Large-range soil detection system for coarse cereal planting

Abstract

The invention provides a large-range soil detection system for coarse cereal planting, which comprises a monitoring terminal and at least one group of detection mechanisms provided with movable bases, and is characterized in that the monitoring terminal is internally provided with a soil moisture content monitoring system; each detection mechanism comprises a first driving motor, a lifting seat, a probe assembly, a satellite positioner and an image collector, the probe assembly is arranged on the lifting seat through a lifting rod, and an output shaft of the first driving motor is in transmission connection with the lifting seat; the movable base comprises a shell, a rack and symmetrically arranged driving wheels, the shell covers the rack, a storage battery, a wireless transmitter, a controller and the detection mechanism are arranged on the rack, and the storage battery is connected to the first driving motor, the detection mechanism, the wireless transmitter and each group of driving wheels; and the monitoring terminal is connected to each group of detection mechanisms through the wireless transmitter and is used for acquiring soil moisture content data of multiple regions.

Description

Technical Field

[0001] The present invention belongs to the technical field related to agricultural planting, and in particular, relates to a large-scale soil detection system for planting grains. Background Art

[0002] With the continuous development of science and technology, the level of agricultural science and technology has been further improved. In the current agricultural planting process, soil testing is a new technical means. The existing common soil testing systems mainly include soil moisture monitoring systems and agricultural four-condition detection equipment systems. These systems can provide comprehensive soil environmental information, help farmers make scientific decisions, and improve agricultural production efficiency and agricultural product quality.

[0003] Among them, the soil moisture monitoring system is a modern agricultural environment monitoring system that integrates data collection, transmission, processing and analysis. It monitors key parameters such as soil moisture, temperature, conductivity, pH value, etc. in real time through soil sensors placed at different depths in the field, and provides decision support such as irrigation plans and crop management recommendations. These data help farmers and researchers develop scientific planting plans, avoid the impact of extreme weather, monitor crop health, determine the best harvest time, and ensure crop quality and yield.

[0004] In terms of function and effect, fixed-point soil sensors can only detect soil detection data at fixed positions. When conducting large-scale soil detection, batches of fixed probes need to be set up at multiple points. In addition, due to the limitation of information transmission distance, the detectable soil range is limited. It is also necessary to manually move the detection points repeatedly, which places high professional requirements on operators and makes it difficult to achieve large-scale soil detection.

[0005] In order to solve the shortcomings of the above-mentioned existing solutions, it is necessary to provide soil testing equipment that is easy to move and more intelligent, so as to achieve rapid testing in different locations, and integrate the data with other environmental factors to provide more comprehensive and accurate testing information, and provide more favorable support for precision agriculture. Summary of the invention

[0006] The present invention proposes a new large-scale soil detection system for grain planting, which provides a soil moisture monitoring system as a basis, and can perform large-scale soil real-time detection by combining a mobile base, so as to flexibly and accurately detect a large-scale soil environment, reduce manpower input, and has a simple installation structure, a high degree of automation, and is easy to use.

[0007] In view of this, the present invention proposes a new large-scale soil detection system for coarse grain planting, comprising a monitoring terminal and at least one group of detection mechanisms provided with a mobile base, wherein a soil moisture monitoring system is provided inside the monitoring terminal, and each group of the detection mechanisms comprises a first drive motor, a lifting seat, a probe assembly, a satellite locator and an image collector, wherein the probe assembly is arranged on the lifting seat through a lifting rod, and the output shaft of the first drive motor is connected to the lifting seat through a driving transmission; the monitoring terminal is connected to each group of the detection mechanisms through the wireless transmitter, so as to obtain soil moisture data in multiple regions; The mobile base includes a shell, a frame and symmetrically arranged driving wheels, the shell cover is arranged on the frame, and the frame is provided with a battery, a wireless transmitter, a controller and the detection mechanism, the battery is connected to the No. 1 driving motor, the detection mechanism, the wireless transmitter and each group of driving wheels, wherein the battery can provide power supply for each device, and in the actual setting process, a solar panel is laid on the outside of the shell and connected to the battery to extend the working time of the battery.

