A device and method for real-time detection of the hardness of ploughed soil

Abstract

A kind of farmland soil hardness real-time detection device and detection method, it includes laser ranging sensor, inclination sensor, Beidou satellite template, baffle, four-bar linkage mechanism, soil disc assembly, beam, U type card, counterweight area and beam frame, soil disc assembly is connected with counterweight area, soil disc assembly top is equipped with baffle, soil disc assembly is connected with beam frame by four-bar linkage structure, beam frame one side installs beam, beam is equipped with U type card, beam frame top is equipped with laser ranging sensor, inclination sensor and Beidou satellite template.This farmland soil hardness real-time detection device and detection method combines agricultural machinery ridging, sowing, fertilizing, cultivation and other operations, utilizes the data received by vehicle-mounted computer software system to measure, so that sensor accurately measures the depth of cutting soil disc pressed into soil, to achieve the purpose of detecting soil hardness, reflects the related information such as farmland soil plough layer thickness, soil fertility, improves the detection efficiency of soil hardness.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment technology, specifically to a real-time soil hardness detection device and method for cultivated land. Background Technology

[0002] Soil hardness, also known as soil firmness, refers to the resistance (or fracture resistance) that occurs when soil is broken or split. Soil hardness is a comprehensive reflection of soil particle composition, porosity, bulk density, and water content. The greater the soil hardness, the greater the resistance to breaking the soil, which also prevents water infiltration, reduces fertilizer utilization, and affects plant root growth.

[0003] While agricultural mechanization has improved agricultural productivity, enhanced operational quality, and boosted agricultural production and income, it has also brought about increasingly serious soil compaction problems, becoming a significant factor affecting arable land productivity. Soil compaction is the process by which pressure on the soil surface reduces soil porosity and causes soil particles to become more compacted, leading to increased soil hardness and bulk density. Soil compaction affects crop root growth and development, reduces nutrient absorption and water use capacity, and ultimately impacts crop yield. Simultaneously, soil compaction reduces water retention capacity, decreases non-capillary porosity, causing surface runoff, soil erosion, nutrient loss, and reduced productivity, directly threatening agricultural production and food security. With the development of smart agriculture, there is a need to test the soil hardness of farmland.

[0004] The internationally accepted quantitative description of soil hardness is the Cone Index (CI), defined as the soil resistance per unit area at the tip of a cone as it penetrates the soil, expressed in N / m², kPa, MPa, PSI, etc. Currently, the conventional instrument for measuring soil hardness is called a soil hardness meter, which mainly consists of a probe (conical or cylindrical in shape), a spring, a support, and a scale (or sensor). It is a fixed-point detection method and cannot be used for real-time online continuous detection. At the farmland scale, the vehicle-mounted, mobile real-time soil hardness detection device and method of this invention, compared to fixed-point methods, has significant advantages such as high sampling density, high reliability, and intelligent detection. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a real-time detection device and method for arable land soil hardness, which solves the problems of existing related instruments not being able to measure continuously and the high labor intensity of manual field measurement.

[0006] To address the problems existing in the background technology, the present invention adopts the following technical solution: including a laser ranging sensor, an tilt sensor, a Beidou satellite module, a baffle, a four-bar linkage, a soil plate assembly, a beam, a U-shaped clamp, a counterweight area, and a beam frame. The soil plate assembly is connected to the counterweight area, and a baffle is provided on the top of the soil plate assembly. The soil plate assembly is connected to the beam frame through a four-bar linkage. A beam is installed on one side of the beam frame, and a U-shaped clamp is provided on the beam. The top of the beam frame is provided with a laser ranging sensor, a tilt sensor, and a Beidou satellite module.

[0007] The beam frame is fixedly connected to the tractor suspension traction beam by U-shaped clips.

[0008] The four-bar linkage is connected to the beam frame by bolts.

[0009] The soil cutting disc assembly includes a cutting disc and an axle. The cutting disc and the axle are connected by bolts, and the axle is connected to the counterweight area and the four-bar linkage, respectively.

[0010] The baffle is used in conjunction with a laser rangefinder sensor.

[0011] The counterweight zone is connected to a four-bar linkage mechanism to increase the counterweight when the soil is hard, thereby increasing the penetration depth of the cutting disc.

[0012] The detection method is as follows:

[0013] 1) The tractor's suspension traction beam is fixedly connected to the beam frame of this device using U-shaped clips. This device is suspended and towed by the tractor in the field.

