapphire increases resistance to abrasion and scratches. The back of the measuring unit is made open to the soil and has a niche in which a second sensor is installed - an infrared thermometer facing the soil with a sensing element. This thermometer is used to take into account the temperature dependence of the reflective characteristics of the soil. A spectrophotometer, a computer and a GPS satellite receiver are mounted on the frame. The mobile system is designed to determine the near-infrared spectral characteristics of the spectrum of the soil content of compounds containing functional groups C-H, N-H and O-H, which allows quantitative determination of the forms of carbon, nitrogen and water. In addition, the spectra of diffusely reflected light in the near infrared are correlated with other soil properties, such as acidity (pH), calcium and magnesium.

The advantages of the system are the ability to measure the agrochemical characteristics of the soil in motion on the basis of subsoil reflective near infrared spectroscopy with the ability to set different measurement depths in the arable layer, the node to protect the measuring unit from breakage when hitting stones and other obstacles, ensuring tight contact of the optical reflection sensor with the soil . The disadvantage of the system is the lack of sensors for measuring the agrophysical characteristics of the soil, which does not allow assessing the general condition of the soil and determining the interdependence of the physical and chemical characteristics of soils, which is necessary for the implementation of many precision farming technologies and solving research problems. The feasibility of measuring the physical characteristics of soils (electrical conductivity, permittivity, temperature) is noted in the application for invention US 2009/0112475, however, technical solutions that implement such measurements are not described in the application.

Common signs of the claimed device with the prototype are: a supporting frame connected to a means of moving around the field; supporting element mounted on the frame and determining its position above the soil; a slit-knife placed on the frame, creating a longitudinal slotted channel in the soil during movement; a measuring unit with measuring sensors, made elongated along the direction of travel, of the same thickness with a slit-knife and mounted behind it in the direction of movement, a stepwise adjustment unit for measuring the depth of the position of the measuring unit in the longitudinal slot channel when moving along the field; the unit of protection of the measuring unit from damage when the knife-slitherese hitting obstacles; unit for measuring control, collection and conversion of measurement information, an on-board computer and a receiver of the geolocation system for recording measurement information and mapping.

The invention solves the problem of creating a mobile device for simultaneous intra-soil measurement in motion and mapping a complex of agrotechnological characteristics of the arable soil layer, including agrophysical and agrochemical characteristics, which will expand the range of information on the spatio-temporal heterogeneity of soil characteristics and increase the efficiency of managing precision farming technologies on its basis .

The essence of the claimed invention in all forms of its implementation is expressed in the following set of essential features.

A device for intra-soil measurement of the agrotechnological characteristics of the arable layer of soil in motion, containing a supporting frame connected to a means of transportation on the field, a support element mounted on the frame and determining its position above the soil, placed on the frame is a slit knife, which creates a longitudinal slotted channel in motion soil, a measuring unit with measuring sensors, made elongated along the direction of movement, of the same thickness with a slit knife and installed behind it in the direction of movement, unit step-by-step adjustment of the depth of the position of the measuring unit in the longitudinal slot channel when moving across the field, the node protecting the measuring unit from damage when the knife-cherez is hit by obstacles, the control unit for measuring, collecting and converting measurement information, the on-board computer and the receiver of the geolocation system for recording measurement information mapping, different from the prototype in that the housing of the measuring unit is made in the form of a monolithic metal plate with a pointed and beveled light xy down and back with the frontal leading edge and rigidly connected to the supporting frame by the front and rear racks, while the sensors are embedded in the measuring unit and placed on its side walls along a common straight line with the same depth of the sensing (sensing) elements of the sensors from the soil surface, supporting the element is made in the form of a support ski placed above the measuring unit, pivotally connected to a rack mounted on a carrier frame, and this rack is mounted on the carrier frame with the possibility of step change If the specified distance between the bottom of the support ski and a straight horizontal line with the same depth of the sensing elements of the sensors in the measuring unit is from the soil surface, the aforementioned slit knife installed on the frame in front of the measuring unit has an axial connection with the frame, providing the formation of a common vertical longitudinal plane of symmetry with a measuring unit, and made with the possibility of adjusting the angular position of the slit knife in this plane, the knife with a cutting edge and it has a length that provides the creation of a slotted channel in the soil with a depth sufficient to immerse the measuring unit until the support ski abuts against the soil surface at any given distance between the ski sole and the horizontal position line of the sensors and any given angle of installation of the glue knife, and the upper end part of the knife the slit, located on the other side of the axial connection, is fixed with a safety shear bolt in the node for stepwise fixing the angular position of the slit knife, which is available on the frame, this knot l is equipped with a stop for fixing the position of the blade of the glue-knife along the frontal edge of the measuring unit when hitting a stone and cutting off the safety locking bolt, in addition, to hold the measuring unit in the vertical plane of its symmetry, which coincides with the direction of movement of the device, the supporting frame is equipped with a rigid coupling for connections to the vehicle on the field.

In an important particular case of the general embodiment of the invention, the difference from the prototype consists in the fact that a tractor with a hydraulic system for increasing the grip weight is used as a means of transportation, which provides a constant preset force of pressing the supporting ski to the soil when measuring the agrotechnological characteristics of the arable soil layer in motion.

In another important particular case of the general embodiment of the invention, the difference from the prototype is that a tractor with a hydraulic system is used as a means of transportation, allowing the device to penetrate when it moves to the contact of the support ski with the soil and further floating mode of the hydraulic system without creating a deepening force on the device , while on the device’s frame is installed a burial load or box for its placement.

In the particular case of the general embodiment of the device, which makes it possible to control on the computer display the depth of the measuring unit in the soil until the support ski stops against the soil, the difference from the prototype is that the support ski stand is telescopic with a fixed part mounted on a supporting frame with the possibility of a step changes in the distance between the ski sole and the sensors, and the movable part, pivotally connected to the support ski, while the rack is equipped with a force transducer of pressing the support ski to the soil in the ale a critical signal consisting of a load Z-shaped beam and a strain gauge element, wherein the load Z-beam is connected to the movable and fixed parts of the telescopic stand by rods that stretch the beam under the force of pressing the support ski to the soil, and the input and output electrical circuits of the strain gauge connected to the unit for measuring control, collection and conversion of measurement information.

In an important particular case of the general embodiment of the device, when the device, like the prototype, contains an optical sensor for ground-based visible - near infrared reflection spectroscopy installed in the measuring unit, including a light source, an optical sapphire window for illuminating the soil and transmitting light reflected from it, fiber -optical cable for receiving light reflected from the soil and directing it to the spectrometer located on the device frame, the difference from the prototype is that the sensor is made in the form of logo of the photometric cylinder with a round inlet on the flat bottom of the cylinder, against which a circular optical sapphire window mounted on a ring holder is placed, flush with the holder into the measuring unit flush with its side wall, the cylinder is closed by a lid, on the inside of which there is a light source consisting of of miniature incandescent lamps uniformly distributed around the circumference, the lid has a central hole in which the input end of the fiber optic cable is fixed, a rim-screen enclosing the input end, preventing the direct passage of incandescent lamp radiation to the input of the fiber-optic cable, the axis of the optical sapphire window, the inlet opening on the flat bottom of the cylinder, the center hole of the lid, the screen rim and the center of the circle of incandescent lamps are placed on the axis of the photometric cylinder.

In the preferred particular case of the general embodiment of the device, the difference from the prototype is that in addition to the sensor for optical intrasoil visible - near infrared spectroscopy for reflection, at least one, or several, or all of the following sensors of the agrotechnological characteristics of the arable layer are placed in the measuring unit soil: capacitive or inductive sensor of the real and imaginary components of the complex dielectric constant, conductivity and moisture content of the soil, contact a soil temperature sensor, a horizontal soil penetration resistance sensor, or a horizontal soil penetration resistance sensor combined with a capacitive sensor for measuring the electrophysical characteristics of the soil sealed when moving by a horizontal penetration resistance sensor, while a horizontal soil penetration resistance sensor or a horizontal soil penetration resistance sensor combined with a capacitive sensor for measuring the electrophysical characteristics of soil compacted when moving for tchikom horizontal penetration resistance is located in the last row of sensors from the bow of the measuring unit.

In a particular embodiment of the device — when using the capacitive sensor of the real and imaginary components of the complex dielectric constant, electrical conductivity and moisture content of the soil in the measuring unit — the difference between the proposed device and the prototype is that this sensor is made in the form of two identical coaxially flush with the side walls of the measuring a block of round potential electrodes isolated by ring dielectric elements from a metal monolithic body and Tonnage block used as the body of the electrode, wherein the capacitive sensor is connected to the input of the bicomponent dielcometric transducer, outputs of which are connected to the measurement control unit, the collection and conversion of measuring data.

In one particular particular embodiment of the inventive device using a capacitive sensor in the measuring unit connected to the input of a two-component dielcometer converter, the difference between the device and the prototype is that the two-component dielcometer converter is made according to the amplitude-phase separation of the signals used to calculate the actual component integrated permittivity and electrical conductivity of the soil, and contains a sinusoidal voltage generator high frequency, to the output of which a capacitive divider is connected, consisting of a constant capacitor in the upper arm and a capacitive sensor in the lower arm, a voltage follower is connected to the midpoint of the divider, the output of which is connected to the signal inputs of two phase detectors controlled by the reference voltages from the outputs of the reference drivers voltages connected by the inputs to the output of the sinusoidal voltage generator, while the first reference voltage driver controlling the first phase detector has the reference voltage in-phase with the output voltage of the high-frequency generator, and the second voltage driver, which controls the second phase detector, has an output reference voltage quadrature to the output voltage of the high-frequency generator, as a result of which the constant voltage at the outputs of the detectors is proportional to in-phase and quadrature with sinusoidal generator voltage component of the voltage at the output of the divider.

In another particular particular embodiment of the inventive device that uses a capacitive sensor in the measuring unit connected to the input of a two-component dielcometric converter, the difference from the prototype is that the two-component dielcometric converter is made in the form of a self-generated two-component dielcometric converter with voltage-controlled amplification of the oscillation amplifier channel and stabilization of the amplitude of oscillations in a linear section of the amplitude character the source of the controlled amplifier, while a resistor divider is connected to the output of the controlled amplifier - a parallel oscillatory circuit with a capacitive sensor, the midpoint of the divider is connected to the input of the controlled amplifier with the formation of a positive voltage feedback circuit, the inertial stabilization channel of the oscillation amplitude contains an amplitude detector of the output voltage of the controlled amplifier , a reference voltage source, a circuit for comparing the output voltage of the detector with a reference voltage and a signal amplifier p matching, the output of which is connected to the control input of the controlled amplifier with the formation of a negative feedback loop along the envelope of the oscillation amplitudes, and the oscillator frequency and the gain modulus of the output divider or the oscillation frequency and gain control voltage of the controlled amplifier are two information output parameters of the oscillator.

In one particular embodiment of the device — when using the inductive sensor of the real and imaginary components of the complex dielectric constant, electrical conductivity and moisture content of the soil in the measuring unit, the difference from the prototype is that this inductive sensor is made in the form of two identical coaxially mounted in the round measuring windows a block of ring inductors isolated by dielectric elements from the metal housing of the measuring unit, while the inductive yes the sensor is connected to the input of a two-component dielcometer converter, the outputs of which are connected to the unit for measuring control, collection and conversion of measurement information.

In an important particular embodiment of the device — when a soil temperature sensor is used in the measuring unit, the difference between the proposed device and the prototype is that this sensor is made in the form of two identical round heat sinks installed coaxially flush with the side walls of the measuring unit, insulated from the measuring metal case unit, and thermo-sensitive measuring transducers connected to the unit of measurement control, collection and conversion of measurement information.

In a particular embodiment of the device — when a horizontal penetration resistance sensor is used in the measuring unit, the device differs from the prototype in that the horizontal penetration resistance sensor has a metal sensitive element with pressure receivers symmetrically protruding beyond the walls of the measuring unit, which is installed in the housing of the measuring unit with the possibility of longitudinal displacement under the influence of soil pressure on the pressure receivers when the device moves in the arable layer of soil, a force transducer into an electric signal, consisting of a load Z-shaped beam and a strain-sensing element, while the sensitive element of the penetration sensor is connected to the load Z-shaped beam by a rod, which provides tension of the beam under the action of soil pressure on pressure receivers, the gap of the sensitive element with the side walls of the measuring the unit is filled with an elastic sealant, and the input and output circuits of the strain-sensing element are connected to the unit for measuring control, collection and conversion of tion information.

In a particular preferred embodiment of the device with a horizontal penetration resistance sensor, the difference from the prototype is that the soil pressure receivers of the sensitive element of the horizontal penetration resistance sensor are made in the form of trihedral direct prisms with ribs transverse to the direction of movement and with edges perceiving the pressure of the soil located under blunt angle to the direction of movement of the device.