[0008] In the above technical solution, in order to assist the mobile base to move according to the set route, a rotating pan-tilt platform is arranged on the mounting plate, and a camera, a lidar and an ultrasonic sensor are arranged on the rotating pan-tilt platform. The camera, the lidar and the ultrasonic sensor are all connected to the controller, wherein the lidar emits laser in real time and receives reflected signals to create a three-dimensional map of the surrounding environment. The camera captures the on-site image and uses computer vision technology for analysis. With the assistance of the ultrasonic sensor's measurement of short-distance obstacles and combined with the destination signal transmitted by the satellite locator, the mobile base is assisted to move stably and accurately to the destination received by the controller.

[0009] Moreover, in the above structure, a lifting seat driven by a No. 1 driving motor is arranged on the frame, and a lifting rod with a probe assembly at the end is inserted into the lifting seat to realize the purpose of automatically controlling the insertion and withdrawal of the probe assembly into and out of the soil surface, wherein the probe assembly is composed of a multi-stage electrode probe and a multi-stage temperature probe. The multi-stage electrode probe realizes soil moisture detection by insulating and nesting the motors at different depths, that is, it can measure the soil moisture at different depths, thereby providing more comprehensive soil moisture data; the multi-stage temperature probe is used to measure the soil temperature, make up for the temperature loss of the soil moisture data, and improve the accuracy of the data, and the multi-stage electrode probe and the multi-stage temperature probe are connected to the controller through lines for transmitting data, and the data acquisition module, data processing module and data analysis module in the controller are responsible for collecting and processing soil moisture and temperature data, and exchanging information with the server of the control terminal through a wireless transmitter.

[0010] Preferably, the large-scale soil detection system for grain planting further comprises at least one group of secondary monitoring terminals provided with a repeater, and each group of the detection mechanisms is communicatively connected to the monitoring terminal via any group of the secondary monitoring terminals.

[0011] In the above technical solution, each group of secondary monitoring terminals is used for wireless connection with the detection mechanism within the set range. Multiple groups of secondary monitoring terminals are arranged in a grid to cover multiple ranges of soil areas, and exchange information with the server of the highest-level control terminal through the gateway.

[0012] Preferably, the output shaft of the No. 1 driving motor is linked to the input shaft of the lifting seat through a transmission belt, and the interior of the lifting seat is provided with a star wheel and a vertical screw that engage with each other, and the star wheel is synchronously rotatably arranged on the input shaft, a through hole is arranged in the middle of the vertical screw, and an internal thread is arranged on the inner side wall of the through hole, the end of the lifting rod away from the probe assembly is inserted into the through hole, and an external thread that engages with the internal thread is arranged on the outer side wall of the lifting rod.

[0013] In the above technical scheme, the output shaft of the No. 1 driving motor and the input shaft of the lifting seat are synchronously driven through a transmission belt, and then the rotation of the input shaft of the lifting seat drives the star wheel to rotate. Since the star wheel transmission engages with the vertical screw, the vertical screw is driven to rotate through the star wheel. Since the internal thread of the inner wall of the through hole of the vertical screw engages with the lifting rod, the lifting rod is driven to rotate and lift. In order to prevent the rotation of the lifting rod from affecting the vertical insertion and withdrawal of the probe assembly, a bearing is provided at the connecting end of the probe assembly and the lifting rod. In the above structure, the purpose of driving the probe assembly to be inserted into and withdrawn from the soil by the No. 1 driving motor is effectively achieved.

[0014] Preferably, a vertical channel is provided in the middle of the lifting seat and is connected to the upper opening and the lower opening of the through hole. The top of the vertical screw is mounted in the upper opening through a rotating shaft, and the bottom of the vertical screw is mounted in the lower opening through a rotating shaft. A guide tube is extended upward from the top of the upper opening.

