A farmland soil sampling and detection system

Abstract

The present invention relates to the technical field of soil sampling and detection, and in particular to a farmland soil sampling and detection system. The present invention sets a vehicle body, a collection module, a soil condition analysis module and a sampling control module, determines through a screening unit whether a plot where the current vehicle body is located is screened as a soil particle size heterogeneous plot, determines through a feature aggregation unit the heterogeneity category of the soil particle size heterogeneous plot, and adjusts the sampling method of a sampling mechanism based on the heterogeneity category through the sampling control module, including controlling the vehicle body to move to an auxiliary sampling point and using the sampling mechanism to collect soil samples at the auxiliary sampling point, or controlling the sampling mechanism to collect soil samples at different sampling depths, thereby achieving classification and analysis of soil particle size stratification according to characteristic manifestations that are likely to cause dust due to differences in soil particle size stratification, and adjusting the soil sampling strategy in a targeted manner, thereby improving the scene applicability of farmland soil detection.

Description

Technical Field

[0001] The present invention relates to the technical field of soil sampling and detection, and in particular to a farmland soil sampling and detection system. Background Art

[0002] Soil testing technology provides important data support in many fields such as agricultural production, environmental protection, land planning and scientific research. With the development of agricultural modernization, accurate detection and scientific management of farmland soil quality have become increasingly important. The properties of farmland soil are complex and diverse, and its particle size distribution has a key impact on soil fertility, water retention, air permeability and many other aspects. Traditional farmland soil sampling and testing methods are often relatively extensive, which may lead to errors in the analysis and evaluation of farmland soil, making it difficult to formulate accurate soil improvement and farmland management plans. In order to improve the accuracy and pertinence of farmland soil testing, it is necessary to develop a farmland soil sampling and testing system that can perform intelligent sampling based on soil particle size differences to provide a scientific basis for agricultural production.

[0003] For example, Chinese patent application number: CN113933092A, the invention discloses a comprehensive detection method for middle and lower soil layers and a detection system thereof, which collects the middle and lower soil layers of multiple sampling points at a sampling point; crushes and sieves the collected soil samples to remove foreign matter in the soil samples; stores the collected soil samples at low temperatures, and collects easily decomposed or volatile unstable components in the soil samples at the same time; air-dries and grinds the soil samples to obtain fine-grained soil sample particles; adds the refined soil sample particles to the extraction solution in small amounts one by one, and stirs the soil sample particles and the extraction solution to fully mix them, so as to pre-treat the soil samples at the detected location. The overall process is efficient and fast, reduces damage to soil components, and improves extraction efficiency.

[0004] The prior art still has the following problems:

[0005] The existing technology does not take into account the impact of differences in soil particle size distribution uniformity in different farmland plots on soil and water conservation capacity. The existing technology cannot classify and analyze soil particle size stratification based on the characteristic manifestations of dust that is easily caused by differences in soil particle size stratification, and cannot adjust the soil sampling strategy in a targeted manner, affecting the scenario applicability of farmland soil testing. Summary of the invention

[0006] To this end, the present invention provides a farmland soil sampling and detection system to overcome the problems of the prior art that the soil particle size stratification differences are prone to cause dust characteristics and the soil sampling strategy cannot be adjusted in a targeted manner.

[0007] To achieve the above object, the present invention provides a farmland soil sampling and detection system, comprising:

[0008] A vehicle body, which is used to sample soil from a plurality of pre-divided plots of farmland along a preset moving track, and includes a sampling mechanism disposed at the bottom of the vehicle body for collecting farmland soil;

[0009] Wherein, the moving trajectory passes through the pre-set sampling points in each block;

[0010] A collection module connected to the vehicle body, comprising a dust monitoring unit for obtaining the concentration of ambient particulate matter in real time and an image unit for obtaining an image of the soil surface;

[0011] A soil condition analysis module, which is connected to the acquisition module and the vehicle body respectively, and includes a screening unit and a feature aggregation unit, wherein the screening unit is used to determine whether to screen the plot where the current vehicle body is located as a plot with heterogeneous soil particle size according to the concentration of the ambient particulate matter;

