Soil detection device based on laser-induced breakdown spectroscopy

Abstract

The invention provides a soil detection device based on laser-induced breakdown spectroscopy, which is applied to the technical field of soil detection, and comprises an unmanned aerial vehicle body equipped with a laser, a reflective telescope and a spectrometer; a laser emits high-energy pulse laser to irradiate a target soil area to excite plasma formation; and capturing an optical signal emitted by the plasma through the reflecting telescope, guiding the optical signal to the spectrograph, and finally performing soil analysis according to the spectroscopic data of the plasma collected by the spectrograph. Namely, the unmanned aerial vehicle technology and the laser-induced breakdown detection technology are combined, and compared with the mode that soil is transferred to a laboratory for analysis after being sampled in the prior art, the real-time performance of soil analysis and detection is improved, and large-range and continuous detection is achieved; in addition, plasma optical signals are captured and conducted through the reflection type telescope, the problems of visual angle errors, optical signal attenuation and the like caused by the flight height of the unmanned aerial vehicle are effectively solved, and meanwhile the signal capturing precision, stability and measurement efficiency are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of soil detection technology, and in particular to the field of soil detection technology based on laser induced breakdown spectroscopy. Background Art

[0002] The development of precision agriculture has made soil testing critical. Traditional soil analysis methods, such as chemical and physical laboratory analysis, although accurate, require sampling, transportation, complex processing and laboratory environment, which is time-consuming and costly.

[0003] Laser-induced breakdown spectroscopy (LIBS) is a technique that uses high-energy laser pulses to excite a sample to form a plasma and analyze the spectrum to identify elements.

[0004] However, traditional LIBS equipment is mostly used in laboratories. Due to the limitations of detection distance and sampling efficiency, how to provide a LIBS detection device suitable for field soil testing and with both flexibility and detection accuracy has become a problem. Summary of the invention

[0005] In view of this, an embodiment of the present disclosure provides a soil detection device based on laser induced breakdown spectroscopy, which at least partially solves the problems existing in the prior art.

[0006] In a first aspect, an embodiment of the present disclosure provides a soil detection device based on laser induced breakdown spectroscopy, comprising:

[0007] A drone body, wherein the drone body is equipped with a laser, a reflecting telescope, and a spectrometer, and the laser, the reflecting telescope, and the spectrometer are located below the drone body;

[0008] The laser is used to emit high-energy pulsed laser to irradiate the target soil area to stimulate the formation of plasma;

[0009] The reflecting telescope is used to capture the optical signal emitted by the plasma in the target soil area and guide it to the spectrometer;

[0010] The spectrometer is used to collect spectral data of the light signal emitted by the plasma based on the light signal guided by the reflecting telescope, and the spectral data is used for soil analysis of a target soil area.

[0011] Optionally, the laser is equipped with a visible light laser lamp; the visible light laser lamp is used to generate a visible light spot to mark the soil area irradiated by the high-energy pulse laser emitted by the laser.

[0012] Optionally, the device further comprises:

[0013] Visible light signal detector;

[0014] The visible light signal detector is used to detect and determine the position of the visible light spot; the position of the visible light spot is used to determine the field of view of the reflective telescope and / or adjust the irradiation area of ​​the high-energy pulse laser emitted by the laser to the target soil area.

[0015] Optionally, the visible light laser lamp is an infrared laser lamp, and the visible light signal detector is an infrared signal detector.

[0016] Optionally, the device further comprises:

[0017] Image sensor;

[0018] The image sensor is located under the drone and is configured to collect images of the soil area irradiated by the high-energy pulse laser emitted by the laser. The images of the soil area irradiated by the high-energy pulse laser are used to determine the position of the soil area irradiated by the high-energy pulse laser based on the visible light spot in the image.

[0019] Optionally, the device further comprises:

[0020] A light intensity sensor, wherein the light intensity sensor is located above the drone;

[0021] The light intensity sensor is used to detect the ambient light intensity, and the detected ambient light intensity is used to determine the laser output power of the laser and / or the spectral signal acquisition sensitivity of the spectrometer.

[0022] Optionally, the device further comprises:

[0023] LiDAR rangefinder;

[0024] The laser radar rangefinder is used to measure the distance between the UAV and the target soil area on the ground; the measured distance between the UAV and the target soil area on the ground is used to determine the irradiation angle and focal length adjustment of the laser.

[0025] Optionally, the UAV is a multi-rotor UAV.

[0026] Optionally, the spectrometer is a plane grating small spectrometer.

[0027] Optionally, the device further comprises:

[0028] A data processing module; the data processing module is used for at least one of the following:

[0029] Performing spectral analysis on spectral data of the light signal emitted by the plasma collected by the spectrometer to determine the nutrient status of the target soil area;

[0030] Determine the field of view of the reflective telescope according to the determined position of the visible light spot, and / or adjust the irradiation area of ​​the high-energy pulse laser emitted by the laser to the target soil area;

[0031] Determining the irradiation angle and focal length adjustment of the laser according to the measured distance between the drone and the target soil area on the ground;

[0032] The laser output power of the laser and / or the spectrum signal acquisition sensitivity of the spectrometer are determined according to the measured ambient light intensity.