[0015] Preferably, a No. 1 guide hole is provided on the top of the shell, an auxiliary frame is provided above the guide hole, a No. 2 guide hole is provided on the top of the auxiliary frame, the lifting rod is inserted into the No. 2 guide hole and the No. 1 guide hole in sequence from top to bottom, and the inner side walls of the No. 1 guide hole and the No. 2 guide hole are both provided with the internal thread that engages with the external thread.

[0016] In the above technical solution, the guide tube and the auxiliary frame are used to assist the stable ascent and descent of the lifting rod.

[0017] Preferably, the frame includes a mounting plate and a mounting frame, the battery, the wireless transmitter, the controller, the No. 1 drive motor and the lifting seat are arranged on the mounting plate, the mounting frame is arranged at one end of the mounting plate, a collection window is arranged in the middle of the mounting frame, the image collector is mounted on the mounting frame, and the collection head of the image collector is suspended above the collection window.

[0018] In the above technical solution, an image collector is arranged on the mounting frame of the rack. The image collector is connected to the controller and can take real-time images of the soil in the pin insertion area. Combined with computer image recognition and data transmission, the soil humidity is obtained through image recognition and analysis. In addition, the captured image analysis is also used to analyze whether there are foreign objects in the soil in the pin insertion area, so as to effectively ensure the normal insertion of the probe assembly.

[0019] Preferably, any group of the driving wheels includes a support frame, a walking wheel body and a second driving motor, the walking wheel body is arranged at one end of the support frame, the other end of the support frame is arranged on the frame, and the second driving motor is arranged on the support frame.

[0020] Preferably, the support frame includes an end mounting joint, a buffer joint, a mud scraping assembly and an insertion joint, the buffer joint includes a telescopic rod and a compression spring, the compression spring is sleeved on the outside of the telescopic rod, one end of the buffer joint is provided with the end mounting joint, the bottom of the buffer joint passes through the mud scraping assembly and is provided with the insertion joint, the bottom of the insertion joint is provided with a bearing, the bearing is sleeved on the central axis, and the walking wheel body is provided at both ends of the central axis.

[0021] In the above technical solution, the buffer joint can provide elastic buffering during the walking process of the walking wheel body, reduce the vibration of the mobile base during the walking process, and the mud scraper assembly can effectively remove the mud stuck on the walking wheel body to ensure the normal operation of the driving wheel.

[0022] Preferably, the walking wheel body includes two groups of inclined side plates, and the two groups of inclined side plates are respectively mounted on both sides of the central axis. A mounting connecting rod is provided on the inner side of the mud scraper assembly, and the No. 2 driving motor is mounted on the mounting connecting rod. The output end of the No. 2 driving motor is drivingly connected with a transmission gear, and the transmission gear is coaxially arranged on the outer end of the central axis.

[0023] In the above technical solution, two sets of inclined side plates are arranged at both ends of the central axis, so that the walking wheel body forms a groove wheel structure, which is convenient for the mobile base to move in the field and is suitable for movement in different terrains with more crops.

[0024] Preferably, the mud scraper assembly comprises an arc-shaped scraper and two groups of side scrapers, the arc-shaped scraper cover is arranged on the top of the walking wheel body, and the two groups of side scrapers are respectively mounted on both sides of the walking wheel body.