The development of a particular form of implementation of a device with a horizontal penetration resistance sensor is a device in which the horizontal penetration resistance sensor is combined with a sensor for measuring the electrophysical characteristics of soil compacted when moving with a horizontal penetration resistance sensor. This device differs from the prototype in that the horizontal penetration resistance sensor is combined with the soil electrophysical measurements sensor, compacted when moving with the horizontal penetration resistance sensor, and has pressure receivers of the sensitive element of the horizontal penetration resistance sensor made in the form of tetrahedral direct prisms transverse to the direction of movement ribs and with a trapezoidal cross section in the horizontal plane, while the faces of prisms, perceiving pressure Soils are located at an obtuse angle to the direction of movement of the device, and potential electrodes of the sensor for measuring the electrophysical characteristics of the soil, sealed when moving with a horizontal penetration resistance sensor, are flush through the insulators parallel to the side walls of the measuring unit, while the potential electrodes of this sensor and the housing the measuring unit is connected to a measuring transducer of the electrophysical characteristics of the soil, compacted when moving with a resistance sensor horizontal penetration, and the output of this converter is connected to the measurement control unit, the collection and conversion of measuring data.

The difference between the general form of implementation of the proposed device from the prototype also lies in the fact that it is equipped with a sensor for speed and distance traveled, in a particular case made in the form of a cylindrical measuring wheel mounted on a spring-loaded fork on the back of the support ski with contact with the soil surface behind wheel on a fork there is a knife-scraper for cleaning the wheel of sticking soil, a rod permanent magnet magnetized to the inside is inserted along the cylinder rim along the wheel rim s axis of the rod, and a field magnet mounted on the ski action reed switch connected to the measurement control unit, the collection and conversion of measuring data.

In an alternative form of implementation of the proposed device with a speed sensor and the distance traveled, the difference from the prototype is that it is equipped with a speed and distance sensor made in the form of a measuring wheel with a diameter of 40-70 cm mounted on a hinge fork in the rear of the carrier frame at least one permanent magnet is placed on the wheel between the axis and the rim in the longitudinal plane of the device, and a reed switch is mounted on the fork, which interacts with the magnet when the wheel rotates and is connected to the control unit measurement, collection and conversion of measurement information.

Another difference between the general form of the embodiment of the device and the prototype is that it is equipped with support racks connected to the supporting frame, arranged to install them in a vertical position when the device is disconnected from the vehicle and stored and having a length that ensures the vertical position of the device without touching the knife - through the slot and the measuring block of the supporting surface to protect them from breakdowns and to simplify the articulation of the device with the vehicle using a rigid coupling, while adapted to reinstall them and fixing in a horizontal position after the coupler unit with the vehicle for measurement in motion.

Achievable technical result consists, first of all, in expanding the arsenal of technical tools designed to measure the agrotechnological characteristics of the arable layer of soil in motion, which is necessary for managing precision farming technologies. The proposed device provides simultaneous measurement of a set of interrelated agrotechnological characteristics of the arable soil layer at stepwise set depths of 10 ... 35 cm at a speed of up to 5 km / h. Due to the integration of measurements, information on all measured agrotechnological characteristics of the arable soil layer is recorded and recorded simultaneously at the same point in the field, which allows it to be used to build models and study multi-parameter patterns in soil characteristics. Thanks to integration, it is possible to indirectly determine by model important agrotechnological characteristics that are not directly measured by sensors: the density of the dry soil, the conductivity of soil water, the ability to interpret the results of horizontal penetration resistance taking into account the moisture content of the soil, and the ability to correct the influence of the speed of the device on the temperature sensors and horizontal penetration resistance. The device provides the ability to electronically map fields using a complex of simultaneously measured and determined by models of agrophysical and agrophysical soil parameters, which expands the possibilities of studying spatio-temporal heterogeneity of fields and increases the efficiency of precision farming technology management. In addition, the accumulation of arrays of measurement information on a complex of simultaneously measured and determined parameters for different types of soils will become the basis for identifying new patterns and relationships of soil agrotechnological characteristics, which will serve as the basis for improving the management of technological processes of soil processing and growing crops. Combining measurements reduces the anthropogenic load on the soil during the measurements as compared with the situation when a group of separate unrelated measurements is carried out and increases productivity and reduces the cost of measuring individual agrotechnological characteristics.

The invention is illustrated by drawings, in which:

- figure 1 presents the appearance of the General form of implementation of the device connected to the vehicle on the field, in accordance with the claimed invention;

- figure 2 depicts an axonometric dimetric projection of the General form of implementation of the device;

- figure 3 reflects the design of the knife-slitherez, as well as the site of the installation of the cutting angle and the protection of the measuring unit when running over stones;

- figure 4 presents the design of the telescopic strut of the supporting ski, equipped with a strain gauge transducer of the pressing force of the supporting ski to the soil into an electrical signal in accordance with paragraph 4 of the claims;

- figure 5 is a sectional view of an optical sensor of the subsoil visible - near infrared reflection spectroscopy with an optical window located on the side wall of the measuring unit, in accordance with paragraph 5 of the claims;

- Fig.6 shows a measuring unit with a basic set of measuring sensors for a preferred embodiment of the inventive device;

- Fig.7 shows a structural embodiment of a capacitive sensor of the real and imaginary components of the complex dielectric constant, electrical conductivity and moisture content of the soil in accordance with paragraph 7 of the claims;

- on Fig presents a block diagram of a two-component dielcometric Converter with a capacitive sensor, made on the principle of amplitude-phase separation of the signals used to calculate the real component of the complex dielectric constant and electrical conductivity of the soil, in accordance with paragraph 8 of the claims;

- figure 9 shows an example of the construction of a two-component dielcometric converter with a capacitive sensor in the form of a self-generating two-component dielcometric converter with inertial stabilization of the amplitude of oscillations according to the RF patent No. 2361226, IPC G01R 27/26, G01N 27/02, priority date 28.09.2007, registered on 10.07. 2009, - in accordance with paragraph 9 of the claims;

- figure 10 gives the calibration characteristic of a self-generating two-component dielcometric transducer with a capacitive sensor as a meter of dielectric characteristics (real component ε 'of the DCC and conductivity σ) and volumetric moisture content θ of the soil in the coordinates of the output parameters of the self-generating DCF (self-oscillation frequency f _OSC and voltage control gain U U _UP controlled amplifier);

- 11 depicts a structural embodiment of an inductive sensor of the real and imaginary components of the complex dielectric constant, electrical conductivity and moisture content of the soil in accordance with paragraph 10 of the claims;

- Fig.12 shows a two-component dielcometric converter with an inductive sensor, made in the form of a self-oscillating converter with a voltage-controlled amplification of the oscillation amplifier and an inertial stabilization channel of the oscillation amplitude (constructed in accordance with RF patent No. 2361226);

- Fig. 13 shows the calculated calibration characteristics of a self-generating two-component dielcometric transducer with an inductive sensor, made according to the functional diagram of Fig. 12, as a meter of the actual component ε 'of the KDP and electrical conductivity σ of the test material, in the coordinates of the output parameters of the self-generating transducer: oscillation frequency f _OSC and transmission coefficient module k _{D of the} output divider;

- Fig.14 depicts a structural embodiment of the temperature sensor according to paragraph 11 of the claims;

- Fig. 15 shows the calibration characteristics of thermosensitive measuring transducers - silicon semiconductor temperature transducers with a positive temperature coefficient TD-5 of Honey-well company installed in the temperature sensor, in the form of the dependence of the temperature of the converter on their resistance for two transducers installed in the temperature sensor;

- Fig. 16 is a graph explaining a method for determining the dynamic error of temperature measurement caused by heating of the temperature sensor due to friction against the soil during movement, and a method for determining the inertia (time constant τ) of a temperature sensor in contact with the soil (a), and experimentally the obtained graphs of the exponential decrease in the temperature of the sensor when the mobile device stops after continuous movement at a constant speed (b);

- Fig. 17 depicts the construction of a horizontal penetration resistance sensor according to claim 12;

- Fig.18 shows the design of the sensor element of the horizontal penetration resistance sensor with soil pressure receivers made in the form of trihedral direct prisms with edges sensing soil pressure located at an obtuse angle to the direction of movement of the device, in accordance with paragraph 13 of the claims;

- Fig.19 shows the calibration characteristics of the resistance sensor horizontal penetration;

- Fig. 20 shows a schematic diagram of a horizontal penetration resistance sensor, which is combined with a sensor for measuring the electrophysical characteristics of the soil, compacted when moving with a horizontal penetration resistance sensor, and has pressure receivers of the sensitive element of the horizontal penetration resistance sensor made in the form of tetrahedral direct prisms, in accordance with claim 14 of the claims;

- Fig.21 reflects the design of the speed sensor and the distance traveled, mounted on a supporting ski, according to paragraph 15 of the claims;

- on Fig presents an alternative design of the speed sensor and the distance traveled in the form of a measuring wheel mounted on a hinge fork in the rear of the carrier frame of the device, according to paragraph 16 of the claims.

- Fig.23 represents the placement on the supporting frame of the support racks made with the possibility of their installation and fixing in a vertical position when placing the device on the storage site and in a horizontal position when using the measuring device, in accordance with paragraph 17 of the claims;

- Fig.24 shows a diagram of a microcontroller unit for measuring control, collection and registration of measurement information of the inventive mobile device, as well as the general structural diagram of the measurements of the agrotechnological characteristics of the arable soil layer in motion using the inventive device with reference to the calendar time and geographical coordinates of the place and output of measured data to the on-board computer.

A device for measuring the agrotechnological characteristics of the arable layer of soil in motion in all forms of its embodiment (Figs. 1, 2) contains a supporting frame 1 connected to a vehicle on field 2, a supporting element 3 mounted on frame 1 and determining its position above the soil ( soil level L1 in figure 1). On the frame 1 there is a slit-knife 4, which creates a longitudinal slotted channel in the soil during movement, and a measuring unit 5 with measuring sensors 6-1, 6-2, 6-3, 6-4, made elongated along the direction of movement. The measuring unit 5 has a thickness equal to the thickness of the slit knife 4, and is installed behind it in the direction of movement. The device is equipped with a node 7 for stepwise adjustment of the depth of the position of the measuring unit in the longitudinal slot channel when moving across the field, as well as a protection unit (8 in FIGS. 1 and 3) of the measuring unit 5 from damage when the slit knife 4 collides with obstacles. In addition, the device is equipped with a unit 9 for measuring control, collection and conversion of measurement information, an on-board computer 10 and a receiver with an antenna 11 for the location system for recording measurement information and mapping. Unlike the prototype, the housing of the measuring unit 5 is made in the form of a monolithic metal plate made of stainless steel with a pointed frontal front edge slanted and beveled from top to bottom and rigidly connected to the supporting frame 1 by the front 12 and rear 13 racks. Sensors 6-1, 6-2, 6-3, 6-4 are embedded in the measuring unit 5 and placed on its side walls along a common straight line (L2 in FIG. 1) with the same depth D2 of the arrangement of sensitive (sensing) sensor elements from soil surface (L1 in figure 1). The support element 3 is made in the form of a support ski placed above the measuring unit 5, pivotally connected to a rack 14 mounted on the carrier frame 1, and this rack is mounted on the carrier frame with the possibility of stepwise changing the set distance D2 between the base of the support ski and the straight horizontal line L2 with the same the depth of the arrangement of the sensitive elements of the sensors 6-1, 6-2, 6-3, 6-4 in the measuring unit 5 from the soil surface L1. A stepwise change in the distance D2 is achieved by performing a stepwise adjustment unit 7 in the form of a rack 14 with holes 15 (FIG. 2) and a fixing bolt (transverse lock) 16, while the rack 14 is mounted on the frame 1 with the possibility of vertical movement between the rails 17-1, 17 -2, 17-3, 17-4 (figure 2). The preferred distance between the holes is 5 cm, which allows you to change the distance of the sensors from the soil surface (distance D2 in FIG. 1) through 5 cm and set D2 to predominantly equal to 15, 20, 25, 30, 35 cm, i.e. within the arable layer of the soil. The slit knife 4 mounted on the frame 1 in front of the measuring unit 5 has an axial connection 18 with the frame 1, which provides the formation of a common vertical longitudinal plane of symmetry with the measuring unit 5 and is configured to adjust the angular position of the slit knife in this plane (Fig. 1 , 3). The slit knife 4 with a cutting edge 19 has a length that provides the creation of a slotted channel in the soil with a depth sufficient to immerse the measuring unit 5 until the support ski 3 abuts against the soil surface L1 at any given distance D2 between the ski sole and the horizontal position line L2 of the sensors (Fig. .one). To adjust the angular position of the slit-cutting knife 4, its upper end part, located on the other side of the axial joint 18, is placed between two longitudinal plates 20 rigidly mounted on the supporting frame 1, in which holes 21 are made (Fig. 1, Fig. 3), matching with a transverse hole in the end of the slit knife 4 when changing the angular position of the slit knife for every 10 degrees in the range from +30 to -30 degrees (positive angles correspond to the displacement of the lower end of the slit knife in the direction of movement). The choice of the angular position of the slit knife is ensured by fixing with a bolt passing through the holes 21 in the plates 20 corresponding to the selected angular position and the hole in the upper end part of the slit-knife 4 (the bolt is shown in FIG. 3). This bolt is made of safety shear. Cutting the bolt occurs when the device hits an obstacle. In this case, the upper end part of the slit knife 4 rests on the stop 22 (Fig. 3) and the blade of the knife 19 occupies a position parallel to the frontal edge of the measuring unit 5. In this position, the vehicle 2 drags the device through the obstacle, after which a new shear is needed bolts for installing the slit-cutting knife 4 in the desired angular position to continue field measurements in motion. Solid shear bolts or hollow steel bolts can be used as shear bolts. To hold the measuring unit 5 in the vertical plane of its symmetry, coinciding with the direction of movement of the device, the carrier frame 1 is equipped with a rigid coupling 23 for connecting the device with the vehicle 2 in the field.