[0012] The feature aggregation unit is used to adjust the sampling depth of the sampling mechanism in the soil particle size heterogeneity plot, and determine the heterogeneity category of the soil particle size heterogeneity plot based on the gray value change of the soil surface image at different sampling depths;

[0013] A sampling control module, which is connected to the vehicle body and the soil condition analysis module respectively, is used to adjust the sampling mode of the sampling mechanism based on the heterogeneity category, including:

[0014] Adding auxiliary sampling points in the soil particle size heterogeneous plot, controlling the vehicle body to move to the auxiliary sampling points, and using the sampling mechanism to collect soil samples from the auxiliary sampling points;

[0015] Or, the sampling mechanism is controlled to collect soil samples of different sampling depths at the sampling point of the plot with heterogeneous soil particle size.

[0016] Further, the screening unit is used to compare the ambient particle concentration with a preset ambient particle concentration threshold;

[0017] If the ambient particle concentration is greater than the ambient particle concentration threshold, the screening unit screens the plot where the current vehicle body is located as a plot with heterogeneous soil particle size.

[0018] Furthermore, the feature aggregation unit is used to obtain grayscale values ​​of soil surface images corresponding to a number of sampling depths, and calculate the grayscale value standard deviation according to the grayscale values ​​of the several soil surface images.

[0019] Furthermore, the feature aggregation unit is further used to compare the gray value standard deviation with a preset gray value standard deviation reference value;

[0020] If the gray value standard deviation is less than or equal to the gray value standard deviation reference value, the feature aggregation unit determines that the soil particle size anisotropy plot is a dispersed anisotropy category;

[0021] If the gray value standard deviation is greater than the gray value standard deviation reference value, the feature aggregation unit determines that the soil particle size anisotropy plot is a concentrated anisotropy category.

[0022] Furthermore, the sampling control module is used to adjust the sampling mode of the sampling mechanism, wherein:

[0023] If the soil particle size heterogeneity plot is of the dispersed heterogeneity type, the sampling control module adds an auxiliary sampling point in the soil particle size heterogeneity plot, controls the vehicle body to move to the auxiliary sampling point, and uses the sampling mechanism to collect soil samples from the auxiliary sampling point;

[0024] If the soil particle size anisotropy plot is of concentrated anisotropy type, the sampling control module controls the sampling mechanism to collect soil samples of different sampling depths at the sampling point of the soil particle size anisotropy plot.

[0025] Furthermore, the sampling control module is used to determine the soil particle size anisotropy plot closest to the current soil particle size anisotropy plot as the anisotropy influence plot, and add auxiliary sampling points at preset intervals along the line connecting the sampling points of the anisotropy influence plot and the sampling points of the current soil particle size anisotropy plot.

[0026] Furthermore, the spacing distance between the auxiliary sampling points determined by the sampling control module is positively correlated with the distance between the soil particle size anisotropy plot and the anisotropy-affected plot.

[0027] Furthermore, the sampling control module is used to control the sampling mechanism to perform several soil samplings at the sampling points of the soil particle size heterogeneous plot and gradually deepen the sampling depth of each soil sampling.

[0028] The sampling control module is also used to determine the number of times the sampling mechanism performs soil sampling at the sampling point of the soil particle size heterogeneity plot and the incremental amount of sampling depth of the soil sampling;

[0029] Among them, the sampling times are positively correlated with the gray value standard deviation, and the sampling depth increase is negatively correlated with the gray value standard deviation.

[0030] Furthermore, the vehicle body is also provided with a positioning unit, and the positioning unit is used to determine the plot where the vehicle body is currently located based on the position coordinates of the vehicle body.

[0031] Compared with the prior art, the beneficial effect of the present invention lies in that, by setting a vehicle body, a collection module, a soil condition analysis module and a sampling control module, the present invention determines through a screening unit whether to screen the plot where the current vehicle body is located as a soil particle size heterogeneous plot, determines through a feature aggregation unit the heterogeneity category of the soil particle size heterogeneous plot according to the grayscale value change of the soil surface image at different sampling depths, and adjusts the sampling method of the sampling mechanism based on the heterogeneity category through the sampling control module, including controlling the vehicle body to move to an auxiliary sampling point and using the sampling mechanism to collect soil samples at the auxiliary sampling point, or controlling the sampling mechanism to collect soil samples at different sampling depths, thereby realizing the classification and analysis of soil particle size stratification according to the characteristic manifestations of dust easily caused by the difference in soil particle size stratification, and adjusting the soil sampling strategy in a targeted manner, thereby improving the scene applicability of farmland soil detection.