[0025] Compared with the prior art, the advantages of the present invention are: (1) The detection mechanism is carried on a mobile base to dynamically obtain soil conditions at multiple points in a wide range. It is not affected by geographical and manpower allocation conditions and has a wide detection range. A single detection mechanism can collect and transmit point data in a circular area with a radius of more than 10 kilometers centered on the secondary monitoring terminal or monitoring terminal. (2) According to the actual detection needs, the detection points can be flexibly set, and the moving route and detection points of the detection mechanism can be remotely controlled, which improves the convenience and intelligence of operation; (3) The overall structure is simple and reasonable, and the driving is stable. It has few requirements on terrain and measurement range. It is convenient to use and easy to recall and repair; (4) Combining the probe assembly and the image collector, the soil moisture data at the detection point can be collected more accurately, forming a robust intelligent detection system to help growers improve their planting benefits; (5) While being able to achieve 24-hour automated monitoring, the detection points can be changed automatically and flexibly, reducing the workload of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It shows a schematic structural diagram of a large-scale soil detection system for grain planting according to an embodiment of the present invention; Figure 2 A schematic diagram of the assembly structure of a mounting frame according to an embodiment of the present invention is shown; Figure 3 A schematic diagram showing the use of a large-scale soil detection system for coarse grain planting according to an embodiment of the present invention is shown; Figure 4 A schematic diagram of the assembly structure of a lifting seat and a first driving motor according to an embodiment of the present invention is shown; Figure 5 A schematic diagram of the transmission structure of a star wheel and a vertical screw rod according to an embodiment of the present invention is shown; Figure 6 A schematic structural diagram of a driving wheel according to an embodiment of the present invention is shown; Figure 7 A schematic diagram of the assembly structure of the mounting connecting rod and the second driving motor according to an embodiment of the present invention is shown.

[0027] The names corresponding to the reference numerals in the accompanying drawings are: 101, monitoring terminal; 102, detection mechanism; 103, mobile base; 104, No. 1 driving motor; 105, lifting seat; 106, probe assembly; 107, satellite locator; 108, image collector; 109, lifting rod; 110, housing; 111, frame; 112, driving wheel; 113, battery; 114, wireless transmitter; 115, controller; 116, secondary monitoring terminal; 117 , transmission belt; 118, star wheel; 119, vertical screw; 120, guide tube; 121, auxiliary frame; 122, mounting plate; 123, mounting frame; 124, collection window; 125, No. 2 driving motor; 126, end mounting joint; 127, buffer joint; 128, insertion joint; 129, arc scraper; 130, side scraper; 131, inclined side plate; 132, mounting connecting rod; 133, transmission gear. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0031] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0032] In the description of the embodiments of the present invention, it should be noted that the indicated orientation or position relationship is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invented product is usually placed when in use, or the orientation or position relationship commonly understood by those skilled in the art, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention and the drawings in the embodiments can be understood according to specific circumstances, and the technical solutions in the embodiments of the present invention can be clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations.

[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0035] Embodiment 1: like Figures 1 to 3 As shown, a large-scale soil detection system for grain planting includes a monitoring terminal 101 and at least one detection mechanism 102 provided with a mobile base 103. The monitoring terminal 101 is provided with a soil moisture monitoring system. Figure 1 and Figure 2 As shown, each group of the detection mechanism 102 includes a No. 1 driving motor 104, a lifting seat 105, a probe assembly 106, a satellite locator 107 and an image collector 108. The probe assembly 106 is arranged on the lifting seat 105 through a lifting rod 109, and the output shaft of the No. 1 driving motor 104 is connected to the lifting seat 105 by driving; the monitoring terminal 101 is connected to each group of the detection mechanism 102 through the wireless transmitter 114, and is used to obtain soil moisture data in multiple regions; The mobile base 103 includes a shell 110, a frame 111 and symmetrically arranged driving wheels 112, the shell 110 is covered on the frame 111, and the frame 111 is provided with a battery 113, a wireless transmitter 114, a controller 115 and the detection mechanism 102, the battery 113 is connected to the No. 1 driving motor 104, the detection mechanism 102, the wireless transmitter 114 and each group of driving wheels 112, wherein the battery 113 can provide power supply for each device, and in the actual setting process, a solar panel is laid on the outside of the shell 110 and connected to the battery 113, so as to extend the working time of the battery 113.