The device operates as follows. Using the hitch 23 (figures 1, 2, 3), the device is rigidly hung on the vehicle 2, mainly on a tractor equipped with a standard hitch assembly. Using the hydraulic control system of trailed implements (levers 24 in Fig. 1), the device is hung above the ground, a lever 14 with holes 15 (Fig. 2) and a transverse lock 16 define one of the stepwise variable values of the distance D2 between the bottom of the support ski 3 and the horizontal line L2, the location of the sensors in the measuring unit, and also install the slit-knife 4 in one of the fixed positions by passing the shear bolt through the corresponding holes 21 in the fixing plates 20 and the hole in the end part of the slit-knife. The electric power supply of the sensors, the measurement control unit 9, the collection and conversion of measurement information, the on-board computer and the on-board computer 10 and the location system receiver 11 (block 164 in Fig. 24) is turned on and begin to move around the field, using the hydraulic system, to deepen the measuring unit 5 until the abutment ski 3 stops on the surface of the soil. In this case, the measurement control unit 9 periodically polls the sensors of the measuring unit 5 and records the measurement information in the computer 10, which also receives the data of the receiver of the geographic system with antenna 11 on the values of geographical coordinates and speed. The predominant frequency of the survey is 0.5-2 s, the speed of movement in the field is 0.5-3 m / s. To build maps of the measured parameters, it is necessary to move along the field in parallel passes with a given fixed distance between the passes. For this purpose, geolocation receivers specially designed for mapping and parallel driving are used, for example, the CFX-750 TRIMBLE GPS receiver kit with appropriate software and a display on which the transverse to the direction of movement arrows indicate which direction the tractor’s steering wheel should be turned so as not to deviate from given parallel passage. To improve the accuracy of determining coordinates to units of centimeters, differential corrections to the receiver readings are used with the help of signals transmitted by reference correction stations. In the simplest cases, mapping can be done without using a geolocation receiver by marking the field with landmarks and / or controlling the direction of movement with a compass or gyroscope. In these cases, to measure the speed of movement using a speed sensor and the distance traveled installed directly on the device (see paragraph 15, 16 of the claims and the corresponding section of the description). In the case of a collision of the device with obstacles (large stones), the hit of the glue-knife causes the safety bolt to be cut off, with the help of which the set angle of the glue-knife is set by inserting the fixing plates 20 into one of the pairs of holes 21 and into the hole in the upper part of the glue-knife. In this case, the upper part of the slit-cutting knife rests on the stop 22 on the frame 1 (Fig. 3), and the knife 4 occupies a position along the inclined rack 12 and the beveled front rack of the measuring unit 5. In this position, the tractor drags the device through an obstacle, after which a stop is necessary tractor, lifting the device above the soil with the tractor’s hydraulic system, returning the shearer knife to its previous angular position and installing a new shear locking bolt.

In an important particular case of the general embodiment of the invention, the difference from the prototype is that, as a means of transportation 2, a tractor with a hydraulic system for increasing the grip weight is used, which provides a constant preset force of pressing the supporting ski to the soil when measuring the agrotechnological characteristics of the arable soil layer in motion . In the controls of the hydraulic system 24 of such a tractor there is a lever that includes a mode of increasing the grip weight with a constant force of pressing the load to the soil set by the handwheel located in the tractor cabin [Tractor Workshop. Edited by A.I. Kaloshina. M .: Education, 1972, p. 153-154]. An example of such a tractor is Belarus MTZ-82 in a modification with a hydraulic grip.

In another important particular case of the general embodiment of the invention, the difference from the prototype is that a tractor with a hydraulic system is used as a means of transportation 2, which allows the device to be deepened when moving to the contact of the supporting ski with the soil and the further floating mode of the hydraulic system without creating a deepening force the device, while on the frame of the device is installed a burial load or box 25 for its placement (Fig.1, 2).

In the particular case of a general embodiment of the device, which makes it possible to control on the computer display the depth of the measuring unit in the soil until the support ski stops against the soil, the difference from the prototype is that the support ski support 14 (Figs. 2, 3) is made telescopic with a fixed part 25 (FIG. 4) mounted on a supporting frame 1 (FIGS. 2, 3) with the possibility of stepwise changing the distance between the ski sole and sensors using the holes 15 and the transverse retainer 16 (FIG. 2), and the movable part 26 (FIG. 4) pivotally connected to op 3 molecular ski (1, 2, 3). In this case, the rack is equipped with a strain gauge transducer of pressing the supporting ski against the soil into an electrical signal, consisting of a load Z-shaped beam 27 made of steel-nickel alloy, and a bridge strain-sensitive element 28, and the load Z-shaped beam connected to the movable 26 and stationary 25 parts of the telescopic rack rods 29-1, 29-2, providing its extension under the action of the force of pressing the supporting ski 3 to the soil. Rods 29-1, 29-2 are screws with a threaded connection with the upper 30 and lower 31 bending under load elements of the Z-shaped beam 27. Fixed 25 and movable 26 parts of the telescopic rack are made of steel pipes of rectangular cross section and are mounted coaxially in the front plane of symmetry coinciding with the direction of movement of the device. The lower link-screw 29-2 is passed from below through the axial hole 32 in a rectangular frame 33, inside which a strain gauge force transducer is placed, and is supported by the screw head from the outside on this frame. The frame 33 is installed in the plane of symmetry of the stationary part 25 of the rack and is rigidly screwed to it by screws 34, 35. The upper link-screw 29-1 is passed through the hole 36 in the rectangular fastener 37 and rests on it with the head from the outside. The fastening element 37 is installed in the plane of symmetry of the telescopic tubes and is rigidly connected by screws 38 to the outer movable part 26 of the rack 14. The possibility of mutual longitudinal movement of the movable 26 and stationary 25 telescopic parts of the rack 14 under the action of vertical loads on the ski 3, leading to vertical deformation of the load beam 27 not exceeding 1-1.5 mm is provided by the design of the screws 34, 35, 38 and the shape of the holes for the screws 35 in the movable part 26 of the rack, as well as the shape of the holes for the screws 38 in the fixed part of the racks and 25. The screws 34 securing the frame 33 to the inner surface of the rectangular pipe - the fixed part 25 of the rack 14, are made of brass, have a flat surface and a predetermined height of the heads to provide a fixed minimum clearance between the telescopic parts of the rack and low friction of the screws on the inner surface of the rectangular steel pipe - the movable part of the rack 26 with the mutual longitudinal movement of the movable 26 and the stationary 25 parts of the rack 14. The screws 35 have a threaded part for screwing into the stationary part 25 of the rack and a bolt The larger diameter of the specified height between the threaded part and the head with a flat bottom surface. In this case, the screws 35 are screwed through the holes 39 in the movable part 26 of the rack into the stationary part 25 of the rack until they stop against the columns, so that the lower surface of the head of these screws fixes the maximum distance between the walls of the movable and stationary parts of the rack 14. To enable mutual longitudinal movement of the parts of the rack the holes 39 under the screws 35 in the movable part 26 of the rack are elongated in the longitudinal (vertical) direction, without touching the side surface of the columns, and the screws 35 are made of brass to reduce the friction of the outer steel surfaces of the movable part 26 of the rack on the lower surface of the heads of the screws 35. The screws 38, used for rigid connection of the fastening element 37 with the outer movable part 26 of the telescopic rack, have a threaded part for screwing into the fastening element 37 and a larger diameter column of a predetermined height between threaded part and head with a flat bottom surface. In this case, the screws 38 are screwed through the holes in the movable 26 and stationary 25 parts of the telescopic stand into the fastener 37 until they stop against the posts, so that the lower surfaces of the heads of these screws fix the rigid installation of the fastener 37 along the longitudinal axis of the telescopic stand. To enable mutual longitudinal movement of the parts of the telescopic rack, the holes for the screws 38 in the movable part 26 of the rack are made equal in diameter to the columns on the screws 38, and the holes 40 for the screws 38 in the fixed part 25 of the rack are made elongated in the longitudinal direction without touching the side surface of the columns. To fix the distance between the front and rear walls of the movable 26 and the fixed 25 parts of the telescopic stand, brass screws with columns and flat heads are screwed into the frame 33 from the front and rear sides through the holes in the fixed part 25 of the rack, the surface of which forms a small gap with the inner surface of the front and the rear walls of the movable part 26 of the telescopic rack (these screws are not shown in the drawings). The places of movable contact of the movable part 26 of the rack with the screws 34, 35 guiding its movement are lubricated with grease to reduce friction. An alternative to fixing the distance between the walls of the movable and fixed parts of the telescopic rack during axial relative movement can be rollers installed between the walls of the parts of the racks. The thrust screws 29-1, 29-2 have heads with a spherical surface on the side of the rod, and the holes 32 in the frame 33 and 36 in the support element 37 have a diameter exceeding the diameter of the rod of the thrust screws. In addition, the socket for the spherical heads of the tie rods in the frame 33 and the supporting element 37 are also made spherical. When vertical loads are applied to the telescopic stand, pressing the supporting ski to the soil, the outer movable part 26 of the telescopic stand is shifted upward relative to the fixed part 25 and, through the supporting element 37, stretches the load Z-shaped beam 27, unbending its upper 30 and lower 31 elements. The extension of these elements leads to the formation of a small angle between the axes of the tie rods and the longitudinal axis of the telescopic rack, as a result of which the spherical heads of the tie rods rotate a small angle in the spherical nests for these heads in the frame 33 and the support element 37. Thanks to the spherical surfaces of the screw heads, rods and sockets for them, as well as the diameter of the holes 32, 36 for the screw rods in the frame 33 and the supporting element 37 eliminates jamming of the load Z-shaped beam 27 when tensile and provides a linear mode of its deformation . Deformation of the load beam 27 creates a voltage at the output of the bridge strain gauge transducer 28, which is supplied with direct or alternating electric current, which is proportional to the applied tensile force between the tie rods 29-1, 29-2. The input and output electrical circuits of the strain-sensing element 28 through the hole 41 in the load beam 27 and the hole in the fixed part 25 of the telescopic rack are connected to the control unit for measuring, collecting and converting measurement information 9, located on the carrier frame 1 of the device (1, 2). A strain gauge model YZ101B of Taiwanese company YOUNGZON TRANSDUCER CO. Can be used as a strain gauge converter. LTD, which has a linear range of load measurements of 50 kg - 200 kg with a load beam length of 76.2 mm, a width of 50.8 mm, a thickness of 19 mm, a supply voltage of 5-12 V DC or AC, an input resistance of 400 Ohms, an output resistance of 350 Ohm, sensitivity 2 mV / V, safe overload 150%, beam material - steel-nickel alloy.

In an important particular case of a general embodiment, the device, as well as the prototype, contains an optical sensor 6-3 installed in the measuring unit 5 of the subsoil visible - near infrared reflection spectroscopy (Figs. 1, 2). This sensor (Fig. 5) has a light source 42, a sapphire window 43 for illuminating the soil and transmitting the light reflected from it, fiber optic cable 44 for receiving light reflected from the soil and directing it to a spectrophotometer located on the device’s frame (see 157 in Fig.24). The difference from the prototype is that the sensor is made in the form of a hollow photometric cylinder 45 with a round inlet 46 at the bottom of the cylinder, against which is placed a round sapphire window 43 mounted on the ring holder 47, embedded with the holder 47 into the measuring unit 5 flush with its side a wall, the cylinder 45 is provided with a cover 48, on the inside of which the said light source 42 is located, consisting of miniature incandescent lamps evenly distributed around the circumference, the inlet 46 of the photometric cylinder ndra 45 formed in the center of the lid 48 and secured therein input end 49 of fiber optic cable 44. The other end of the fiber optic cable is flattened and placed in front of the entrance slit of the spectrophotometer. On the cover 48, a rim-screen 50 covering the inlet end 49 of the cable 44 is installed, which prevents the direct passage of the light of incandescent lamps 42 to the inlet end 49 of the fiber-optic cable 44. The axis of the optical window 43, the inlet 46 on the flat bottom of the cylinder, i.e. the Central hole of the cover 48, the rim of the screen 50 and the center of the circumference of the location of the incandescent lamps 42 are placed on the axis of the photometric cylinder 45. The inner surface of the camera of the photometric cylinder (ie, the cylinder 45, the cover 48, the holder 47 and the rim of the screen 50) is made high reflectivity, for which aluminum can be used, having a reflectivity of about 0.9. The number of miniature incandescent lamps in the light source 42 is 4-6. The optical sensor 6-3 operates as follows. When you turn on the light source 42, consisting of miniature incandescent lamps evenly spaced around the circumference of the photometric cylinder 45, a fairly uniform illumination of the measurement object is created - the soil adjacent to the outside of the sapphire window 43. Incandescent lamps 42 and sapphire window 43 allow you to irradiate the soil and get photometric cylinder 45 reflected light from it in the visible and near infrared regions of the optical spectrum. In addition, the sapphire window is highly resistant to the grinding effect of the soil during movement, which ensures practical constancy of the transmittance of light during operation of the device. The measurement object - the soil is illuminated by both all lamps and diffusely scattered light from a photometric cylinder. Since the sensor adopted the measurement geometry D / 0 (diffusely scattered lighting / measurement of light reflected at right angles from the soil), the mirror component of the mixed reflection coefficient will partially pass through the fiber optic cable 44 into the monochromator and summed with the main signal. The radiation flux entering the monochromator from the soil is determined by the relative aperture of the monochromator and the area of the hole under the measured object (sapphire window 43). The output of the spectrophotometer 157 is connected to the unit for measuring control, collecting and converting measurement information or directly to the on-board computer (Fig. 24).