[0032] In particular, the present invention screens plots with heterogeneous soil particle sizes through a screening unit. In an actual farmland environment, differences in soil particle sizes will affect the looseness of the soil, and thus affect the degree of dust. When the difference in soil particle sizes is large, it is more likely to produce internal bonding differences due to the difference in particle sizes, resulting in dust. By monitoring the concentration of environmental particulate matter, plots with obvious differences in soil particle size stratification are screened out, thereby realizing an analysis of the characteristic manifestations of dust that is easily caused by differences in soil particle size stratification.

[0033] In particular, the present invention determines the heterogeneity category of the soil particle size heterogeneity plot through the feature aggregation unit. In the actual farmland environment, the difference in soil particle size will cause the difference in internal pores and light transmission, resulting in different grayscale values. In addition, the difference in soil particle size stratification leads to the difference in soil water content at different depths, which will also lead to different grayscale values. The bonding performance of soils with different particle sizes will also affect the distribution of organic matter in the soil, and affect the grayscale value performance of soil images at different depths. The present invention compares the grayscale value changes corresponding to the images of soils at different depths, and uses data with obvious representation to reflect the differences in internal bonding, water content and organic matter of the soil. Under the condition that the grayscale value changes corresponding to the images of soils at different depths are not obvious, the reason for the dust phenomenon may be that the soil particle size of the current plot is generally large. Under the condition that the grayscale value changes corresponding to the images of soils at different depths are obvious, the reason for the dust phenomenon is that the soil particle size of the current plot is stratified with the change of soil depth, and the internal bonding ability is poor. Therefore, the soil particle size stratification is classified and analyzed according to the characteristic performance that the soil particle size stratification difference easily causes dust.

[0034] In particular, under the condition that the soil particle size anisotropy plot is a dispersed anisotropy type, the present invention uses the sampling control module. Those skilled in the art can understand that in different positions of the soil particle size anisotropy plot where the soil particle size is generally larger, due to the influence of factors such as terrain and wind direction, the degree of particle settlement will be very different. In order to avoid the difference in soil quality at each position, auxiliary sampling points can be added in the soil particle size anisotropy plot. Multi-point sampling ensures that soil samples can more accurately reflect the soil quality at different positions. Furthermore, it realizes the classification and analysis of soil particle size stratification according to the characteristic manifestations of dust easily caused by the difference in soil particle size stratification, and the soil sampling strategy is adjusted in a targeted manner to improve the scene applicability of farmland soil detection.

[0035] In particular, the present invention uses a sampling control module to collect soil samples of different depths for analysis under the condition that the soil particle size heterogeneity plot is a concentrated heterogeneity category in order to more accurately obtain soil samples that characterize the soil of the plot and avoid soil quality differences caused by differences in soil and water conservation capacity due to differences in particle size stratification. It can be understood by those skilled in the art that the greater the difference in the grayscale value performance of soil images at different depths, the greater the possibility of differences in the internal bonding, water content and organic matter of the soil. By increasing the number of sampling times and reducing the increase in the sampling depth of successive soil sampling, it is beneficial to more accurately sample and analyze the soil at the current sampling point, and further, it is realized that the soil particle size stratification is classified and analyzed according to the characteristic performance of dust that is easily caused by the difference in soil particle size stratification, and the soil sampling strategy is adjusted in a targeted manner to improve the scene applicability of farmland soil detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a system block diagram of a farmland soil sampling and detection system according to an embodiment of the present invention;

[0037] Figure 2 A logic flow chart of a screening unit for screening plots with heterogeneous soil particle sizes according to an embodiment of the present invention;

[0038] Figure 3 A logic flow chart of the feature aggregation unit of an embodiment of the present invention for determining the heterogeneity category of a plot with heterogeneous soil particle size;