[0036] Moreover, in the above structure, a lifting seat 105 driven by a No. 1 driving motor 104 is arranged on the frame 111, and a lifting rod 109 with a probe assembly 106 at the end is inserted into the lifting seat 105 to achieve the purpose of automatically controlling the probe assembly 106 to be inserted into and withdrawn from the soil surface, wherein the probe assembly 106 is composed of a multi-stage electrode probe and a multi-stage temperature probe (not shown in the figure), and the multi-stage electrode probe realizes soil moisture detection by insulating and nesting the motors at different depths, that is, it can measure the soil moisture at different depths, thereby providing more comprehensive soil moisture data; the multi-stage temperature probe is used to measure the soil temperature, make up for the temperature loss of the soil moisture data, and improve the accuracy of the data, and the multi-stage electrode probe and the multi-stage temperature probe are connected to the controller 115 through a line for transmitting data, and the data acquisition module, data processing module and data analysis module (not shown in the figure) in the controller 115 are responsible for collecting and processing soil moisture and temperature data, and exchanging information with the server of the control terminal through the wireless transmitter 114.

[0037] In the above embodiment, after the mobile base 103 runs to the detection point, the No. 1 driving motor 104 drives the lifting rod 109 to move downward until the probe assembly 106 is inserted into the soil. In this operation, a pressure sensor (not shown in the figure) is provided at the mounting end of the probe assembly 106. After the detection end of the probe assembly 106 is inserted into the soil, until the pressure sensor detects a pressure signal and transmits the pressure signal back to the controller 115, the No. 1 driving motor 104 is triggered to stop running, and the automatic insertion of the probe assembly 106 is completed. The soil moisture monitoring system is started and starts to detect the soil moisture data of the current detection point 24 hours a day and exchange information.

[0038] During the above detection process, the laser radar and ultrasonic sensor for assisting walking are in a dormant state (not shown in the figure) to reduce energy consumption; the camera is always on to collect environmental data of the detection mechanism 102 in real time to ensure the safe operation of the detection mechanism 102.

[0039] After the controller 115 receives the information of changing the detection point sent by the monitoring terminal 101, it triggers the No. 1 drive motor 104 to start reverse operation, driving the lifting rod 109 to rise until the probe assembly 106 reaches the initial height, and then triggers the controller 115 to control the movement of the mobile base 103 according to the preset route.

[0040] During the operation of the mobile base 103, in order to assist the mobile base 103 to move along the set route, a rotating pan-tilt platform is arranged on the mounting plate 122, and a camera, a laser radar and an ultrasonic sensor (not shown in the figure) are arranged on the rotating pan-tilt platform. The camera, the laser radar and the ultrasonic sensor are all connected to the controller 115, wherein the laser radar emits laser in real time and receives reflected signals to create a three-dimensional map of the surrounding environment, and the camera captures the on-site image and uses computer vision technology to analyze it, and with the assistance of the ultrasonic sensor's measurement of short-distance obstacles, combined with the destination signal transmitted by the satellite locator 107, the mobile base 103 is assisted to move stably and accurately to the destination received by the controller 115.

[0041] Embodiment 2: In combination with the above embodiments, Figure 3 As shown, the large-scale soil detection system for grain cultivation also includes at least one group of secondary monitoring terminals 116 provided with a repeater, and each group of the detection mechanism 102 is communicatively connected to the monitoring terminal 101 through any group of the secondary monitoring terminals 116, wherein each group of the secondary monitoring terminals 116 is used for wireless connection with the detection mechanism 102 within a set range, and multiple groups of the secondary monitoring terminals 116 are in a grid shape covering multiple ranges of soil areas, and exchange information with the server of the highest-level control terminal through a gateway.

[0042] Embodiment three: In combination with the above embodiments, Figure 4 and Figure 5 As shown, the output shaft of the No. 1 driving motor 104 is linked to the input shaft of the lifting seat 105 through a transmission belt 117, and the interior of the lifting seat 105 is provided with a star wheel 118 and a vertical screw 119 that mesh with each other, and the star wheel 118 is synchronously rotatably arranged on the input shaft, and a through hole is arranged in the middle of the vertical screw 119, and an internal thread is arranged on the inner wall of the through hole, and the end of the lifting rod 109 away from the probe assembly 106 is inserted into the through hole, and an external thread that meshes with the internal thread is arranged on the outer wall of the lifting rod 109.