The implementation of the light source in the form of a group of miniature incandescent lamps evenly distributed around the circumference 42, mounted inside a photometric hollow cylinder 45 with an input end hole 46, against which there is a sapphire window 43 located on the side wall of the measuring unit 5, and fastening the input end 49 of the fiber optic cable 44, receiving radiation reflected from the soil, in the input end hole 46 on the axis of the cylinder, makes it possible to place the sensor in a monolithic housing of the measuring unit 5 Thickness 25-35 mm with the location of the optical window on the side wall of the measuring unit. The technical result achieved due to this construction is that, in contrast to the prototype, the error is excluded from the occurrence of a gap between the optical window and the soil surface during possible vertical vibrations of the measuring unit in the gap created by the slit knife during movement and when the soil is shed from the side walls of the gap to its bottom. The sensor 6-3 of the subsoil visible - near infrared reflection spectroscopy allows, like the sensor in the prototype, to determine the soil content of compounds including functional groups C-H, N-H and O-H by the spectral characteristics of reflection and quantify the forms of carbon, nitrogen and water. In addition, the reflected light spectra in the near infrared are correlated with soil properties such as acidity (pH), calcium and magnesium.

In a general preferred form of embodiment of the device claimed as an invention, the difference from the prototype is that, in addition to the sensor of the optical subsurface visible - near infrared reflection spectroscopy (as in the prototype), at least one, or several, or all of them are placed in the measuring unit of the following sensors agrotechnological characteristics of the arable soil layer: capacitive or inductive sensor of the real and imaginary components of the complex dielectric constant, electrical wire soil moisture and moisture content, a soil temperature contact sensor, a horizontal soil penetration resistance sensor or a horizontal soil penetration resistance sensor combined with a capacitive sensor for measuring the electrophysical characteristics of the soil sealed when moving by a horizontal penetration resistance sensor, while a horizontal soil penetration resistance sensor or a horizontal resistance sensor penetration of the soil, combined with a capacitive sensor for measuring electrophysical characteristics IR soil compacted with the motion sensor horizontal penetration resistance is the last in the series of sensors from the bow of the measuring unit.

In the basic configuration of this preferred embodiment of the inventive device (Fig.6) in the measuring unit 5 are placed: a capacitive sensor 6-1 of the real and imaginary components of the complex dielectric constant, electrical conductivity and moisture content of the soil, a contact sensor 6-2 of the soil temperature, sensor 6-3 optical subsoil visible - near infrared reflection spectroscopy and sensor 6-4 horizontal penetration resistance. All sensors are installed in the measuring unit 5 along a common horizontal line AA (Fig.6), while the sensors 6-1, 6-2, 6-3 are mounted in the unit 5 flush with its side surfaces, the sensors 6-1, 6-2 have sensitive (sensing) elements mounted symmetrically from the two sides of the block 5, the sensor 6-3 has a measuring sapphire window 43 located on one side wall of the block 5, and the sensor 6-4 has sensing elements 51 protruding beyond the side walls, receiving horizontal soil pressure during movement. The measuring unit 5 and the front strut 12 have grooves 52 for holding the connecting cables, which are covered by covers 53. In addition, in the groove 52 of the measuring unit 5 above the capacitive sensor 6-1 there is a printed circuit board 54 of the measuring transducer of the real and imaginary components of complex dielectric constant , electrical conductivity and moisture content of the soil. In the measuring unit 5, instead of the sensor 6-4, a horizontal soil penetration resistance sensor can be installed, combined with a capacitive sensor for measuring the electrophysical characteristics of the soil, compacted when moving with a horizontal penetration resistance sensor (Fig. 20). In this case, the resistance sensor of horizontal soil penetration 6-4 or the resistance sensor of horizontal soil penetration, combined with a capacitive sensor for measuring the electrical characteristics of the soil, compacted when moving with the resistance sensor of horizontal penetration (Fig. 20), is the last in the row of sensors from the nose of the measuring unit 5 .

The sensors indicated in the description and claims do not exclude the possibility of installing other sensors in the measuring unit 5 of the agrotechnological characteristics of the arable soil layer for measuring them in motion.

The capacitive sensor 6-1 of the real and imaginary components of the complex dielectric constant, electrical conductivity and moisture content of the soil (Fig. 7) is made in the form of two identical round potential electrodes 55 coaxially flush with the side walls of the measuring unit 5, insulated by ring dielectric elements 56 from a metal monolithic casing a measuring unit 5 used as a housing electrode, while the capacitive sensor is connected to the input of a two-component dielectric meter one transducer mounted on the printed circuit board 54, the outputs of which are connected to the measurement control unit, the collection and conversion of measuring data (155 in Figure 25). Potential electrodes 55 are attached internally to insulating ring dielectric elements 56 by screws 57, two of which are equipped with contact tabs 58. These tabs are used to connect potential electrodes to the input of the converter on the printed circuit board 54 using cables passing through channel 59. To assemble the sensor and fixing it in the body of the measuring unit 5 used the assembly ring 60 and the tightening screws 61, evenly spaced around the circumference of the ring 60. Potential electrodes 55 and the assembly ring 60, as well as itelny unit 5, made of stainless steel. In the trough 52 of the measuring unit 5, cables 62 pass through, connecting the measuring sensors of the unit 5 with the unit for measuring control, collection and conversion of measuring information (155 in FIG. 25).

To measure the real and imaginary components of the complex dielectric constant, electrical conductivity and moisture content of the soil, the capacitive sensor 6-1 (Fig.7) should be included in the circuit of a two-component dielcometric Converter. As such schemes can be used: AC bridges; automatically balanced bridges; circuits based on measuring the resonant frequency and quality factor of the oscillatory circuit, in which the capacitive sensor is included; circuits based on measuring current and voltage in a circuit containing a sinusoidal voltage generator and a capacitive sensor, and other known impedance measurement circuits [Agilent Impedance Measurement Handbook. A guid to measurement technology and techniques. 4 ^th Edition. http://cp.literature.agilent.com/litweb/pdf/5950-3000.pdf].

, подключен повторитель напряжения 66 с высоким входным сопротивлением, исключающим шунтирование делителя 64. Выход повторителя напряжения 66 связан с сигнальными входами фазовых детекторов 67 (фазовый детектор 1) и 68 (фазовый детектор 2). Входы опорного напряжения фазовых детекторов подключены к выходам формирователей опорного напряжения 69 и 70, соединенных входами с выходом генератора синусоидального напряжения 63. Формирователь опорного напряжения 69 создает опорное напряжение с фазой 0° по отношению к выходному напряжению генератора 63 (синфазное опорное напряжение). Формирователь опорного напряжения 70 создает опорное напряжение, сдвинутое на 90° по отношению к выходному напряжению генератора 63 (квадратурное опорное напряжение). Вследствие подключения фазовых детекторов к формирователям опорного напряжения 69, 70 с фазами 0° и 90° на выходе детектора 67 образуется постоянное напряжение U_ВЫХ.СФ, пропорциональное синфазной с синусоидальным напряжением $${\dot{U}}_{Г}$$

генератора 63 составляющей напряжения на выходе делителя 64. Соответственно, на выходе детектора 68 образуется постоянное напряжение U_ВЫХ.КВ, пропорциональное квадратурной с синусоидальным напряжением генератора 63 составляющей напряжения на выходе делителя 64.An example of the implementation of such a two-component dielcometric converter is a converter made according to the amplitude-phase separation scheme of the signals used to calculate the real component of the complex permittivity and conductivity of the soil in accordance with paragraph 8 of the claims. The converter (Fig. 8) contains a high frequency sinusoidal voltage generator 63, to the output of which a reactive divider 64 is connected, consisting of a constant capacitor C _D in the upper arm and a capacitive sensor 65 in the lower arm. Capacitive sensor 65 is two parallel-connected primary measuring transducers (PIPs) formed by potential electrodes 55 of capacitive sensor 6-1 and the housing of measuring unit 5 (Fig. 7), which are connected through the short length of the coaxial cable to the lower arm of the jet divider 64. Equivalent the electrical circuit of this capacitive sensor 65, in the electric field of the primary measuring transducers of which the soil is located, is a parallel connection of a capacitor with a capacitance C _X and conductivity G _PIP . In this case, the capacitance C _X is equal to C _X = C _PIP + C _P , where C _PIP is the informative capacity of the PIP determined by the actual component ε 'of the CDP of the material in the measuring volume of the PIP (see formulas (1) - (3) above), C _P - the parasitic capacitance of the sensor 65 determined during calibration, taking into account the capacitance of the installation, connecting cables, and unused areas of the electromagnetic field of the PIP. The loss conductivity of the capacitive sensor 65 G _X (G _X = 1 / R _X , where R _X is the resistance of the sensor losses) is determined by the electrical conductivity σ of the material located in the electromagnetic field of the PIP (formula (3) above). To the midpoint of the voltage divider 64 $${\dot{U}}_D$$

connected voltage follower 66 with a high input resistance, eliminating the shunt of divider 64. The output of the follower voltage 66 is connected to the signal inputs of phase detectors 67 (phase detector 1) and 68 (phase detector 2). The inputs of the reference voltage of the phase detectors are connected to the outputs of the drivers of the reference voltage 69 and 70, connected by the inputs to the output of the sinusoidal voltage generator 63. The driver of the reference voltage 69 creates a reference voltage with a phase of 0 ° with respect to the output voltage of the generator 63 (in-phase reference voltage). The voltage reference driver 70 produces a reference voltage shifted 90 ° with respect to the output voltage of the generator 63 (quadrature reference voltage). Due to the connection of phase detectors to the reference voltage conditioners 69, 70 with phases 0 ° and 90 °, a constant voltage U _OUT.F is proportional to the in-phase with sinusoidal voltage at the output of detector 67 $${\dot{U}}_G$$

the generator 63 of the voltage component at the output of the divider 64. Accordingly, at the output of the detector 68, a constant voltage U _{OUT.KV is generated} proportional to the quadrature voltage component of the output of the divider 64 with the sinusoidal voltage of the generator 63.

определяется формулой:Analysis of the reactive divider 64 by the method of complex amplitudes shows that the voltage modulus of the in-phase component U of the _{DSF of the} complex output voltage of the divider $${\dot{U}}_D$$

defined by the formula:

$$U_{D\mathrm{FROM}F}=\frac{{\omega }^2{\mathrm{FROM}}_D\left({\mathrm{FROM}}_{P\mathrm{AND}P}+{\mathrm{FROM}}_P+{\mathrm{FROM}}_D\right)}{G_{P\mathrm{AND}P}^2+{\omega }^2{\left({\mathrm{FROM}}_{P\mathrm{AND}P}+{\mathrm{FROM}}_P+{\mathrm{FROM}}_D\right)}^2}{U}_G,\left(\mathrm{four}\right)$$

- формулой:and the voltage module of the quadrature component of the _DKV complex output voltage of the divider $${\dot{U}}_D$$

- by the formula:

$$U_{D\mathrm{TO}\mathrm{AT}}=\frac{{\omega }^2{\mathrm{FROM}}_D{G}_{P\mathrm{AND}P}}{G_{P\mathrm{AND}P}^2+{\omega }^2{\left({\mathrm{FROM}}_{P\mathrm{AND}P}+{\mathrm{FROM}}_P+{\mathrm{FROM}}_D\right)}^2}{U}_G,\left(5\right)$$