[0014] 2) The four-bar linkage connected to the beam frame automatically conforms to the ground shape;

[0015] 3) Obtain the real-time distance between the laser rangefinder sensor installed on the beam and the baffle. A decrease in this distance indicates an increase in soil hardness, while an increase in the distance indicates a decrease in soil hardness.

[0016] 4) The real-time magnitude of the horizontal tilt angle of the beam frame is obtained using an inclination sensor, which is used to calibrate the influence of farmland slope on the distance between the laser rangefinder and the baffle.

[0017] 5) Use the BeiDou satellite module to obtain the real-time location information of the soil hardness testing device in the field;

[0018] 6) Based on the real-time distance between the laser rangefinder and the baffle and the inclination angle of the beam, determine the real-time soil hardness information;

[0019] 7) Use the software system to record the location information and soil hardness information, and obtain the soil hardness distribution map of the cultivated land through the difference method.

[0020] The beneficial effects of this invention are: it provides a real-time detection device and method for arable land soil hardness. It can be integrated with agricultural machinery operations such as ridging, sowing, fertilizing, and cultivating. Utilizing an onboard computer software system to receive measurement data, the sensor accurately measures the depth to which the cutting disc penetrates the soil, thereby achieving the purpose of detecting soil hardness. It can reflect relevant information such as the thickness of the topsoil layer and soil fertility, improving the efficiency of soil hardness detection and achieving the goal of accurate, fast, and real-time detection.

[0021] Since conventional soil hardness testing devices can only be used for testing at a specific location and cannot provide real-time data feedback, this invention can greatly improve testing efficiency. By using tractor-based field machinery to generate big data on farmland soil hardness, and applying BeiDou global satellite navigation and positioning system and geographic information system technology, a farmland soil hardness distribution map can be generated, providing agricultural production decision-making information for smart agricultural production. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2 This is a flowchart of the detection process of the present invention. Detailed Implementation

[0024] Referring to the figures, the present invention specifically adopts the following implementation: It includes a laser rangefinder 1, an inclination sensor 2, a Beidou satellite module 3, a baffle 4, a four-bar linkage 5, a soil plate assembly 6, a beam 7, a U-shaped clamp 8, a counterweight area 9, and a beam frame 10. The soil plate assembly 6 is connected to the counterweight area 9. The baffle 4 is provided on the top of the soil plate assembly 6. The soil plate assembly 6 is connected to the beam frame 10 via the four-bar linkage 5. The beam 7 is installed on one side of the beam frame 10, and the U-shaped clamp 8 is provided on the beam 7. The laser rangefinder 1, the inclination sensor 2, and the Beidou satellite module 3 are provided on the top of the beam frame 10. The beam frame 10 is fixedly connected to the tractor suspension traction beam via the U-shaped clamp 8. The four-bar linkage 5 is bolted to the beam frame 10. The soil plate assembly 6 includes a cutting disc and an axle. The cutting disc and the axle are bolted together, and the axle is connected to the counterweight area 9 and the four-bar linkage 5 respectively. The baffle 4 is used in conjunction with the laser rangefinder 1. The counterweight zone 9 is connected to the four-bar linkage 5 and is used to increase the counterweight when the soil is hard, thereby increasing the penetration depth of the cutting disc.

[0025] The detection method is as follows:

[0026] 1) The tractor's suspension traction beam is fixedly connected to the beam frame 10 of this device via U-shaped clips 8. This device is suspended and towed by the tractor in the field.

[0027] 2) The four-bar linkage 5 connected to the beam frame 10 automatically conforms to the shape on the ground;

[0028] 3) Obtain the real-time distance between the laser range sensor 1 installed on the beam frame 10 and the baffle 4. A decrease in this distance indicates an increase in soil hardness, while an increase in the distance indicates a decrease in soil hardness.

[0029] 4) The tilt sensor 2 is used to obtain the real-time magnitude of the horizontal tilt angle of the beam frame 10, which is used to calibrate the influence of the farmland slope on the distance between the laser rangefinder sensor 1 and the baffle 4;

[0030] 5) Use the Beidou satellite module 3 to obtain the real-time location information of the soil hardness detection device in the field;

[0031] 6) Based on the real-time distance between the laser rangefinder 1 and the baffle 4 and the inclination angle of the beam frame 10, determine the real-time soil hardness information;

[0032] 7) Record the location information and soil hardness information using the software system, and obtain a soil hardness distribution map of the cultivated land using the difference method.