[0043] In the above embodiment, the output shaft of the No. 1 driving motor 104 and the input shaft of the lifting seat 105 are synchronously driven through the transmission belt 117, and then the rotation of the input shaft of the lifting seat 105 drives the star wheel 118 to rotate. Since the star wheel 118 is engaged with the vertical screw 119, the vertical screw 119 is driven to rotate through the star wheel 118. Since the internal thread of the inner wall of the through hole of the vertical screw 119 is engaged with the lifting rod 109, the lifting rod 109 is driven to rotate and lift. In order to prevent the rotation of the lifting rod 109 from affecting the vertical insertion and withdrawal of the probe assembly 106, a bearing is provided at the connecting end of the probe assembly 106 and the lifting rod 109; in the above structure, the purpose of driving the probe assembly 106 to be inserted into and withdrawn from the soil by the No. 1 driving motor 104 is effectively achieved.

[0044] like Figure 5 As shown, a vertical channel is provided in the middle of the lifting seat 105 and is connected to the upper opening and the lower opening of the through hole. The top of the vertical screw rod 119 is mounted in the upper opening through a rotating shaft, and the bottom of the vertical screw rod 119 is mounted in the lower opening through a rotating shaft. A guide tube 120 is extended upward from the top of the upper opening. In order to ensure the stable rise and fall of the lifting rod 109, Figure 1 As shown, a No. 1 guide hole is provided on the top of the shell 110, an auxiliary frame 121 is provided above the guide hole, a No. 2 guide hole is provided on the top of the auxiliary frame 121, and the lifting rod 109 is inserted into the No. 2 guide hole and the No. 1 guide hole in sequence from top to bottom, and the inner side walls of the No. 1 guide hole and the No. 2 guide hole are both provided with the internal thread that engages with the external thread.

[0045] Embodiment 4: In combination with the above embodiments, Figure 2 As shown, the frame 111 includes a mounting plate 122 and a mounting frame 123, the mounting plate 122 is provided with the battery 113, the wireless transmitter 114, the controller 115, the No. 1 drive motor 104 and the lifting seat 105, the mounting frame 123 is arranged at one end of the mounting plate 122, a collection window 124 is arranged in the middle of the mounting frame 123, the image collector 108 is mounted on the mounting frame 123, and the collection head of the image collector 108 is suspended above the collection window 124.

[0046] In the above embodiment, an image collector 108 is provided on the mounting frame 123 of the rack 111. The image collector 108 is connected to the controller 115 and can take a real-time picture of the soil in the pin insertion area. By combining computer image recognition and data transmission, the soil moisture is obtained through image recognition and analysis. In addition, the image analysis is also used to analyze whether there are foreign objects in the soil in the pin insertion area, so as to effectively ensure the normal insertion of the probe assembly 106. The specific image collector 108 can collect grayscale images of the soil surface at preset detection points in real time. In order to ensure the accuracy of the collection, images of the same type of soil to be tested are collected in advance and grayscale processing is performed to calculate the average grayscale value of the image of the soil to be tested. The moisture information of the same type of soil to be tested is then detected, and the humidity information and the average grayscale value are correlated to form a data model, which is constructed on the control terminal so that comparison data can be retrieved in real time to assist in confirming the moisture value of the soil actually detected. In addition, the real-time captured images are transmitted to the control terminal for the convenience of the staff to remotely confirm the safety of the insertion environment of the probe assembly 106.

[0047] Embodiment 4: In combination with the above embodiments, Figure 6 As shown, any group of the driving wheels 112 includes a support frame, a walking wheel body and a second driving motor 125, the walking wheel body is arranged at one end of the support frame, the other end of the support frame is arranged on the frame 111, and the second driving motor 125 is arranged on the support frame.