[0039] Figure 4 This is a logic flow chart of the sampling control module adjusting the sampling mode of the sampling mechanism according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0042] It should be noted that, in the description of the present invention, terms such as "upper", "lower", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0043] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation" 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 mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] See also Figure 1 As shown, it is a system block diagram of a farmland soil sampling and detection system according to an embodiment of the present invention. The farmland soil sampling and detection system according to the present invention comprises:

[0045] A vehicle body, which is used to sample soil from a plurality of pre-divided plots of farmland along a preset moving track, and includes a sampling mechanism disposed at the bottom of the vehicle body for collecting farmland soil;

[0046] Wherein, the moving trajectory passes through the pre-set sampling points in each block;

[0047] A collection module connected to the vehicle body, comprising a dust monitoring unit for obtaining the concentration of ambient particulate matter in real time and an image unit for obtaining an image of the soil surface;

[0048] A soil condition analysis module, which is connected to the acquisition module and the vehicle body respectively, and includes a screening unit and a feature aggregation unit, wherein the screening unit is used to determine whether to screen the plot where the current vehicle body is located as a plot with heterogeneous soil particle size according to the concentration of the ambient particulate matter;

[0049] The feature aggregation unit is used to adjust the sampling depth of the sampling mechanism in the soil particle size heterogeneity plot, and determine the heterogeneity category of the soil particle size heterogeneity plot based on the gray value change of the soil surface image at different sampling depths;

[0050] A sampling control module, which is connected to the vehicle body and the soil condition analysis module respectively, is used to adjust the sampling mode of the sampling mechanism based on the heterogeneity category, including:

[0051] Adding auxiliary sampling points in the soil particle size heterogeneous plot, controlling the vehicle body to move to the auxiliary sampling points, and using the sampling mechanism to collect soil samples from the auxiliary sampling points;

[0052] Or, the sampling mechanism is controlled to collect soil samples of different sampling depths at the sampling point of the plot with heterogeneous soil particle size.

[0053] Specifically, the ambient particulate matter concentration in the present invention may be the particulate matter concentration of PM10.

[0054] Specifically, the present invention does not limit the specific structure of the vehicle body and the sampling mechanism arranged on the vehicle body. The vehicle body for sampling farmland soil is well known to those skilled in the art. The sampling mechanism can be a spiral sampler. The drilling depth of the spiral sampler is controllable, and soil samples at different sampling depths can be collected. This is a prior art and will not be repeated here.

[0055] Specifically, the present invention does not limit the specific structure of the dust monitoring unit. Preferably, in implementation, a suspended particle sensor can be selected to use optical principles to measure the concentration of suspended environmental particles in the air, which is a prior art.

[0056] Specifically, the present invention does not limit the specific structure of the image unit, which may be a high-definition camera. This is a prior art and will not be described in detail here.

[0057] Specifically, the present invention does not limit the specific structure of the soil condition analysis module and its internal functional units. It can be a processor integrating data processing and image processing, which will not be described in detail here.

[0058] Specifically, the present invention does not limit the specific structure of the sampling control module, which can be composed of logic components. The logic components can be field programmable logic components or microprocessors, which will not be described in detail here.

[0059] Specifically, the present invention does not limit the preset moving trajectory. The path of the vehicle body for soil sampling passing through the pre-set sampling points in each plot is the moving trajectory of the vehicle body. Among them, the pre-set sampling points in the plot can be set by technical personnel in this field according to the shape of the plot. Here, a method for setting the sampling points is provided. For example, if the shape of the plot is rectangular, the center position of the rectangle can be set as the sampling point of the plot.

[0060] Specifically, see Figure 2As shown, it is a logic flow chart of a screening unit for screening a soil particle size heterogeneity plot according to an embodiment of the present invention, wherein the screening unit is used to compare the environmental particle concentration with a preset environmental particle concentration threshold;

[0061] If the ambient particle concentration is less than or equal to the ambient particle concentration threshold, the screening unit does not screen the plot where the current vehicle body is located;

[0062] If the ambient particle concentration is greater than the ambient particle concentration threshold, the screening unit screens the plot where the current vehicle body is located as a plot with heterogeneous soil particle size.

