Soil information acquisition device, acquisition system and acquisition method

Abstract

The invention discloses a soil information acquisition device, acquisition system and acquisition method.The soil information acquisition device comprises a shell, a downward electric push-pull mechanism is arranged in the shell in the vertical direction, the push-pull tail end of the electric push-pull mechanism is connected with a soil sensor, and the soil sensor comprises a probe and at least one probe; the probe is fixedly connected with the push-pull tail end of the electric push-pull mechanism, and at least one probe is arranged below the probe. The system has the beneficial effects that the acquisition point location of soil information can be flexibly selected according to actual needs, the unmanned aerial vehicle has higher acquisition efficiency than manual acquisition, and the independent modular design facilitates equipment maintenance or replacement.

Description

Technical Field

[0001] The present invention relates to the field of agricultural equipment, and in particular to a soil information collection device, a collection system and a collection method. Background Art

[0002] Unmanned farms place high demands on precision agriculture, requiring comprehensive and accurate information on the growth status and growth environment of crops. Meteorological information such as air temperature and humidity can be obtained through observations at small / micro meteorological stations, and pest and disease information can be judged through drone hyperspectral + machine learning or high-definition RGB images + deep learning. What is more difficult to obtain is the soil information at the roots of crops, including soil moisture content, soil EC value, soil pH value, etc.

[0003] At present, remote sensing technology can only obtain crop surface information to indirectly infer the state of the soil, and generally can only draw qualitative conclusions, while the quantitative inversion accuracy is difficult to meet actual needs. Another way is to deploy a large number of soil sensors in the field. This method has at least the following two shortcomings: First, once the soil sensors are buried, the collection points are fixed and cannot be flexibly selected according to needs; second, the sensors pre-buried in the soil are easily damaged when the land is plowed. Summary of the invention

[0004] In view of the above problems, the present invention proposes a soil information collection device, a collection system and a collection method, which mainly solve the problems of the background technology.

[0005] In order to solve the above technical problems, the first aspect of the present invention proposes a soil information collection device, including a shell, a downward electric push-pull mechanism is provided in the shell along the vertical direction, the push-pull end of the electric push-pull mechanism is connected to a soil sensor, the soil sensor includes a probe and at least one probe, the probe and the push-pull end of the electric push-pull mechanism are fixedly connected, the at least one probe is arranged below the probe, and a lower drill hole is provided at the bottom of the shell, and the position of the lower drill hole is directly opposite to the soil sensor.

[0006] In some embodiments, the electric push-pull mechanism includes a sleeve, a push-pull motor, a transmission gear, a lead screw nut and a push-pull rod. The sleeve is fixedly mounted on the inner top of the outer shell, the push-pull motor is installed on one side of the sleeve, the output shaft of the push-pull motor is connected to the transmission gear via a coupling or a flange, the transmission gear is connected to the lead screw nut via a coupling or a flange, the lead screw nut is sleeved in the sleeve via a slider and a guide rail, and the push-pull rod and the lead screw nut are fixedly connected via threads or flanges.

[0007] In some embodiments, a control module and a power module are further provided in the housing, and the control module is electrically connected to the push-pull motor, the probe, and the power module, respectively.

[0008] In some embodiments, a pressure sensor is disposed on the outer bottom of the housing, and the pressure sensor is electrically connected to the control module.

[0009] In some embodiments, a wireless communication module is further included, and the wireless communication module is electrically connected to the control module for receiving remote instructions or transmitting collected data back.

[0010] The second aspect of the present invention proposes a soil information collection system, including a soil information collection device, a drone and a connecting mechanism, wherein a pan-tilt platform is arranged under the drone, one end of the connecting mechanism is connected to the pan-tilt platform, and the other end is connected to the top of the shell.

[0011] In some embodiments, the connecting mechanism is an electric telescopic rod, one end of which is fixedly connected to the pan head, and the other end is fixedly connected to the top of the shell, and the electric telescopic rod has an electric telescopic function.