[0048] Specifically, the support frame includes an end mounting joint 126, a buffer joint 127, a mud scraping assembly and an insertion joint 128. Figure 1 and Figure 6 As shown, the buffer joint 127 includes a telescopic rod and a compression spring, the compression spring is sleeved on the outside of the telescopic rod, one end of the buffer joint 127 is provided with the end mounting joint 126, the bottom of the buffer joint 127 penetrates the mud scraping assembly and is provided with the insertion joint 128, the bottom of the insertion joint 128 is provided with a bearing (not shown in the figure), the bearing is sleeved on the central shaft, and the two ends of the central shaft are provided with the walking wheel body; The mud scraper assembly includes an arc scraper 129 and two groups of side scrapers 130, wherein the arc scraper 129 is covered on the top of the walking wheel body, and the two groups of side scrapers 130 are respectively mounted on both sides of the walking wheel body. The buffer joint 127 in the above embodiment can provide elastic buffering during the walking of the walking wheel body, reduce the vibration of the mobile base 103 during the walking process, and the mud scraper assembly can effectively remove the mud stuck on the walking wheel body to ensure the normal operation of the driving wheel 112.

[0049] In the actual manufacturing process, in order to be suitable for the movement of a wide range of cultivated soil, the walking wheel body includes two sets of inclined side plates 131, and the two sets of inclined side plates 131 are respectively mounted on both sides of the central axis. The inner side of the scraper assembly is provided with a mounting connecting rod 132, such as Figure 6 and Figure 7 As shown, the No. 2 driving motor 125 is mounted on the mounting connecting rod 132, and the output end of the No. 2 driving motor 125 is drivingly connected to the driving gear 133, and the driving gear 133 is coaxially arranged at the outer end of the central axis, and two sets of inclined side plates 131 are arranged at both ends of the central axis, so that the walking wheel body forms a groove wheel structure, which is convenient for the mobile base 103 to walk in the field, and is suitable for movement in different terrains with more crops.

[0050] The technical scheme of the present invention is described in detail above in conjunction with the accompanying drawings. The technical scheme of the present invention proposes a new large-scale soil detection system for coarse grain planting, which adopts a mobile base to carry the detection mechanism to realize dynamic acquisition of a large range of soil conditions at multiple points, is not affected by geographical and manpower allocation conditions, has a wide detection range, and is equipped with multi-level data coverage and transmission. It is convenient to use and also convenient for recall and maintenance. It has a high degree of convenience and intelligence, a simple and reasonable overall structure, and stable driving. It can realize 24-hour all-weather automatic monitoring while automatically and flexibly changing the detection points, reducing the workload of personnel, so as to more comprehensively help growers improve planting efficiency.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A large-scale soil detection system for grain planting, comprising a monitoring terminal (101), wherein a soil moisture monitoring system is arranged inside the monitoring terminal (101), characterized in that: It also includes at least one group of detection mechanisms (102) provided with a mobile base (103), each group of the detection mechanisms (102) includes a first drive motor (104), a lifting seat (105), a probe assembly (106), a satellite locator (107) and an image collector (108), the probe assembly (106) is arranged on the lifting seat (105) through a lifting rod (109), and the output shaft of the first drive motor (104) is drivingly connected to the lifting seat (105); The mobile base (103) comprises a housing (110), a frame (111) and symmetrically arranged driving wheels (112); the housing (110) is covered on the frame (111); a storage battery (113), a wireless transmitter (114), a controller (115) and the detection mechanism (102) are arranged on the frame (111); the storage battery (113) is connected to the first driving motor (104), the detection mechanism (102), the wireless transmitter (114) and each group of driving wheels (112); The monitoring terminal (101) is connected to each group of the detection mechanisms (102) via the wireless transmitter (114) to obtain soil moisture data in multiple regions.

2. The large-scale soil detection system for grain planting according to claim 1 is characterized in that: It also includes at least one group of secondary monitoring terminals (116) provided with a repeater, and each group of the detection mechanisms (102) is communicatively connected to the monitoring terminal (101) via any group of the secondary monitoring terminals (116).