на выходе генератора 63. Из формул (4) и (5) видно, что обе составляющие выходного напряжения реактивного делителя 64 - синфазная U_ДСФ и квадратурная U_ДКВ - зависят как от емкости C_ПИП, так и от проводимости G_ПИП, т.е. полного разделения каналов измерения действительного ε' и мнимого ε'' компонентов комплексной диэлектрической проницаемости измеряемой среды, определяемых по емкости C_ПИП и проводимости G_ПИП по формулам (3), не происходит. Однако значения емкости C_ПИП и проводимости G_ПИП могут быть найдены из формул (4) и (5) с использованием следующих выражений:where w - circular frequency, a U _G - sinusoidal voltage module $${\dot{U}}_G$$

at the output of the generator 63. It can be seen from formulas (4) and (5) that both components of the output voltage of the reactive divider 64 — in-phase U _DSP and quadrature U _DKV — depend both on the capacitance C _PIP and on the conductivity G _PIP , i.e. . a complete separation of the measurement channels of the real ε 'and imaginary ε''components of the complex dielectric constant of the measured medium, determined by the capacitance C _PIP and the conductivity G _PIP according to formulas (3), does not occur. However, the values of the capacitance C _PIP and the conductivity G _PIP can be found from formulas (4) and (5) using the following expressions:

$$C_{P\mathrm{AND}P}=\frac{{\mathrm{FROM}}_D}{\frac{U_{D\mathrm{FROM}F}}{U_G}\left[{\left(\frac{U_{D\mathrm{TO}\mathrm{AT}}}{U_{D\mathrm{FROM}F}}\right)}^2+\mathrm{one}\right]}-{\mathrm{FROM}}_P-{\mathrm{FROM}}_D,\left(6\right)$$

$$C_{P\mathrm{AND}P}=\omega {\mathrm{FROM}}_D\left(\frac{U_{D\mathrm{TO}\mathrm{AT}}}{U_{D\mathrm{FROM}F}}\right)\cdot \frac{\mathrm{one}}{\frac{U_{D\mathrm{FROM}F}}{U_G}\left[{\left(\frac{U_{D\mathrm{TO}\mathrm{AT}}}{U_{D\mathrm{FROM}F}}\right)}^2+\mathrm{one}\right]}.\left(7\right)$$

делителя 64 определяют с учетом коэффициентов передачи повторителя 66 и фазовых детекторов 67, 68 по постоянным выходным напряжениям фазовых детекторов U_ВЫХ.СФ, U_ВЫХ.КВ. Преобразования по выражениям (6), (7) могут быть выполнены в блоке управления измерениями, сбора и преобразования измерительной информации 155 либо в бортовом компьютере 10 (фиг.24).In expressions (6), (7), the capacitance of the upper arm of the divider C _D , the parasitic capacitance C _P , the circular oscillation frequency ω, and the output voltage module U _{Г of the} generator 63 are constant known quantities, and the common-mode U _DCF and quadrature U _DCV components of the output voltage $${\dot{U}}_D$$

the divider 64 is determined taking into account the transfer coefficients of the repeater 66 and the phase detectors 67, 68 by the constant output voltages of the phase detectors U _OUT.SF , U _OUT.KV. Transformations according to expressions (6), (7) can be performed in the unit for measuring control, collection and conversion of measuring information 155, or in the on-board computer 10 (Fig.24).

Another example of the implementation of a two-component dielcometer converter is a converter made in the form of a self-generated two-component dielcometer converter with a voltage-controlled amplification of the oscillation amplifier and a channel of inertial stabilization of the amplitude of the oscillations in the linear section of the amplitude characteristic of the controlled amplifier [I. Ananiev RF patent for the invention No. 2361226, IPC8 G01R 27/26, G01N 27/02, pending September 28, 2007, registered July 10, 2009]. In this self-oscillating converter (Fig. 9), a divider is connected to the output 72 of the controlled amplifier 73 in the high-frequency path 71: the resistor R _S 74 is a parallel oscillatory circuit 75 with a capacitive sensor 76. The midpoint of the divider 77 is connected to the input 78 of the controlled amplifier 73 with the formation positive voltage feedback circuits. Channel inertial stabilization oscillation amplitude 79 comprises an amplitude detector 80 the output voltage u _UHF managed amplifier 73, reference voltage source 81, the output voltage of comparison circuit 82 U _BP detector 80 with a reference voltage U _OD and error amplifier 83 signal, the output of which 84 is connected to a control input 85 controlled amplifier 73 with the formation of a loop of negative feedback on the envelope of the amplitudes of the oscillations. Filter 86 determines the time constant of the inertial determination of the amplitude of the oscillations in the linear portion of the amplitude characteristic of the controlled amplifier 73. This amplitude is set by the value of the reference voltage U _{OP of the} reference voltage source 81. The oscillator frequency f _OSC (Output 1) and the transmission coefficient module are two informative output parameters of the oscillator. output divider 74-75: k = u _K / u _UHF (Out.2, Out.1) or self-oscillation frequency f _OSC (Out.1) and gain control voltage U _{UP of} controlled amplifier 73 (Out.2 ').

Auto-generating two-component dielcometric Converter operates as follows. In the circuit shown in FIG. 9, a controlled amplifier 73 is used with an increasing dependence of the gain on the control voltage U _UP , and the output of the amplitude detector 80 is connected to a comparison circuit 82 so that if there is oscillation in the amplifier 73, the detected voltage causes a decrease in the control voltage U _UP . When the power is turned on, the reference voltage U _OP through the amplifier of the error signal 83 creates a maximum control voltage that causes self-excitation of oscillations in the loop amplifier 73 - a positive feedback circuit with a resistor R _S 74 and a parallel oscillatory circuit 75 with a capacitive sensor 76. Oscillations occur at the resonant frequency of the oscillatory circuit 75, since the transfer coefficient of the divider 74-75 is maximum at this frequency. Due to the maximum gain of the controlled amplifier 73, when turned on, the oscillations increase until the amplifier 73 and the cutoff vertices are saturated. However, the resulting oscillations create a voltage at the output of the amplitude detector 80, which reduces the control voltage U _UP through the amplifier 83. Due to the negative feedback on the envelope of the amplitudes of oscillations in the inertial stabilization channel 79, the transition process of establishing oscillations leads to a stationary mode of oscillations, in which the voltage at the output of the detector 80 is almost equal to the reference voltage U _OP , and the amplitude of the steady-state oscillations is set in a linear section by choosing U _OP the amplitude characteristics of the controlled amplifier 73. As a result, the cutoff of the oscillations is excluded and positive feedback through the divider 74-75 floor It compensates for losses in the oscillatory circuit for instantaneous values of the oscillation voltage over the entire period of oscillation.

In the steady state mode, losses in the oscillatory circuit (conductivity G of the capacitive sensor _PIP ) caused by the electrical conductivity σ of the medium under test are compensated by the amplification of the controlled amplifier, therefore, the control voltage U _UP and the gain of the amplifier 73, as well as the gear ratio of the divider 74-75 in the stationary mode, are a measure of the conductivity G _PIP and the electrical conductivity σ of the test medium. The self-oscillation frequency, taking into account the constant inductance of the oscillating circuit, is a measure of the capacitance C _{X of the} capacitive sensor, equal to C _X = C _PIP + C _P , where C _PIP is the information capacitance of the PIP determined by the actual component ε 'of the material CIP in the measuring volume of the PIP, and the parasitic capacitance C _{P is} determined during calibration.

However, this separation of information, when the self-oscillation frequency f _OSC is determined only by the capacitance of the oscillating circuit C _X , and the transmission coefficient module k or gain control voltage U _UP is determined only by the conductivity G of the _{PIP of the} sensor 76, in the electromagnetic field of which the studied material (soil) is located, only in the complete absence of a phase shift of the oscillations in the controlled amplifier 73. In real schemes, due to the presence of a phase shift in the controlled amplifier 73, the separation of information about the capacitance and conductivity e the bone sensor does not occur according to the informative output parameters of the oscillator, however, the capacitance and conductivity and, respectively, of the CDF component ε 'and the electrical conductivity σ of the material under study can be found from the calibration grid of lines of equal dielectric constant ε' and equal electrical conductivity σ constructed in the coordinates of the informative output parameters of the oscillator two-component dielcometric converter.

Figure 10 shows a calibration grid of lines of equal permittivity ε 'and equal conductivity σ of soils in the coordinates of the output parameters of a self-generated two-component dielcometer transducer: self-oscillation frequency f _OSC and gain control voltage U _UP controlled amplifier for a circuit with a symmetrical broadband controlled amplifier SA5219 with a passband 700 MHz The symmetric oscillatory circuit of the oscillator includes symmetrically installed potential electrodes 55 of the capacitive sensor 6-1 (Fig. 7) and ground - the housing of the measuring unit 5. Ring electrodes 55 have a diameter of 50 mm and are cut flush into the measuring unit 5 with a thickness of 30 mm through insulators 56 with an outer diameter of 90 mm. The geometrical constant of the capacitive sensor, found experimentally by immersing the measuring unit in a vessel with distilled water, measuring the frequency of self-oscillations in water, then removing the block from water and connecting a capacitor sensor to the electrodes 55 with a capacitance that returns the self-oscillation frequency to the value for immersion in water, is K _P = 8 m ^-1 . The calibration grid shown in Fig. 10 is obtained by the method of electrical equivalents by including in the oscillating circuit of the oscillator transducer with the capacitive sensor in the air positioned, additional resistors and capacitors corresponding to the specified values of the real component ε 'of the KDP and electrical conductivities σ of the test material. The calculation of the values of the additional capacitors of baking and resistors C _{DB is} made according to the formulas:

$$C_{D\mathrm{ABOUT}B}=\frac{{\epsilon }_0\left(\epsilon \text{'}\text{'}-\mathrm{one}\right)}{K_P},{\text{R}}_{\text{ADD}}=\frac{K_P}{\alpha },\left(8\right)$$

taking into account that the sensor 6-1 when calibrating is not disconnected from the oscillator transducer. The range of changes ε 'on the calibration grid of Fig. 10 is ε' = 1-80, i.e. lies in the range of values from air to water, and the range of variation of σ is σ = 0-0.1 S / m, which is half the width of the accepted range of electrical conductivity of non-saline soils for agricultural use. Figure 10 also shows the experimentally obtained moisture curves of samples of sod-podzolic soil: a sample of an unchanged salt composition moistened with distilled water (lower moisture curve); a sample moistened with a KCl solution with a conductivity of 0.2 S / m (upper humidification curve); θ is the volumetric moisture of the soil.

In one particular embodiment of the device, when the inductive sensor of the real and imaginary components of the complex dielectric constant, electrical conductivity and moisture content of the soil is used in the measuring unit 5, the difference from the prototype is that this inductive sensor (Fig. 11) is made in the form of two identical 5 coaxially mounted in the round windows of the measuring unit 5 ring inductors 87 isolated by dielectric elements 88 from the metal housing of the measuring unit 5. In this case, and inductance sensor is connected to the input of the bicomponent dielcometric transducer made of, for example, according to the scheme 12 and mounted on the circuit board 89. The inverter outputs are connected to the measurements, data collection and measurement control information conversion unit (24 in this converter is not shown). Coils 87 are located close to the side surfaces of the measuring unit 5, and their axes are perpendicular to the side surfaces. Coils can be connected in series according to their connection to the unbalanced input of a two-component dielectric transducer or can be connected separately to the antiphase symmetric inputs of a two-component dielectric transducer with a symmetric controlled high-frequency amplifier. The printed circuit board 89 of the two-component dielectric transducer is located in the trough 52 of the measuring unit 5, in which there are also cables 62 connecting the measuring sensors of the unit 5 with the unit for measuring control, collection and conversion of measuring information (see Fig. 24). The conclusions of the coils 87 are passed through the channel 90 for connection to the converter on the printed circuit board 89. To assemble the inductive sensor and fasten it in the body of the measuring unit 5, an assembly ring 91 and tightening screws 92 are used, evenly spaced around the circumference of the ring 91. The assembly ring 91 is made of stainless become. The diameters of the inductors 87 should be 2-3 times smaller than the diameter of the hole for installing the inductive sensor in the measuring unit 5 and the inner diameter of the assembly ring 91 to avoid reducing the quality factor of the coils due to shunting of the metal parts of the measuring unit 5. Cables pass through the groove 52 of the measuring unit 5 62 connecting the measuring sensors of unit 5 with the unit for measuring control, collection and conversion of measurement information (see Fig. 24).