[0012] In some embodiments, the connecting mechanism is a connecting rod of fixed length, one end of the connecting rod is fixedly connected to the gimbal, and the other end is fixedly connected to the top of the housing.

[0013] In some embodiments, the connecting mechanism is a traction rope, and the upper and lower ends of the traction rope are respectively provided with a first hook and a second hook, and the bottom of the gimbal and the top of the shell are respectively provided with a first buckle and a second buckle, the first hook is buckled to the first buckle, and the second hook is buckled to the second buckle.

[0014] In some embodiments, the gimbal is further provided with a camera, and the camera is used to collect image information.

[0015] The third aspect of the present invention provides a method for collecting soil information by using a drone, using a soil information collection system, comprising the following steps: S1. Determine all points where soil information needs to be collected and obtain the latitude and longitude information of all points; S2. According to the latitude and longitude information of all the points and the latitude and longitude information of the take-off point of the UAV, the optimal route is planned based on the shortest path principle to obtain a sequence of points for collecting soil information; S3. operate the drone to fly above the first point of the collection point sequence and descend to a suitable height; S4. Control the connecting mechanism to extend the soil information collection device to the ground, control the push-pull mechanism to insert the probe into the soil, and read the soil information of the first point; S5. Control the push-pull mechanism to pull the probe back into the housing, and control the drone to fly to the next collection point; S6. Repeat steps S3 to S5 until the soil information of all points is collected.

[0016] The beneficial effects of the present invention are as follows: the collection points of soil information can be flexibly selected according to actual needs, drones are more efficient than manual collection, and the independent modular design facilitates equipment maintenance or replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A longitudinal sectional view of the overall structure of the soil information collection device disclosed in an embodiment of the present invention;

[0018] Figure 2 It is a longitudinal cross-sectional view of the soil information collection device disclosed in an embodiment of the present invention in a working mode;

[0019] Figure 3 A schematic diagram of the soil information collection system disclosed in an embodiment of the present invention;

[0020] Figure 4 The figure is a schematic diagram of the internal structure of the electric push-pull mechanism disclosed in the embodiment of the present invention.

[0021] Among them: 1-housing, 11-bottom drilling hole, 12-pressure sensor, 2-acquisition module, 21-sleeve, 22-push-pull rod, 23-push-pull motor, 231-push-pull motor output shaft, 24-probe, 25-probe, 26-transmission gear, 27-screw, 28-nut, 281-slider, 3-control module, 4-power module, 5-electric telescopic rod, 6-drone, 61-pan head. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the content of the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all the contents.

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the content of the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all the contents. Example

[0024] This embodiment proposes a soil information collection device, the longitudinal section of which is as follows: Figure 1 As shown, it includes a housing 1, a collection module 2, a control module 3 and a power module 4. The collection module 2 includes an electric push-pull mechanism and a soil sensor. The electric push-pull mechanism includes a sleeve 21, a push-pull rod 22 and a push-pull motor 23. The sleeve 21 is fixedly installed on the inner top of the housing 1 in a vertical direction, and the push-pull motor 23 is installed on one side of the sleeve 21. The internal structure of the electric push-pull mechanism is shown in FIG. Figure 4 As shown, the output shaft 231 of the push-pull motor 23 is connected to the transmission gear 26 through a flange, the transmission gear along the vertical plane and the transmission gear along the horizontal plane are meshed with each other, and the output shaft of the transmission gear along the horizontal plane is connected to the screw rod 27 through a flange, the outer surface of the screw rod 27 and the inner surface of the nut 28 have matching threads, and the nut 28 is fixedly connected to the push-pull rod 22. The outer surface of the nut 28 is provided with two symmetrical sliders 281, and the inner surface of the sleeve 21 is provided with two guide rails in the vertical direction, and the two sliders 291 are embedded in the guide rails. In this way, when the push-pull motor 23 rotates the output shaft 231, the screw rod 27 is rotated through the transmission gear 26. Since the nut 28 is restricted from rotating by the slider 281 and the guide rail, it is forced to move in the up and down direction (depending on the rotation direction of the output shaft 231 of the push-pull motor), thereby converting the positive and negative rotation force of the push-pull motor 23 into linear thrust and pull, so that the push-pull rod 22 performs linear reciprocating motion in the vertical direction.