3. The large-scale soil detection system for grain planting according to any one of claims 1 or 2, characterized in that: The output shaft of the No. 1 driving motor (104) is linked to the input shaft of the lifting seat (105) through a transmission belt (117); the interior of the lifting seat (105) is provided with a star wheel (118) and a vertical screw (119) that engage with each other; the star wheel (118) is synchronously rotatably arranged on the input shaft; a through hole is arranged in the middle of the vertical screw (119); an inner wall of the through hole is provided with an internal thread; the end of the lifting rod (109) away from the probe assembly (106) is inserted into the through hole; an outer wall of the lifting rod (109) is provided with an external thread that engages with the internal thread.

4. The large-scale soil detection system for grain planting according to claim 3 is characterized in that: A vertical channel is provided in the middle of the lifting seat (105) and is connected to the upper opening and the lower opening of the through hole. The top of the vertical screw rod (119) is mounted in the upper opening via a rotating shaft, and the bottom of the vertical screw rod (119) is mounted in the lower opening via a rotating shaft. A guide tube (120) is extended upward from the top of the upper opening.

5. The large-scale soil detection system for grain planting according to claim 4 is characterized in that: A No. 1 guide hole is provided at the top of the shell (110), an auxiliary frame (121) is provided above the guide hole, a No. 2 guide hole is provided at the top of the auxiliary frame (121), the lifting rod (109) is inserted into the No. 2 guide hole and the No. 1 guide hole in sequence from top to bottom, and the inner side walls of the No. 1 guide hole and the No. 2 guide hole are both provided with the internal thread that engages with the external thread.

6. The large-scale soil detection system for grain planting according to any one of claims 1 or 2, characterized in that: The frame (111) comprises a mounting plate (122) and a mounting frame (123); the storage battery (113), the wireless transmitter (114), the controller (115), the first drive motor (104) and the lifting seat (105) are arranged on the mounting plate (122); the mounting frame (123) is arranged at one end of the mounting plate (122); a collection window (124) is arranged in the middle of the mounting frame (123); the image collector (108) is mounted on the mounting frame (123); and a collection head of the image collector (108) is suspended above the collection window (124).

7. The large-scale soil detection system for grain planting according to any one of claims 1 or 2, characterized in that: Any group of the driving wheels (112) comprises a support frame, a walking wheel body and a second driving motor (125); the walking wheel body is arranged at one end of the support frame, the other end of the support frame is arranged on the frame (111), and the second driving motor (125) is arranged on the support frame.

8. The large-scale soil detection system for grain planting according to claim 7, characterized in that: The support frame comprises an end mounting joint (126), a buffer joint (127), a mud scraping assembly and an insertion joint (128); the buffer joint (127) comprises a telescopic rod and a compression spring; the compression spring is sleeved on the outside of the telescopic rod; one end of the buffer joint (127) is provided with the end mounting joint (126); the bottom of the buffer joint (127) passes through the mud scraping assembly and is provided with the insertion joint (128); a bearing is provided at the bottom of the insertion joint (128); the bearing is sleeved on a central shaft; and the two ends of the central shaft are provided with the walking wheel body.

9. The large-scale soil detection system for grain planting according to claim 8, characterized in that: The walking wheel body comprises two groups of inclined side plates (131), the two groups of inclined side plates (131) are respectively mounted on both sides of the central axis, a mounting connecting rod (132) is arranged on the inner side of the scraper assembly, the second driving motor (125) is mounted on the mounting connecting rod (132), the output end of the second driving motor (125) is drivingly connected to a transmission gear (133), and the transmission gear (133) is coaxially arranged on the outer end of the central axis.

10. The large-scale soil detection system for grain planting according to any one of claims 8 or 9, characterized in that: The mud scraping assembly comprises an arc-shaped scraper (129) and two groups of side scrapers (130), wherein the arc-shaped scraper (129) is covered on the top of the walking wheel body, and the two groups of side scrapers (130) are respectively mounted on both sides of the walking wheel body.

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