[0063] In implementation, the value of the ambient particle concentration threshold can be determined by technical personnel in this field based on the average value of the ambient particle concentration during sampling of several plots. Preferably, the value range of the ambient particle concentration threshold for PM10 is [50,80], and the interval unit is micrograms / cubic meter. Here, a value of the ambient particle concentration threshold for PM10 is provided, and the ambient particle concentration threshold for PM10 is 75 micrograms / cubic meter.

[0064] Specifically, the present invention screens plots with heterogeneous soil particle sizes through a screening unit. In an actual farmland environment, differences in soil particle sizes will affect the looseness of the soil, and thus affect the degree of dust. When the difference in soil particle sizes is large, it is more likely to produce internal bonding differences due to the difference in particle sizes, resulting in dust. By monitoring the concentration of environmental particulate matter, plots with obvious differences in soil particle size stratification are screened out, thereby realizing an analysis of the characteristic manifestations of dust that is easily caused by differences in soil particle size stratification.

[0065] Specifically, the feature aggregation unit is used to obtain the grayscale values ​​of the soil surface images corresponding to a number of sampling depths, and calculate the grayscale value standard deviation according to the grayscale values ​​of the several soil surface images.

[0066] In implementation, the soil surface image can be preprocessed by median filtering, mean filtering, etc., and the values ​​of the red, green, and blue channels of each pixel in the color image are averaged using the average method to obtain a grayscale value. The grayscale value of each pixel is added, and the sum is divided by the total number of pixels in the image to obtain the average grayscale value. The average grayscale value is determined as the grayscale value of each soil surface image. This is a prior art and will not be repeated here.

[0067] Specifically, see Figure 3 As shown, it is a logic flow chart of the feature aggregation unit of an embodiment of the present invention for determining the heterogeneity category of a soil particle size heterogeneity plot, and the feature aggregation unit is also used to compare the gray value standard deviation with a preset gray value standard deviation reference value;

[0068] If the gray value standard deviation is less than or equal to the gray value standard deviation reference value, the feature aggregation unit determines that the soil particle size anisotropy plot is a dispersed anisotropy category;

[0069] If the gray value standard deviation is greater than the gray value standard deviation reference value, the feature aggregation unit determines that the soil particle size anisotropy plot is a concentrated anisotropy category.

[0070] In implementation, the smaller the preset grayscale value standard deviation reference value is, the more sensitive it is to the difference in grayscale values ​​of each soil surface image. Here, a grayscale value standard deviation reference value is provided, and the grayscale value standard deviation reference value can be preset to 10.

[0071] Specifically, the present invention determines the heterogeneity category of the soil particle size heterogeneity plot through a feature aggregation unit. In an actual farmland environment, the difference in soil particle size will cause internal porosity differences and light transmittance differences, resulting in different grayscale values. In addition, the stratified difference in soil particle size leads to differences in soil water content at different depths, which will also lead to different grayscale values. The bonding performance of soils with different particle sizes will also affect the distribution of organic matter in the soil, affecting the grayscale value performance of soil images at different depths. The present invention compares the grayscale value changes corresponding to the images of soils at different depths, and uses data with obvious representation to reflect the differences in the internal bonding, water content and organic matter of the soil. Under the condition that the grayscale value changes corresponding to the images of soils at different depths are not obvious, the reason for the dust phenomenon may be that the soil particle size of the current plot is generally large. Under the condition that the grayscale value changes corresponding to the images of soils at different depths are obvious, the reason for the dust phenomenon is that the soil particle size of the current plot is stratified with the change of soil depth, and the internal bonding ability is poor. Therefore, the soil particle size stratification is classified and analyzed according to the characteristic performance that the soil particle size stratification difference easily causes dust.