[0025] The soil sensor is an all-in-one sensor for soil moisture, soil EC value, and soil pH value, including a probe 24 and three probes 25. The probe 24 is a cylindrical structure, and its diameter is slightly larger than the diameter of the sleeve 21 to achieve a limiting function. In this embodiment, the outer shell of the probe 24 is made of metal, which is more durable than the plastic shell of an ordinary sensor. The probe 24 and the push-pull rod 22 are fixedly connected. Preferably, the two are detachably connected through a structure such as a thread for easy maintenance. The three probes 25 are arranged in an equilateral triangle below the probe 24. A lower drill hole 11 is provided at the bottom of the outer shell 1, and the position of the lower drill hole 11 is directly opposite to the probe 25. Among them, the length of the push-pull rod 22 is equivalent to the length of the probe 25. A pressure sensor 12 is provided at the outer bottom of the outer shell 1 to sense whether the outer shell 1 is touching the ground.

[0026] The control module 3 is electrically connected to the power module 4, the push-pull motor 23, and the probe 24. When soil information needs to be collected, the control module 3 controls the push-pull motor 23 to drive the push-pull rod 22 to apply a downward thrust to the probe 24, insert the probe 25 downward into the soil, and read the soil information, such as Figure 2 When the control module 3 has a wireless communication submodule, the read soil information can be transmitted back to the control center in real time.

[0027] This embodiment also proposes a soil information collection system, such as Figure 3As shown, it includes a soil information collection device, an electric telescopic rod 5 and a drone 6. The drone 6 is provided with a pan 61, one end of the electric telescopic rod 5 is connected to the pan 61, and the other end is connected to the top of the shell 1. The electric telescopic rod 5 has an electric telescopic function and is divided into 3 sections. The length of each section is 1m, and the total length is greater than the plant height of most crops. When in use, first control the drone 6 to fly above the target point, descend to a height slightly higher than the crop plant and hover, control the electric telescopic rod 5 to extend downward, and when the reading of the pressure sensor 12 is greater than a certain value, control the electric telescopic rod 5 to stop working. At this time, the shell 1 has been lowered to the ground, and the push-pull motor 23 is controlled to drive the push-pull rod 22 to apply a downward thrust, pushing the probe 25 of the soil sensor downward into the soil to read the soil information. When the control module 3 has a wireless communication submodule, the collected soil information can be transmitted back to the control center in real time together with the longitude and latitude information. When the PTZ 61 is also equipped with a camera, it can capture high-definition image information of leaves at close range while collecting soil information, and combine it with the preset deep learning model for disease and insect diagnosis. The workflow of the entire system can be described by an ancient Chinese poem: "Whether it is the plain or the top of the mountain, the infinite scenery is all occupied. After collecting honey from hundreds of flowers, who is working hard for it and who is enjoying the sweetness?"

[0028] Farmland / orchards can be divided into several irrigation areas in advance. After the soil information of all points is collected and transmitted back, the smart agricultural brain can make decisions. For example, the water and fertilizer requirements of the target crops during their growth period can be combined to determine the irrigation and fertilizer amounts per unit area in different irrigation areas, and other smart agricultural machinery can be instructed to take corresponding actions to achieve precise irrigation and fertilization.

[0029] Take winter wheat as an example. This crop is widely distributed in the Huanghuaihai region. If there are 10,000 winter wheat plots scattered everywhere, the sowing date is used as the base date, and the soil information of each plot is collected every 5 or 10 days using the five-point method or the nine-point method. After the wheat is harvested, the total dry weight yield of each plot is measured, and the yield per mu is calculated based on the plot area. Then, the average soil parameter value of the 1,000 winter wheat plots with the highest yield plus / minus one standard deviation is taken as the appropriate range. This expert knowledge directly derived from production practice (the top 10% of grain growers) provides an important reference for field management of all wheat growers. Other food crops or cash crops can be done in the same way to increase crop yields.