[0033] With the development of smart agriculture in my country, the requirements for the speed and accuracy of measurement data are becoming increasingly stringent, and intelligent data collection based on agricultural information is the foundation of modern smart agriculture. Currently, there are three main methods for measuring the mechanical and physical hardness characteristics of soil: traditional field sampling, which involves manual collection of soil samples from farmland, followed by transport to a laboratory for analysis using testing equipment. This method disturbs the original soil structure during sampling, affecting the final test results, and is time-consuming and labor-intensive when sampling a large number of samples; in-situ field measurement, which often involves manual measurement using handheld soil measuring devices. This method is limited by the limited functionality and complexity of the equipment, and also has limitations; and intelligent agricultural information acquisition, which uses agricultural machinery equipped with sensors and related measuring instruments to automatically collect farmland information. This intelligent measurement method saves time and labor costs.

[0034] Based on a systematic analysis of the research progress of agricultural machinery and soil mechanical physical properties and micro-topography measurement technology at home and abroad, this paper proposes a real-time detection device and method for arable land soil hardness to address the problems of existing related instruments not being able to perform continuous measurements and the high labor intensity of manual field measurements.

[0035] This invention provides a real-time detection device and method for farmland soil hardness. The detection device includes a laser rangefinder, an inclination sensor, a BeiDou navigation and positioning module, a recording software system, a beam frame, a four-bar linkage, a cutting disc, and a counterweight area. The laser rangefinder, inclination sensor, and BeiDou navigation and positioning module are fixed on the beam frame, which is connected to each other by the four-bar linkage. The four-bar linkage is connected to each beam frame via shafts. The detection device is suspended and towed by a tractor in the field. The four-bar linkage is used for automatic ground contouring. The laser rangefinder is used to detect the change in the depth of the cutting disc's penetration into the soil due to changes in soil hardness. The inclination sensor is used to calibrate the effect of terrain slope. The BeiDou navigation and positioning module is used to determine the location of soil hardness detection points in real time. The software system is used to record detection data in real time and generate a farmland soil hardness distribution map.

[0036] The present invention aims to develop a reasonable and convenient agricultural soil hardness and micro-topography measuring device. This device can quickly and accurately measure soil hardness characteristics and micro-topography in rugged or complex farmland conditions, while reducing the labor intensity of traditional measurement operations while ensuring the accuracy of soil hardness characteristics and micro-topography measurements.

[0037] In related technologies, methods for measuring soil hardness include manually holding both ends of the measuring instrument handle, then evenly inserting the cone at the bottom of the measuring instrument into the soil, measuring the feedback pressure of the cone connecting rod, thereby obtaining the soil hardness within the soil tillage layer; or installing the soil parameter measuring instrument on a trolley to achieve automated measurement of soil parameters.

[0038] The soil hardness detection device and measurement method described above have a certain lag in the collected soil hardness information, which cannot provide real-time parameter information for agricultural machinery operations, thus hindering intelligent control and precision operation of agricultural machinery.

[0039] To address the aforementioned problems, the present invention provides a soil hardness testing device 1, such as... Figure 1 As shown, the soil hardness testing device includes: 1. a laser rangefinder sensor; 2. an inclination sensor; 3. a Beidou satellite module; 4. a baffle; 5. a four-bar linkage; 6. a cutting disc; 7. a beam; 8. a U-shaped clamp; and 9. a counterweight area. The laser rangefinder sensor 1, the inclination sensor 2, and the Beidou navigation and positioning module 3 are fixed on the beam frame 10. The four-bar linkage 5 is connected to the beam frame 10 via a shaft.

[0040] The device is equipped with a four-bar linkage on the frame for automatic ground contouring;

[0041] The device is equipped with a laser rangefinder to detect the change in the depth of the cutting disc as soil hardness changes.

[0042] The device is equipped with a tilt sensor, which is used to measure the slope of the farmland in the real-time forward direction and to calibrate the effect of the farmland slope on the distance between the laser rangefinder and the baffle.

[0043] The device is equipped with a Beidou navigation and positioning module to determine the location of soil hardness testing points in real time;

[0044] The device is equipped with a counterweight area, which can adjust the soil cutting disc's entry pressure according to the soil hardness, making it convenient to test soils of different hardness.

[0045] The device is equipped with a software system for real-time recording of detection data and generation of farmland soil hardness distribution maps. It records and provides feedback at one point every second, which can not only accurately detect the required measurement points, but also collect data over a large area. By using the difference, a farmland soil hardness distribution map can be created.

[0046] This invention belongs to the field of agricultural equipment technology, specifically relating to a real-time detection device and measurement method for the firmness of cultivated land soil, including a soil hardness detection device, which includes a laser rangefinder, an inclination sensor, a Beidou navigation and positioning module, a software system, a beam frame, a four-bar linkage, a cutting disc, a baffle, and a counterweight area.