[0072] Specifically, see Figure 4 As shown, it is a logic flow chart of the sampling control module of an embodiment of the present invention adjusting the sampling mode of the sampling mechanism, wherein the sampling control module is used to adjust the sampling mode of the sampling mechanism, wherein:

[0073] If the soil particle size heterogeneity plot is of the dispersed heterogeneity type, the sampling control module adds an auxiliary sampling point in the soil particle size heterogeneity plot, controls the vehicle body to move to the auxiliary sampling point, and uses the sampling mechanism to collect soil samples from the auxiliary sampling point;

[0074] If the soil particle size anisotropy plot is of concentrated anisotropy type, the sampling control module controls the sampling mechanism to collect soil samples of different sampling depths at the sampling point of the soil particle size anisotropy plot.

[0075] Specifically, the present invention uses a sampling control module under the condition that the soil particle size anisotropy plot is a dispersed anisotropy category. Those skilled in the art can understand that in different positions of the soil particle size anisotropy plot where the soil particle size is generally larger, due to the influence of factors such as terrain and wind direction, the degree of particle settlement will be very different. In order to avoid the difference in soil quality at various positions, auxiliary sampling points can be added in the soil particle size anisotropy plot. Multi-point sampling ensures that soil samples can more accurately reflect the soil quality at different positions. Furthermore, it realizes the classification and analysis of soil particle size stratification according to the characteristic manifestations of dust easily caused by the difference in soil particle size stratification, and the soil sampling strategy is adjusted in a targeted manner to improve the scene applicability of farmland soil detection.

[0076] Specifically, the sampling control module is used to determine the soil particle size anisotropy plot closest to the current soil particle size anisotropy plot as the anisotropy influence plot, and add auxiliary sampling points at a preset interval along the line connecting the sampling points of the anisotropy influence plot and the sampling points of the current soil particle size anisotropy plot.

[0077] Specifically, the spacing distance between the auxiliary sampling points determined by the sampling control module is positively correlated with the distance between the soil particle size anisotropy plot and the anisotropy-affected plot.

[0078] In implementation, the distance between the heterogeneous influence plots may be the distance between the center position points of two heterogeneous plots.

[0079] Specifically, the sampling control module is used to control the sampling mechanism to perform several soil samplings at the sampling points of the soil particle size heterogeneous plot and gradually deepen the sampling depth of each soil sampling.

[0080] Specifically, the sampling control module is also used to determine the number of times the sampling mechanism performs soil sampling at the sampling point of the soil particle size heterogeneous plot and the increase in sampling depth of the soil sampling each time;

[0081] Among them, the sampling times are positively correlated with the gray value standard deviation, and the sampling depth increase is negatively correlated with the gray value standard deviation.

[0082] Specifically, the present invention uses a sampling control module to collect soil samples of different depths for analysis under the condition that the soil particle size heterogeneity plot is a concentrated heterogeneity category in order to more accurately characterize the soil samples of the plot soil and avoid soil quality differences caused by differences in soil and water conservation capacity due to differences in particle size stratification. It can be understood by those skilled in the art that the greater the difference in the grayscale value performance of soil images at different depths, the greater the possibility of differences in the internal bonding, water content and organic matter of the soil. By increasing the number of sampling times and reducing the increase in the sampling depth of successive soil sampling, it is beneficial to more accurately sample and analyze the soil at the current sampling point, and then, it is realized that the soil particle size stratification is classified and analyzed according to the characteristic performance of dust that is easily caused by the difference in soil particle size stratification, and the soil sampling strategy is adjusted in a targeted manner to improve the scene applicability of farmland soil detection.

[0083] Specifically, the vehicle body is further provided with a positioning unit, and the positioning unit is used to determine the plot where the vehicle body is currently located based on the position coordinates of the vehicle body.