[0030] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable ordinary technicians in the field to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made based on the essence of the content of the present invention should be included in the protection scope of the present invention.

Claims

1. A soil information collection device, comprising a housing, characterized in that: A downward electric push-pull mechanism is provided in the shell along the vertical direction, and a soil sensor is connected to the push-pull end of the electric push-pull mechanism. The soil sensor includes a probe and at least one probe. The probe is fixedly connected to the push-pull end of the electric push-pull mechanism, and the at least one probe is arranged below the probe. A lower drill hole is provided at the bottom of the shell, and the position of the lower drill hole is directly opposite to the soil sensor.

2. The soil information collection device according to claim 1, characterized in that: The electric push-pull mechanism includes a sleeve, a push-pull motor, a transmission gear, a lead screw nut and a push-pull rod. The sleeve is fixedly installed on the inner top of the shell, and the push-pull motor is installed on one side of the sleeve. The output shaft of the push-pull motor is connected to the transmission gear through a coupling or a flange, and the transmission gear is connected to the lead screw nut through a coupling or a flange. The lead screw nut is sleeved in the sleeve through a slider and a guide rail, and the push-pull rod and the lead screw nut are fixedly connected by threads or flanges.

3. The soil information collection device according to claim 2, characterized in that: A control module and a power module are also provided in the shell, and the control module is electrically connected to the push-pull motor, the probe and the power module respectively.

4. The soil information collection device according to claim 3, characterized in that: A pressure sensor is disposed on the outer bottom of the housing, and the pressure sensor is electrically connected to the control module.

5. The soil information collection device according to claim 3, characterized in that: It also includes a wireless communication module, which is electrically connected to the control module and is used to receive remote instructions or transmit collected data back.

6. A soil information collection system, characterized in that: It comprises the soil information collection device as described in any one of claims 1 to 5, and also comprises a drone and a connecting mechanism, wherein a pan-tilt platform is arranged below the drone, one end of the connecting mechanism is connected to the pan-tilt platform, and the other end is connected to the top of the shell.

7. The soil information collection system according to claim 6, characterized in that: The connecting mechanism is an electric telescopic rod, one end of which is fixedly connected to the pan head, and the other end is fixedly connected to the top of the shell, and the electric telescopic rod has an electric telescopic function.

8. The soil information collection system according to claim 6, characterized in that: The connecting mechanism is a connecting rod of fixed length, one end of which is fixedly connected to the pan head, and the other end of which is fixedly connected to the top of the shell.

9. The soil information collection system according to claim 6, characterized in that: The connecting mechanism is a traction rope, and the upper and lower ends of the traction rope are respectively provided with a first hanging buckle and a second hanging buckle, the bottom of the gimbal and the top of the shell are respectively provided with a first buckle ring and a second buckle ring, the first hanging buckle is buckled to the first buckle ring, and the second hanging buckle is buckled to the second buckle ring.

10. The soil information collection system according to any one of claims 6 to 9, characterized in that: The pan / tilt platform is also provided with a camera, and the camera is used to collect image information.

11. A soil information collection method, characterized in that: Using the soil information collection system as described in any one of claims 6 to 10 comprises the following steps: S1. Determine all points where soil information needs to be collected and obtain the latitude and longitude information of all points; S2. According to the latitude and longitude information of all the points and the latitude and longitude information of the take-off point of the UAV, the optimal route is planned based on the shortest path principle to obtain a sequence of points for collecting soil information; S3. operate the drone to fly above the first point of the collection point sequence and descend to a suitable height; S4. Control the connecting mechanism to extend the soil information collection device to the ground, control the push-pull mechanism to insert the probe into the soil, and read the soil information of the first point; S5. Control the push-pull mechanism to pull the probe back into the housing, and control the drone to fly to the next collection point; S6. Repeat steps S3 to S5 until the soil information of all points is collected.

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