усилителя 93 подают на вход канала 100, детектируют амплитудным детектором, сравнивают с опорным напряжением, а сигнал рассогласования усиливают и подают на вход управления усилением 101 усилителя 93. Характеристика управления усилением усилителя 93, полярности включения амплитудного детектора, опорного напряжения и усилителя сигнала рассогласования выбраны такими, что в системе осуществляется отрицательная обратная связь по огибающей амплитуд колебаний. Опорное напряжение задает амплитуду высокочастотных колебаний в установившемся (стационарном) режиме на линейном участке амплитудной характеристики усилителя 93. Благодаря инерционной стабилизации амплитуды колебаний на линейном участке амплитудной характеристики усилителя 93 отсечка колебаний исключается, и положительная обратная связь через делитель 94-96 полностью компенсирует потери в колебательном контуре для мгновенных значений напряжения колебаний в течение всего периода колебаний. Поэтому частота автоколебаний при отсутствии фазового сдвига колебаний в усилителе 93 определяется только собственной резонансной частотой колебательного контура без потерь, что позволяет измерить индуктивность L_X по частоте колебаний с исключением влияния потерь контура и, соответственно, вычислить ε' материала с исключением влияния электропроводности σ материала. Следует отметить, что такая избирательность справедлива только для схемы автогенератора с последовательным колебательным контуром и не выполняется для схем с параллельным колебательным контуром, чем и определился выбор схемы автогенератора с последовательным колебательным контуром. Двумя выходными информативными параметрами автогенераторного двухкомпонентного диэлькометрического преобразователя служат частота автоколебаний f_OSC на выходе автогенератора (Вых.1 на фиг.12) и модуль коэффициента передачи k_Д делителя колебательный контур 94 - сопротивление R_S 96, равный отношению модулей напряжений на резисторе R_S (Вых.2) и на выходе 102 усилителя 93 (Вых.1): $$k_{Д}=\left|{\dot{U}}_{RS}\right|/\left|{\dot{U}}_{УВЧ}\right|$$

. Кроме того, вторым выходным информативным параметром может служить напряжение управления усилением U_УП усилителя 93 (Вых.2').A two-component dielcometric converter can be made according to the scheme of a self-generating two-component diolemeter converter with an inductive sensor in a series oscillatory circuit based on a self-oscillator with inertial stabilization of the amplitude of the oscillations [Ananiev I.P. RF patent for the invention No. 2361226, IPC8 G01R 27/26, G01N 27/02, pending September 28, 2007, registered July 10, 2009]. This converter (Fig. 12) contains a high-frequency oscillation amplifier 93 with a controlled gain and linear amplitude characteristic, the output circuit of which includes a divider consisting of a series oscillatory circuit 94 with an inductive sensor 95 and a grounded resistor R _S 96. The oscillation is excited by a positive loop feedback from the output 97 of the divider having the maximum modulus of the transmission coefficient at the self-oscillation frequency, to the input 98 of the amplifier 93. Keeping oscillations in the linear portion of the amplitude The characteristics of the amplifier 93 are carried out by the inertial stabilization channel of the oscillation amplitude 99, in which the output voltage is similar to the inertial stabilization channel 79 in Fig. 9 $${\dot{U}}_{\mathrm{At}\mathrm{AT}H}$$

the amplifier 93 is fed to the input of the channel 100, detected by an amplitude detector, compared with the reference voltage, and the error signal is amplified and fed to the input of the gain control 101 of the amplifier 93. The gain control characteristic of the amplifier 93, the polarity of the amplitude detector, the reference voltage and the error signal amplifier are selected that the system provides negative feedback on the envelope of the oscillation amplitudes. The reference voltage sets the amplitude of the high-frequency oscillations in the steady (stationary) mode on the linear portion of the amplitude characteristic of the amplifier 93. Thanks to the inertial stabilization of the amplitude of the oscillations in the linear portion of the amplitude characteristic of the amplifier 93, the oscillation cut-off is eliminated, and positive feedback through the divider 94-96 completely compensates for the losses in the oscillatory circuit for instantaneous values of the voltage fluctuations during the entire period of oscillation. Therefore, the self-oscillation frequency in the absence of a phase shift of the oscillations in the amplifier 93 is determined only by the intrinsic resonant frequency of the lossless oscillation circuit, which allows us to measure the inductance L _X by the oscillation frequency with the exception of the influence of circuit losses and, accordingly, calculate ε 'of the material with the exception of the influence of the electrical conductivity σ of the material. It should be noted that such selectivity is valid only for the oscillator circuit with a sequential oscillatory circuit and is not performed for circuits with a parallel oscillatory circuit, which determined the choice of the oscillator circuit with a serial oscillatory circuit. The two output informative parameters of the self-generating two-component dielcometer converter are the self-oscillation frequency f _OSC at the output of the self-oscillator (Output 1 in Fig. 12) and the transmission coefficient module k _D divider the oscillatory circuit 94 is the resistance R _S 96 equal to the ratio of the voltage modules on the resistor R _S ( Out.2) and at the output 102 of the amplifier 93 (Out.1): $$k_D=\left|{\dot{U}}_{RS}\right|/\left|{\dot{U}}_{\mathrm{At}\mathrm{AT}H}\right|$$

. In addition, the second output informative parameter can serve as the voltage control gain U _UP amplifier 93 (Output 2 ').

In the presence of a phase shift in the oscillation amplifier, the components ε 'of the CDF and the electrical conductivity σ of the material under study can be found from the calibration grid of lines of equal dielectric constant ε' and equal electrical conductivity σ constructed in the coordinates of the informative output parameters of the self-generated two-component dielcometric converter. On Fig presents the calculated calibration characteristics of a self-generating DDP with an inductive sensor, made according to the functional diagram of Fig.12: two-coordinate field of values of the self-oscillation frequency f _OSC and the transmission coefficient module k _D divider serial oscillatory circuit - resistor R _S depending on the actual component ε ' KDP and electrical conductivity σ of soil. In the calculation, we considered two series-connected coils located near the surfaces of the side walls of the measuring unit 5, with a total inductance in air of 1.1 μH, the capacitance of the oscillatory circuit 94 was selected from the resonance condition in air at a frequency of 20 MHz and was equal to C _K = 58.2 pF , the divider resistor 96 has a resistance of R _S = 13 Ohms, the internal output resistance of the amplifier 93 is R _i = 7 Ohms, the AD8367 amplifier with a bandwidth of 500 MHz was considered as a controlled amplifier 93. The equivalent cut-off frequency of the frequency response of the oscillator amplifier, taking into account an additional phase-inverting amplifier and a buffer repeater amplifier MAX 4184, which determines the phase shift of the oscillations, is f _CP = 150 MHz. The calculation formulas are given in the abstract of the thesis [IP Ananiev Automatic generator measuring transducers of two-component dielcometry of agricultural materials. Abstract of dissertation for the degree of Doctor of Technical Sciences. St. Petersburg, 2009].

From a comparison of the calibration characteristics of the self-generating two-component dielcometric transducer with a capacitive sensor (Fig. 10) and with an inductive sensor (Fig. 13), it can be seen that the transducer with an inductive sensor has a significantly lower sensitivity to the actual component ε 'of the KDP. However, the advantage of inductive sensors is non-contact measurements, which completely eliminates the measurement errors associated with the existence of a double electric layer at the boundaries of the surface of the electrodes of capacitive sensors with soil.

In an important particular embodiment of the device — when a soil temperature sensor 6-2 is used in the measuring unit, the difference between the proposed device and the prototype is that this sensor is made (Fig. 14) in the form of two identical coaxially mounted flush with the side walls of the measuring unit 5 round heat sinks 103, insulated from the metal housing of the measuring unit by two symmetrical dielectric ring inserts 104. Heat sinks 103 are made of stainless steel. Heat-sensitive measuring transducers 105 are mounted in the heat sinks, which are connected to the unit for measuring control, collecting and converting measuring information (Fig. 25). The heat sinks 103 are mounted internally to the annular heat insulating inserts 104 by screws 106. To assemble the temperature sensor 6-2 and fasten it in the housing of the measuring unit 5, a stainless steel assembly ring 107 and tightening screws 108 are used that are evenly spaced around the circumference of the ring 107. For connecting temperature-sensitive transducers 105, cables passing through channel 109 in heat-insulating inserts 104, hole 110 in the measuring unit are used to the unit for measuring control, collection and conversion of measurement information ke 5 (the cables are not shown in Fig. 14) and along the groove 52 of the measuring unit 5, which serves for laying the connecting cables 111. The thermosensitive measuring transducers 105 installed in the heat sinks 103 are located on the right and left sides of the measuring unit 5, connected to the unit measurement control, collection and conversion of measurement information independently of each other (105 in Fig.24) and are used as two separate temperature sensors.

As thermosensitive measuring transducers 105 can be used, for example, silicon semiconductor transducers with a positive temperature coefficient TD-5 from Honeywell (USA). Calibration characteristics in the form of a dependence of the temperature of the transducer on their resistance for two transducers installed in the temperature sensor 6-2 of the measuring unit 5 are shown in Fig. 15. These characteristics make it possible to calculate the temperature of the converter from the measured values of its resistance. On the graphs, the points correspond to the resistance values of thermosensitive elements, measured during calibration with a B7-40 universal voltmeter with an accuracy of 0.1 Ohms, and temperature values set using a precision thermostat manufactured by ERTCO (USA) and controlled by a standard thermometer LT-300 with an accuracy of 0.05 ° C. The lines are regression calibration dependences represented by polynomials of the second degree for the transducer in Fig. 15 on the left and the transducer on the right have the form:

R _t = 1853.95 + 6.97673 t + 0.00823214 t ² ; R _t = 1862.96 + 6.49107 · t + 0.01185 · t ² , where R _t is the resistance of the converter, Ohm; t is the temperature, ° C.

The main static error in determining the temperature by a temperature sensor 6-2, taking into account such a calibration, is about 0.2 ° C, and taking into account the error of conversion in the microcontroller of the measurement control unit, the collection and conversion of measurement information is about 0.3 ° C.

The peculiarity of determining the soil temperature from the readings of temperature sensors 6-2 when the mobile device moves across the field is that in addition to the static error of the temperature sensors, determined for stationary sensors, two components of the dynamic error appear, one of which is caused by heating of the heat sinks 103 and heat-sensitive measuring transducers 105 when moving due to friction on the soil, and the second is due to the inertia of the sensor, leading to smoothing of readings in the case of fast time nnogo soil temperature change in the contact area with the sensor track of movement.

The component of the dynamic error caused by the heating of heat receivers 103 and heat-sensitive transducers 105 when moving due to friction against the soil, increases with increasing speed and depends on moisture content, addition density and particle size distribution of the soil. It can be experimentally determined by the following procedure. The inventive mobile device is moved across the field at a given sensor installation depth and at a given speed, for which it is necessary to determine this component of the dynamic error, for a time sufficient to establish a stationary value of the temperature increment of the sensor 6-2 due to friction on the soil Δ _H T (this time is easy to find experimentally after several drives). At the same time, the temperature readings of the sensors are continuously recorded (recording frequency should be 0.5-2 s). After this time, the device is stopped and continue recording and monitoring the change in temperature readings. Since the heating stops due to friction after stopping the device, an aperiodic cooling process of the sensors (heat sinks 103 with transducers 105) occurs with a gradual decrease in temperature from the stationary temperature of the friction heated sensor T _N to the temperature of the surrounding soil T _P (Fig. 16, a). The difference between the temperature readings of the sensor heated by friction T _N and cooled to the soil temperature T _P after the device is stopped is the first component of the dynamic error: Δ _N T = T _N -T _P.

It should be noted that since the temperature sensor has thermal inertia and in contact with the soil can be considered as a first-order aperiodic unit with a time constant τ, the process of changing the sensor temperature T _D during cooling is described by the formula:

$$T_D=\left({\Delta }_{H}T\right)e^{-\frac{t}{\tau }}+T_P=\left(T_N-T_P\right)e^{-\frac{t}{\tau }}+T_P=T_P\left[\left(\frac{T_N}{T_P}-\mathrm{one}\right)e^{-\frac{t}{\tau }}+\mathrm{one}\right].$$

The aperiodic nature of the cooling process allows you to find the time constant τ of the sensor in contact with the soil according to the cooling curve of the sensor by known methods: along the tangent to the exponential curve or by falling off the curve to a level equal to 0.368 from the difference T _H -T _P (see Fig. 16, and ) On Fig, b shows the experimentally obtained curves of the aperiodic cooling process of one of the temperature sensors (right in the direction of movement) when stopping after the movement of the sensor at a depth of 200 mm along the field of perennial grasses and the field without plants with the speeds indicated on the graph for 180 s. From the graphs it follows that the dynamic error from friction on the field without plants was 1.9 ° C at a speed of 1.8 m / s. For a field of perennial grasses at a speed of 1.7 m / s, this error was 2.2 ° C. The inertia of the temperature sensor in contact with the soil and characterized by the time constant τ of the aperiodic process of decreasing temperature when cooling after stopping is determined graphically and amounts to 30 ... 60 s. Therefore, to establish a stationary value of the sensor temperature increment Δ _H T due to friction against the soil at a given speed of movement, it is enough to move across the field for 180 s before stopping to measure the aperiodic cooling process, which is at least three times higher than τ.

The component of the dynamic error from friction can be taken into account in the form of corrections in the processing of measurement results. In the process of mapping and field measurements, stops to determine this error can be made with a certain frequency to increase the accuracy of measurements. In addition, the dependence of this error on the speed of movement, soil moisture content and horizontal penetration resistance using the readings of the sensors of the inventive device can be specially investigated. The obtained information can be used to automatically introduce corrections due to friction on the soil into the temperature measured in motion without stopping the mobile device. As a result, it is possible to obtain an error in measuring the temperature of the soil in motion, not exceeding 0.5-1 ° C, which significantly exceeds the accuracy of measuring the temperature of the soil with infrared radiation thermometers, the readings of which significantly depend on the reflectivity of the soil.

The second component of the dynamic error, determined by the thermal inertia of the sensors and leading to a smoothing of the readings with a quick temporary change in soil temperature along the motion path, will appear when the period of change in soil temperature in the area of contact with the temperature sensor along the motion path is less than (2 ... 3) τ. In this case, to reduce or eliminate the second component of the error, it is necessary to reduce the speed of movement in the field during measurements.