[0084] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0085] 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 farmland soil sampling and detection system, characterized in that: include: A vehicle body, which is used to sample soil from a plurality of pre-divided plots of farmland along a preset moving track, and includes a sampling mechanism disposed at the bottom of the vehicle body for collecting farmland soil; Wherein, the moving trajectory passes through the pre-set sampling points in each block; An information collection module, which is connected to the vehicle body and includes a dust monitoring unit for obtaining the concentration of ambient particulate matter in real time and an image unit for obtaining an image of the soil surface; A soil condition analysis module, which is connected to the acquisition module and the vehicle body respectively, and includes a screening unit and a feature aggregation unit, wherein the screening unit is used to determine whether to screen the plot where the current vehicle body is located as a plot with heterogeneous soil particle size according to the concentration of the ambient particulate matter; The feature aggregation unit is used to adjust the sampling depth of the sampling mechanism in the soil particle size heterogeneity plot, and determine the heterogeneity category of the soil particle size heterogeneity plot based on the gray value change of the soil surface image at different sampling depths; A sampling control module, which is connected to the vehicle body and the soil condition analysis module respectively, is used to adjust the sampling mode of the sampling mechanism based on the heterogeneity category, including: Adding auxiliary sampling points in the soil particle size heterogeneous plot, controlling the vehicle body to move to the auxiliary sampling points, and using the sampling mechanism to collect soil samples from the auxiliary sampling points; Or, the sampling mechanism is controlled to collect soil samples of different sampling depths at the sampling point of the plot with heterogeneous soil particle size.

2. The farmland soil sampling and detection system according to claim 1, characterized in that: The screening unit is used to compare the ambient particle concentration with a preset ambient particle concentration threshold; If the ambient particle concentration is greater than the ambient particle concentration threshold, the screening unit screens the plot where the current vehicle body is located as a plot with heterogeneous soil particle size.

3. The farmland soil sampling and detection system according to claim 2, characterized in that: The feature aggregation unit is used to obtain the grayscale values ​​of the soil surface images corresponding to a plurality of sampling depths, and calculate the grayscale value standard deviation according to the grayscale values ​​of the plurality of soil surface images.

4. The farmland soil sampling and detection system according to claim 3, characterized in that: The feature aggregation unit is further used to compare the gray value standard deviation with a preset gray value standard deviation reference value; If the gray value standard deviation is less than or equal to the gray value standard deviation reference value, the feature aggregation unit determines that the soil particle size anisotropy plot is a dispersed anisotropy category; If the gray value standard deviation is greater than the gray value standard deviation reference value, the feature aggregation unit determines that the soil particle size anisotropy plot is a concentrated anisotropy category.

5. The farmland soil sampling and detection system according to claim 4, characterized in that: The sampling control module is used to adjust the sampling mode of the sampling mechanism, wherein: If the soil particle size heterogeneity plot is of the dispersed heterogeneity type, the sampling control module adds an auxiliary sampling point in the soil particle size heterogeneity plot, controls the vehicle body to move to the auxiliary sampling point, and uses the sampling mechanism to collect soil samples from the auxiliary sampling point; If the soil particle size anisotropy plot is of concentrated anisotropy type, the sampling control module controls the sampling mechanism to collect soil samples of different sampling depths at the sampling point of the soil particle size anisotropy plot.

6. The farmland soil sampling and detection system according to claim 5, characterized in that: The sampling control module is used to determine the soil particle size anisotropy plot closest to the current soil particle size anisotropy plot as the anisotropy-affected plot, and add auxiliary sampling points at a preset interval along the line connecting the sampling points of the anisotropy-affected plot and the sampling points of the current soil particle size anisotropy plot.

7. The farmland soil sampling and detection system according to claim 6, characterized in that: The spacing distance between the auxiliary sampling points determined by the sampling control module is positively correlated with the distance between the soil particle size anisotropic plot and the anisotropic impact plot.

8. The farmland soil sampling and detection system according to claim 5, characterized in that: The sampling control module is used to control the sampling mechanism to perform several soil samplings at the sampling points of the soil particle size heterogeneous plot, and gradually deepen the sampling depth of each soil sampling.

9. The farmland soil sampling and detection system according to claim 8, characterized in that: The sampling control module is also used to determine the number of times the sampling mechanism performs soil sampling at the sampling point of the soil particle size heterogeneity plot and the incremental amount of sampling depth of the soil sampling; Among them, the sampling times are positively correlated with the gray value standard deviation, and the sampling depth increase is negatively correlated with the gray value standard deviation.

10. The farmland soil sampling and detection system according to claim 1, characterized in that: The vehicle body is also provided with a positioning unit, and the positioning unit is used to determine the plot where the vehicle body is currently located based on the position coordinates of the vehicle body.

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