[0047] Measurement Principle Analysis: A laser rangefinder is used to detect the depth of the cutting disc embedded in the soil under fixed pressure. The depth of the cutting disc varies with soil hardness. The depth of the cutting disc is obtained by acquiring the real-time distance between the laser rangefinder installed on the beam and the baffle. A decrease in this distance indicates that the cutting disc is embedded shallower and the soil hardness is increased; an increase in this distance indicates that the cutting disc is embedded deeper and the soil hardness is decreased.

[0048] The tilt sensor is used to measure the slope of the farmland in the real-time forward direction, and to calibrate the effect of the farmland slope on the distance between the laser rangefinder and the baffle. The distance decreases when working uphill and increases when working downhill.

[0049] In summary, this real-time soil hardness detection device and method can be integrated with agricultural machinery operations such as ridging, sowing, fertilizing, and cultivating. By utilizing onboard computer software systems to receive measurement data, the sensors accurately measure the depth of the cutting disc pressed into the soil, thereby achieving the purpose of detecting soil hardness. It can reflect relevant information such as the thickness of the topsoil layer and soil fertility, improving the efficiency of soil hardness detection and achieving the goal of accurate, fast, and real-time detection.

[0050] Since conventional soil hardness testing devices can only be used for testing at a specific location and cannot provide real-time data feedback, this invention can greatly improve testing efficiency. By using tractor-based field machinery to generate big data on farmland soil hardness, and applying BeiDou global satellite navigation and positioning system and geographic information system technology, a farmland soil hardness distribution map can be generated, providing agricultural production decision-making information for smart agricultural production.

Claims

1. A real-time soil hardness detection device for arable land, characterized in that: The system includes a laser rangefinder (1), an inclination sensor (2), a Beidou satellite module (3), a baffle (4), a four-bar linkage (5), a soil plate assembly (6), a beam (7), a U-shaped clamp (8), a counterweight area (9), and a beam frame (10). The soil plate assembly (6) is connected to the counterweight area (9). The top of the soil plate assembly (6) is equipped with a baffle (4). The soil plate assembly (6) is connected to the beam frame (10) through the four-bar linkage (5). A beam (7) is installed on one side of the beam frame (10). A U-shaped clamp (8) is provided on the beam (7). The top of the beam frame (10) is equipped with a laser rangefinder (1), an inclination sensor (2), and a Beidou satellite module (3). The baffle (4) is used in conjunction with the laser rangefinder (1).

2. The real-time soil hardness detection device for cultivated land according to claim 1, characterized in that: The beam frame (10) is fixedly connected to the tractor suspension traction beam by a U-shaped clip (8).

3. The real-time soil hardness detection device for cultivated land according to claim 1, characterized in that: The four-bar linkage (5) is connected to the beam frame (10) by bolts.

4. The real-time soil hardness detection device for cultivated land according to claim 1, characterized in that: The soil cutting disc assembly (6) includes a cutting disc and a wheel axle. The cutting disc and the wheel axle are connected by bolts. The wheel axle is connected to the counterweight area (9) and the four-bar linkage (5) respectively.

5. A real-time soil hardness detection device for cultivated land according to claim 1 or 4, characterized in that: The counterweight area (9) is connected to the four-bar linkage (5) to increase the counterweight when the soil is hard, thereby increasing the depth of the cutting disc into the soil.

6. A detection method for a real-time soil hardness detection device according to claim 1, characterized in that: The detection method is as follows: 1) The tractor's suspension traction beam is fixedly connected to the beam frame (10) of this device via U-shaped clips (8). This device is suspended and pulled by the tractor in the field. 2) The four-bar linkage (5) connected to the beam frame (10) automatically conforms to the shape on the ground; 3) Obtain the real-time distance between the laser range sensor (1) installed on the beam frame (10) and the baffle (4). A decrease in this distance indicates an increase in soil hardness, while an increase in the distance indicates a decrease in soil hardness. 4) The tilt sensor (2) is used to obtain the real-time magnitude of the horizontal tilt angle of the beam frame (10) to calibrate the influence of the farmland slope on the distance between the laser range sensor (1) and the baffle (4); 5) Use the Beidou satellite module (3) to obtain the real-time location information of the soil hardness detection device in the field; 6) Based on the real-time distance between the laser rangefinder (1) and the baffle (4) and the tilt angle of the beam frame (10), determine the real-time soil hardness information; 7) Use the software system to record the location information and soil hardness information, and obtain the soil hardness distribution map of the cultivated land through the difference method.

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