In a particular embodiment of the device, when the horizontal penetration resistance sensor 6-4 is used in the measuring unit 5 (FIG. 1, FIG. 2), the device differs from the prototype in that the horizontal penetration resistance sensor (FIG. 17) has a metal sensitive element 112 (FIG. 17, FIG. 18) with pressure detectors 113 symmetrically protruding beyond the walls of the measuring unit 5, which are preferably made in the form of trihedral direct prisms with ribs transverse to the direction of movement of the PD and with pressure receptors p chvy faces arranged at an obtuse angle to the direction of device movement. The sensing element 112 is installed in the housing of the measuring unit 5 with the possibility of longitudinal displacement under the action of soil pressure on the pressure receivers 113 when the device moves in the arable soil layer. The penetration sensor 6-4 also has a force to electric signal converter 114, consisting of a load Z-shaped beam 115 and a strain-sensing element 116. The sensitive element 112 of the penetration sensor 6-4 is connected to a load Z-shaped beam 115 by a rod 117, which causes the beam 115 to stretch under the influence of soil pressure on the pressure receivers 113. The extension of the beam 115 is accompanied by a reversible displacement of the sensing element 112 in the direction of the pressure of the soil on the pressure receivers 113 (to the right in the front view of Fig. 17), which is not exceeded AET 1 mm. To ensure the displacement of the sensitive element 112 while holding it in the longitudinal plane of symmetry of the device, it is movably mounted on two parallel guide pins 118-1, 118-2, lubricated with grease. The rod 117 and the screw 119, with which the load beam 115 is fixed in the housing 120 of the sensor 6-4, have heads with a spherical inner surface, which is necessary for sliding, taking into account the angular displacement of the rod and screw under load deformation of the Z-shaped beam 115. The gap 121 the sensing element 112 with the side walls of the sensor 6-4 is filled with an elastic silicone sealant. The input and output circuits of the strain gauge element 116 through the cable 122, laid in the groove 52 of the measuring unit 5 and the front rack 12 of the device (Fig.6), are connected to the unit for measuring control, collection and conversion of measuring information (Fig.24). To protect the load Z-shaped beam 115 from breaking under loads significantly exceeding permissible, a safety pin 123 mounted on the thread with the possibility of adjusting the safety clearance between the rod head 117 and this pin was used. When the load on the sensing element 112 is exceeded, the rod 117 abuts against the safety pin 123 and further extension of the beam 115 under the influence of soil pressure on the pressure receivers 113 stops. To mount the horizontal penetration resistance sensor 6-4 in the measuring unit 5, a sensor element 112 is pre-installed in the sensor housing 120 by inserting into it and screwing the guide pins 118-1, 118-2, installing a force transducer in an electric signal 114 by attaching it with a rod 117 and screw 119, adjusting the initial position of the sensing element 112 on the guide pins 118-1, 118-2 with the slot of the screw head of the rod 117, adjusting the safety clearance with the pin 123. Then, the housing 120 with the installed ele they are inserted into the housing of the measuring unit 5 by passing the cable 122 of the converter 114 into the hole in the housing 5 and lubricating the working gaps 121 with elastic silicone sealant. A metal cover 124 and screws 125 are used to fasten the sensor 6-4 in the measuring unit 5.

As a force transducer to an electrical signal 114, a strain gauge transducer YZ101BH from YOUNGZON TRANSDUCER CO can be used. LTD (Taiwan), having a measuring range of 0-200 kg, a sensitivity of 2 mV per 1 V of the supply voltage at a load of 200 kg, a total measurement error of less than 0.02%, a supply voltage of 5-12 V DC or AC, input resistance 400 ± 20 Ohms, output impedance 350 ± 3 Ohms, safe overload up to 300 kg. Calibration dependences of the horizontal penetration resistance sensor obtained in the form of a dependence of the output voltage of the strain gauge converter U _T at a voltage of 10 V on the penetration resistance force F _P applied to the receiving prisms 113 of the sensor 112 of the sensor 6-4 in the direction corresponding to the soil pressure at movement presented on Fig. The solid line on the graph corresponds to the load calibration curve (gradual increase in force), the points to the discharge calibration curve (gradual decrease in force). The maximum force of 152 kg applied to the sensor element (mass of tensile load) corresponds to the soil pressure on the prismatic sensing elements 19 kg / cm ² , covering the range of possible penetration pressures for agricultural soils.

The resistance sensor horizontal penetration works as follows. When introducing the measuring unit 5 to a predetermined measurement depth (claims 1, 2, 3 of the claims), the unit 5 moves in the soil along the slit created by the slit knife 4 (Fig. 1, Fig. 2) and is equal in width to the thickness of the measuring unit. Due to movement, the soil presses pressure receptors 113 in a direction opposite to the direction of movement. This pressure tends to displace the sensing element 112 against the direction of movement and, acting on the rod 117, causes tensile deformation of the load Z-beam 115 and the appearance of the output voltage of the strain gauge element 116, which is transmitted to the control unit for measuring, collecting and converting measurement information (Fig.24 ) The peculiarity of measuring the resistance of horizontal penetration by a 6-4 sensor is that it measures the resistance of penetration of soil previously compacted with a slit knife. Therefore, it is necessary to compare the information received with the data of a conventional vertical cone penetrometer (although such a comparison is also necessary for any horizontal penetrometer). At the same time, the use of a slit knife provides reliable protection of the penetration sensor 6-4 from breakdowns when a collision of the inventive device on stones.

The development of a particular form of implementation of a device with a horizontal penetration resistance sensor is a device in which this sensor is combined with a sensor for measuring the electrophysical characteristics of soil compacted when moving with a horizontal penetration resistance sensor. This device differs from the prototype in that the horizontal penetration resistance sensor is made similar to the sensor (Fig. 17), but in contrast to it has pressure receivers 126 of the sensitive metal element of the horizontal penetration resistance sensor 127 made (Fig. 20) in the form of tetrahedral direct prisms with ribs transverse to the direction of movement and with a trapezoidal section in the horizontal plane. In this case, the faces of the prisms sensing soil pressure are located at an obtuse angle to the direction of movement of the device, and potential electrodes 129 of the sensor for measuring the electrophysical characteristics of the soil, which is compacted when moving with the horizontal penetration resistance sensor, are flush-cut through the insulators 128 into the faces parallel to the side walls of the measuring unit 5 . To fix this sensor in the body of the sensitive metal element 127, metal rings 130 and screws 131 were used. The sensor is symmetrical and is formed by potential electrodes 129, insulators 128 and the metal housing of the sensor element 127. Both halves of the sensor through the terminals 132 of the potential electrodes 129 and the conclusions 133 of the metal case the sensing element 127 are connected to a measuring transducer of the electrophysical characteristics of the soil, compacted when moving the resistance sensor horizontal penetration located in the trough 52 of the measuring unit 5 (not shown in FIGS. 17, 20), and the output of this transducer is connected to a measurement control unit for collecting and converting measurement information (this sensor and the transducer are not shown in FIG. 24).

The main purpose of the horizontal penetration resistance sensor combined with the soil electrophysical measurement sensor compacted by the horizontal penetration resistance sensor is to obtain information for comparing the dielectric characteristics of the soil measured by a capacitive sensor 6-1 (real and imaginary components of complex dielectric permittivity, electrical conductivity and humidity 6), with dielectric characteristics measured with an additional charge tnenii soil pressure sensor receivers 126 horizontal penetration resistance (Figure 20). In this case, the sensor mounted on the sensor 127 of the horizontal penetration resistance sensor is used as a capacitive one and connected to the same two-component dielectric transducers as the sensor 6-1 (Figs. 8-10, claims 7-9). Since soil compaction causes a decrease in the fraction of the air phase in the soil at almost constant proportions of solid and liquid phases, from the construction and consideration of the models of dielectric permittivity, electrical conductivity and moisture content of soils in an unconsolidated and compacted state, it is possible to calculate the electrical conductivity of soil water, which characterizes the total content of dissolved mineral nutrition elements in the soil. Based on these measurements, a map can be constructed that allows to identify and quantify the deficit of mineral nutrition of crops, which is of great economic importance. Another purpose of the horizontal penetration resistance sensor, combined with the soil electrophysical characteristics measurement sensor, compacted when moving by the horizontal penetration resistance sensor, is to obtain information for developing methods for monitoring soil structure, particle size distribution and hardness. In this case, the sensor can be used for measurements at low and high frequencies of the electromagnetic field, to study the linear and nonlinear electrophysical characteristics of soils.

Despite equipping the claimed device as an invention with a location system receiver and an on-board computer for recording measurement information and mapping (claim 1), which provide the determination of the geographical coordinates and speed of the device, it is also equipped with an autonomous sensor of the speed and distance traveled. This extends the functionality of the device, allowing it to be used in experimental field work, when mapping is not required, but it is enough to measure the agrotechnological parameters in separate passes along the field or when the receiver of the geolocation system cannot be used.

In the particular case of the implementation of the proposed device, the speed sensor and the distance traveled (Fig. 21) is made in the form of a cylindrical measuring wheel 134 of non-magnetic material mounted on a spring-loaded fork 135 in the rear of the support ski 3 to ensure contact of the wheel with the soil surface, for which the back of the ski has a cutout in the width of the wheel. The shaft 136 of the wheel 134 is mounted in bearings 137 on a fork 135. The fork 135 is articulated to the ski by a pivot bearing 138 located on the upper side of the ski. To push the measuring wheel 134 to the soil, racks 139 are used, screwed into the body of the ski and passing through the holes in the fork 135. The racks 139 are made in the form of bolts with heads protruding above the fork 135, between which springs 140 are pressed against the upper surface of the fork 135, pressing the measuring wheel 134 when the device moves to the surface of the soil. To limit the displacement of the measuring wheel 134 under the ski sole, a restriction bolt 141 was used, screwed from below into the spring-loaded fork 135 with a gap between the bolt head 142 and the upper surface of the ski when the wheel comes in contact with a plane coinciding with the ski sole. Behind the wheel on a fork 135, a scraper knife 143 is located to clean the measuring wheel 134 from sticking soil. A rod permanent magnet (not shown in FIG. 21) magnetized along the axis of the rod is inserted along the cylinder’s rim 134 along the cylinder’s rim, and a reed switch 144 is installed in the magnet action field on the plug 135 and is connected to the measurement control unit for collecting and converting measurement information (Fig.24). Screws 145 are used to fasten the casing, covering the top of the speed sensor and the distance traveled (not shown in Fig.21).

In an alternative form of implementation of the proposed device, the speed and distance sensor (Fig. 22) is made in the form of a measuring wheel 146 with a diameter of 40-70 cm mounted on a hinge 147 in the rear of the carrier frame 1 (Fig. 1, Fig. 2) in the longitudinal the plane of the device (position Pos. 1 in FIG. 22). At least one permanent magnet 150 is placed on the wheel between the axis 148 and the rim 149, and a reed switch 151 is mounted on the fork 147, which interacts with the magnet 150 when the wheel rotates and is connected to the measurement control unit, collecting and converting measurement information (Fig. 24). An additional load 152 may be mounted on the fork 147 to improve the adhesion of the measuring wheel 146 to the soil during movement. The articulated fork with the measuring wheel in the idle position is set to the vertical position (position Pos. 2 in FIG. 22) and secured with a latch 153.

Another difference between the general embodiment of the device and the prototype is that it is equipped with support racks 154 connected to the supporting frame 1 (FIG. 23), configured to be installed in a vertical position when the device is disconnected from the vehicle 2 (FIG. 1) and storage and having a length that ensures the vertical position of the device without touching the slit-knife 4 and the measuring unit 5 of the support surface to protect them from breakdowns and simplify the articulation of the device with the vehicle 2 using a rigid st caps 23. In this case, the struts 154 are configured to reinstall and fix them in a horizontal position (FIG. 2, FIG. 3) after coupling the device with the vehicle 2 for taking measurements in motion.

The measurement control unit, the collection and conversion of measurement information, the functional diagram of which is shown in Fig. 24, contains a microcontroller 155, the inputs of which are connected to the sensors of the measuring unit 6 (Fig. 6): a capacitive sensor 6-1, connected through a two-component dielcometer converter 156 ( see Fig. 9), a temperature sensor 6-2, a strain gauge sensor 6-4, and also a reed switch 144 located on a support ski (Fig. 21, item 144) or on a plug 147 (Fig. 22, item 151) of a speed sensor movement and distance traveled. The optical sensor 6-3 of the subsoil visible - near infrared spectroscopy using an optical cable 44 is connected to a spectrophotometer 157, the output of which is directly connected to the on-board computer 10. When using the horizontal penetration resistance sensor combined with the sensor for measuring the electrophysical characteristics of soil compacted when movement of this sensor, capacitive sensors 129 (Fig.20) using the findings 132, 133 should also be connected to the microcontroller 155. In addition, when used in the construction of the strain gauge sensor 28 pressure on the supporting ski (figure 4), similar to the strain gauge converter 116 of the sensor 6-4, it must also be connected to the microcontroller 155. The microcontroller is designed to digitally receive information from the measuring sensors of the inventive device and transmit it to the on-board computer 10 of the tractor, combined with the receiver of the location and navigation system 158 and antenna 11.

The oscillation frequency f _{OSC of the} oscillator 156 (input K1 of the controller 155) is determined in the controller by the number of pulses per time interval specified by the timer. To power the thermosensitive measuring transducers 105 of the temperature sensor 6-2, connected in series, we used the excitation current taken from terminal K3, which is regulated by a resistor 159. The voltages on the transducers 105, depending on the temperature, are measured by the microcontroller 155 at the terminals K4, K5, K6. The supply voltage U _{P5 of the} bridge 116 of the strain gauge 6-4 is measured by the controller using a resistive divider 160, 161. The closure of the reed switch 144 in FIG. 21 (151 in FIG. 22) of the speed sensor and the distance traveled leads to closure of the lower arm of the resistive divider 162, 163 fed by voltage U _P6 , which causes voltage pulses at the input K12 of the controller when the device is moving.

The power of the nodes of the microcontroller unit for measuring control, collection and registration of measurement information, as well as a spectrophotometer, on-board computer and receiver of the positioning and navigation system is provided from a power supply 164 using a tractor or autonomous battery 165.

The microcontroller is connected to the computer via the RS232 interface. Data is transferred to the computer as a sequence of characters in a hexadecimal system. The controller of the mobile device performs measurements in two modes: once upon a command from the control program on the PC in the form of a sequence of characters or continuously with a frequency of about 1 second (periodicity of 0.5 s, 1.5 s, 2 s is possible). The mode is activated by a command from the control program on the PC in the form of a sequence of characters. Exiting the continuous measurement mode is done by turning off the power of the controller.

To build electronic maps of the measured parameters, the system is supplemented by a parallel driving program that provides an indication of a given fixed distance between parallel passes, and an electronic map building program.

Claims (17)

1. A device for intra-soil measurement of the agrotechnological characteristics of the arable soil layer in motion, comprising a supporting frame connected to a means of transportation on the field, a support element mounted on the frame and determining its position above the soil, placed on the frame is a slit knife, creating a longitudinal slotted slot during movement a channel in the soil, a measuring unit with measuring sensors, made elongated along the direction of movement, of the same thickness with a slit knife and installed behind it in the direction of movement, a unit with stepwise adjustment of the depth of the position of the measuring unit in the longitudinal slot channel when moving across the field, the unit for protecting the measuring unit from damage when the knife-cherez is hit by obstacles, the control unit for measurements, the collection and conversion of measurement information, the on-board computer and the receiver of the geolocation system for recording measurement information and mapping, characterized in that the housing of the measuring unit is made in the form of a monolithic metal plate with a pointed and beveled top to bottom and n the rear frontal front edge and is rigidly connected to the supporting frame by the front and rear racks, while the sensors are embedded in the measuring unit and placed on its side walls along a common straight line with the same depth of the sensing elements of the sensors from the soil surface, the supporting element is made as placed above a support ski measuring unit pivotally connected to a rack mounted on a support frame, this support being mounted on the support frame with the possibility of stepwise changing the set distance between the sole of the support ski and a straight horizontal line with the same depth of the sensing elements of the sensors in the measuring unit from the soil surface, the aforementioned slit knife mounted on the frame in front of the measuring unit has an axial connection with the frame, providing the formation of a common vertical longitudinal plane of symmetry with the measuring unit and made with the possibility of adjusting the angular position of the slit knife in this plane, while the knife with a cutting edge has a length that provides creation of a slotted channel in the soil with a depth sufficient to immerse the measuring unit until the supporting ski abuts against the soil surface at any given distance between the ski sole and the horizontal position line of the sensors and any given angle of installation of the glue knife, and the upper end part of the glue knife, located at the other side of the axial connection is fixed with a safety shear bolt in the node for stepwise fixing the angular position of the slit knife, which is available on the frame, and this node is equipped with a stop for fixing and the position of the slit knife blade along the frontal edge of the measuring unit when hitting a stone and cutting off the safety fixing bolt, in addition, to hold the measuring unit in the vertical plane of its symmetry, which coincides with the direction of movement of the device, the supporting frame is equipped with a rigid coupling for connection with the vehicle in the field, which ensures the effectiveness of measuring agrotechnological characteristics. 2. The device according to claim 1, characterized in that as a means of transportation a tractor is used with a hydraulic system for increasing the grip weight, which provides a constant preset force of pressing the supporting ski to the soil when measuring the agrotechnological characteristics of the arable soil layer in motion. 3. The device according to claim 1, characterized in that a tractor with a hydraulic system is used as a means of transportation, providing a deepening of the device when moving to the contact of the supporting ski with the soil and further floating mode of the hydraulic system without creating a deepening force on the device, while on the frame The device is equipped with a burial load or box for its placement. 4. The device according to claim 1, characterized in that the support ski stand is telescopic with a fixed part mounted on a supporting frame with the possibility of stepwise changing the distance between the ski sole and the sensors and the movable part pivotally connected to the support ski, while the stand is equipped with a force transducer of pressing the supporting ski to the soil into an electrical signal, consisting of a load Z-shaped beam and a strain-sensing element, and the load Z-shaped beam connected to the movable and fixed parts of the body kopicheskoy strut rods providing tensile beams under the force of the presser foot ski to the ground and the input and output circuits strain-sensing element are connected to the measurement control unit, the collection and conversion of measuring data. 5. The device according to claim 1, characterized in that it contains an optical sensor of the subsoil visible - near infrared reflection spectroscopy installed in the measuring unit, including a light source, a sapphire window for illuminating the soil and transmitting light reflected from it, an optical fiber cable for receiving light reflected from the soil and its direction into a spectrophotometer located on the device’s frame, while the sensor is made in the form of a hollow photometric cylinder with a round inlet on a flat bottom of the cylinder, in the case of which a circular sapphire window mounted on a ring holder is placed, embedded with the holder into the measuring unit flush with its side wall, the cylinder is closed by a lid, on the inside of which there is a said light source consisting of miniature incandescent lamps evenly distributed around the circumference, the lid has a central hole in which the input end of the fiber-optic cable is fixed, and the rim-screen covering the input end, preventing the direct passage of radiation from incandescent lamps fiber input cable, and the axis of the sapphire window, the inlet on the flat bottom of the cylinder, the center hole of the cover, the rim of the screen and the center of the circle of incandescent lamps are placed on the axis of the photometric cylinder. 6. The device according to claim 1, characterized in that in addition to the sensor of the optical subsurface visible - near infrared spectroscopy for reflection, at least one, several, or all of the following sensors of the agrotechnological characteristics of the arable soil layer are placed in the measuring unit: capacitive or Inductive sensor of the real and imaginary components of the complex dielectric constant, conductivity and moisture content of the soil, a contact sensor of soil temperature, a horizontal resistance sensor soil penetration, or a horizontal soil penetration resistance sensor combined with a capacitive sensor for measuring the electrophysical characteristics of the soil sealed when moving with a horizontal penetration resistance sensor, while a horizontal soil penetration resistance sensor or a horizontal soil penetration resistance sensor combined with a capacitive sensor for measuring the electrophysical soil characteristics, sealed during movement by a horizontal penetration resistance sensor, the last him in the row of sensors from the bow of the measuring unit. 7. The device according to claim 6, characterized in that the capacitive sensor of the real and imaginary components of the complex dielectric constant, electrical conductivity and moisture content of the soil is made in the form of two identical round potential electrodes aligned coaxially flush with the side walls of the measuring unit, insulated by ring dielectric elements from a metal monolithic the case of the measuring unit used as a housing electrode, while the capacitive sensor is connected to the input two component dielcometric Converter, the outputs of which are connected to the unit for measuring control, collection and conversion of measurement information. 8. The device according to claim 7, characterized in that the two-component dielcometric converter is made according to the amplitude-phase separation scheme of the signals used to calculate the real component of the complex permittivity and conductivity of the soil, and contains a high-frequency sinusoidal voltage generator, to the output of which a capacitive divider is connected consisting of a constant capacitor in the upper arm and a capacitive sensor in the lower arm, a repeater is connected to the midpoint of the divider the output of which is connected to the signal inputs of two phase detectors controlled by the reference voltages from the outputs of the reference voltage shapers connected by the inputs to the output of the sinusoidal voltage generator, while the first reference voltage shaper controlling the first phase detector has a reference voltage in phase with the output voltage of the high-frequency generator, and the second voltage driver, which controls the second phase detector, has a voltage reference of with respect to the output voltage of the high-frequency generator, as a result of which the constant voltages at the outputs of the detectors are proportional to the in-phase and quadrature with the sinusoidal voltage of the generator, the voltage component at the output of the divider. 9. The device according to claim 7, characterized in that the two-component dielcometer converter is made in the form of a self-generated two-component dielcometer converter with a controlled amplification voltage of the oscillation amplifier and a channel of inertial stabilization of the oscillation amplitude in the linear section of the amplitude characteristic of the controlled amplifier, while the divider is connected to the output of the controlled amplifier : resistor - parallel oscillatory circuit with a capacitive sensor, the midpoint of the divider is connected to the input the controlled amplifier with the formation of a positive voltage feedback circuit, the inertial stabilization channel of the amplitude of the oscillations contains an amplitude detector of the output voltage of the controlled amplifier, a reference voltage source, a circuit for comparing the output voltage of the detector with the reference voltage and an error signal amplifier, the output of which is connected to the control input of the controlled amplifier with the formation of a loop of negative feedback along the envelope of the amplitudes of the oscillations, and two informative outputs E parameters are frequency oscillations of the oscillator and the divider output module transfer coefficient or self-oscillation frequency and the gain control voltage of controlled amplifier. 10. The device according to claim 6, characterized in that the inductive sensor of the real and imaginary components of the complex dielectric constant, electrical conductivity and moisture content of the soil is made in the form of two identical ring inductors coaxially mounted in the round windows of the measuring unit, insulated by dielectric elements from the metal housing of the measuring unit while the inductive sensor is connected to the input of a two-component dielcometric Converter, the outputs of which are connected to the unit measurement management, collection and conversion of measurement information. 11. The device according to claim 6, characterized in that the contact temperature sensor of the soil is made in the form of two identical round heat sinks installed coaxially flush with the side walls of the measuring unit, thermally insulated from the metal housing of the measuring unit, and heat-sensitive measuring transducers connected to the block are mounted in the heat receivers measurement management, collection and conversion of measurement information. 12. The device according to claim 6, characterized in that the horizontal penetration resistance sensor has a metal sensing element with pressure detectors symmetrically protruding beyond the walls of the measuring unit, which is mounted in the housing of the measuring unit with the possibility of longitudinal displacement under the influence of soil pressure on the pressure receivers when the device is moving in the arable soil layer, and the force transducer into an electric signal, consisting of a load Z-shaped beam and a strain-sensing element, while sensing The penetration sensor element is connected to a load Z-shaped beam by a rod providing tensile expansion of the beam under the influence of soil pressure on pressure receivers, the gap of the sensor element with the side walls of the measuring unit is filled with an elastic sealant, and the input and output chains of the strain-sensing element are connected to the measurement control unit, collecting and conversion of measurement information. 13. The device according to p. 12, characterized in that the soil pressure receivers of the sensitive element of the horizontal penetration resistance sensor are made in the form of trihedral direct prisms with ribs transverse to the direction of movement and with edges sensing soil pressure located at an obtuse angle to the direction of movement of the device. 14. The device according to p. 12, characterized in that the horizontal penetration resistance sensor is combined with a soil electrophysical measurement sensor densified when the horizontal penetration resistance sensor is moving, and has pressure receivers of the sensitive element of the horizontal penetration resistance sensor made in the form of tetrahedral direct prisms with ribs transverse to the direction of movement and with a trapezoidal cross section in the horizontal plane, while the faces of prisms that perceive pressure along you are located at an obtuse angle to the direction of movement of the device, and potential electrodes of the sensor for measuring the electrophysical characteristics of the soil, sealed when moving with the horizontal penetration resistance sensor, are flush through the insulators parallel to the side walls of the measuring unit, while the potential electrodes of this sensor and the measuring case units are connected to a measuring transducer of the electrophysical characteristics of the soil, compacted when the resistance sensor burns ontalnoy penetration, and the output of this converter is connected to the measurement control unit, the collection and conversion of measuring data. 15. The device according to claim 1, characterized in that it is equipped with a speed sensor and the distance traveled, made in the form of a cylindrical measuring wheel of non-magnetic material mounted on a spring-loaded fork in the rear of the support ski with contact with the soil surface, behind the wheel on a fork-scraper knife is located to clean the wheel of adhering soil, a rod permanent magnet magnetized along the axis of the rod is inserted along the cylinder rim along the cylinder’s rim along the inside of the wheel rim, and l the reed switch is installed that is connected to the measurement control unit, the collection and conversion of measuring data. 16. The device according to claim 1, characterized in that it is equipped with a speed and distance sensor made in the form of a measuring wheel with a diameter of 40-70 cm mounted on a hinge fork in the rear of the carrier frame in the longitudinal plane of the device, on the wheel between the axis and at least one permanent magnet is placed on the rim, and a reed switch is mounted on the fork, which interacts with the magnet when the wheel rotates and is connected to the unit for measuring control, collecting and converting measurement information. 17. The device according to claim 1, characterized in that it is equipped with support racks connected to the supporting frame, made with the possibility of installing them in a vertical position when the device is disconnected from the vehicle and stored and having a length that ensures the vertical position of the device without touching the knife-slot and a measuring unit of the supporting surface to protect them from breakdowns and simplify the articulation of the device with the vehicle using a rigid coupling, while the racks are made with the possibility of reinstallation them and fixing in a horizontal position after coupling the device with the vehicle for taking measurements in motion.

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