[0033] The present disclosure provides a soil detection device based on laser induced breakdown spectroscopy, including: an unmanned aerial vehicle body, the unmanned aerial vehicle body is equipped with a laser, a reflective telescope, and a spectrometer; the laser is used to emit a high-energy pulse laser to irradiate the target soil area to stimulate plasma formation; the reflective telescope is used to capture the light signal emitted by the plasma in the target soil area and guide it to the spectrometer; the spectrometer is used to collect spectral data of the light signal emitted by the plasma based on the light signal guided by the reflective telescope, and the spectral data is used for soil analysis in the target soil area. That is, combining the unmanned aerial vehicle technology with the laser induced breakdown detection technology, and the existing technology of "soil sampling and then transferring to the laboratory for analysis" can improve the real-time nature of soil analysis and detection, and can also perform large-scale and continuous detection; in addition, through the reflective telescope, the problems of viewing angle error and light signal attenuation caused by the flight altitude of the unmanned aerial vehicle are effectively solved, and the accuracy, stability and measurement efficiency of signal capture are also improved.

[0034] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following is a brief introduction to the drawings required for use in the embodiments. The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used together with the specification to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can also be obtained based on these drawings without creative work.

[0036] Figure 1 is an exemplary side view of a soil detection device based on laser induced breakdown spectroscopy provided by an embodiment of the present disclosure;

[0037] Figure 2is an example diagram of a top view of a soil detection device based on laser induced breakdown spectroscopy provided in an embodiment of the present disclosure;

[0038] Figure 3 This is an example diagram of a bottom view of a soil detection device based on laser induced breakdown spectroscopy provided in an embodiment of the present disclosure.

[0039] The description of the figures is as follows:

[0040] 1: Light intensity sensor; 2: Image sensor; 3: LiDAR rangefinder; 4: Laser; 5: Infrared signal detector; 6: Reflective telescope; 7: Spectrometer; 8: UAV body. DETAILED DESCRIPTION

[0041] The following describes the implementation methods of the embodiments of the present disclosure through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the embodiments of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The embodiments of the present disclosure can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the embodiments of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the embodiments of the present disclosure.

[0042] Laser Induced Breakdown Spectroscopy (LIBS): A technique that uses high-energy laser pulses to excite samples to form plasma and analyze the spectrum to identify elements. The application of LIBS technology in soil testing has gradually become popular. However, traditional LIBS equipment is mostly used in laboratories, which is limited by detection distance and sampling efficiency.

[0043] The present invention provides a large-scale, efficient and real-time soil detection system by combining laser induced breakdown spectroscopy (LIBS) technology with an unmanned aerial vehicle platform. The unmanned aerial vehicle can quickly cover a large area of ​​farmland and carry a LIBS module for non-destructive testing to collect element data in the soil in real time. This combination effectively solves the problems of space limitations, long sampling cycles and insufficient detection accuracy in traditional methods. Existing technologies cannot provide such large-scale, flexible dynamic monitoring, and therefore it is difficult to meet the needs of precision agriculture for soil monitoring.

[0044] The present disclosure provides a soil detection device based on laser induced breakdown spectroscopy, such as Figure 1-3 As shown, including:

[0045] A drone body 8, the drone body is equipped with a laser 4, a reflective telescope 6, and a spectrometer 7, and the laser 4, the reflective telescope 6, and the spectrometer 7 are located below the drone body;

[0046] The laser 4 is used to emit high-energy pulsed laser to irradiate the target soil area to stimulate plasma formation; the reflecting telescope is used to capture the light signal emitted by the plasma in the target soil area and guide it to the spectrometer; the spectrometer is used to collect spectral data of the light signal emitted by the plasma based on the light signal guided by the reflecting telescope, and the spectral data is used for soil analysis of the target soil area.

[0047] Wherein, the laser 4 can be a solid-state laser with fast response capability and high energy output. Wherein, the reflective telescope is an optical telescope that uses a combination of curved and flat mirrors to reflect light and form an image, rather than a diopter that uses a lens to refract or bend light to form an image. Wherein, with respect to the embodiment of the present disclosure, the main advantages of using a reflective telescope include at least: 1. Improving signal capture accuracy: The reflective telescope has a large optical aperture and high-precision optical focusing capability, and can accurately focus the light signal emitted from the soil surface plasma. Compared with traditional acquisition methods, the reflective telescope can significantly reduce the signal loss caused by viewing angle deviation or flight altitude difference, ensuring that the spectrometer can receive clear and strong enough spectral signals. 2. Overcoming the viewing angle problem: When the drone is flying, due to the viewing angle difference between the flight altitude and the ground excitation point, the traditional acquisition method may not be able to effectively capture the light signal from the ground. The design of the reflective telescope allows it to flexibly adjust the angle, and real-time calibration is performed through the gimbal system. No matter what kind of vibration or path change occurs during the flight of the drone, the telescope can automatically adjust to the optimal angle, thereby ensuring that the spectrometer is always aligned with the excitation area. 3. Enhance signal stability: The reflective telescope not only has a strong signal focusing ability, but also can reduce the attenuation and interference of light signals when propagating in the air. Through precise optical design, the telescope can effectively amplify weak light signals, thereby improving the stability and accuracy of the signal. For signals collected at long distances, the design of the telescope can minimize the impact of environmental factors (such as airflow, air humidity, etc.) on the signal. 4. Improve measurement efficiency: The combination of the reflective telescope and the spectrometer makes the signal collection process more efficient. In the detection of large areas of farmland, the automatic adjustment and precise alignment of the telescope can quickly and effectively scan and collect spectral data of soil samples. This design greatly improves the efficiency of data collection, reduces the need for manual adjustment, and improves the time efficiency of overall detection.

[0048] The spectrometer 7 may be a small plane grating spectrometer. The drone 8 may be a multi-rotor drone.

[0049] The disclosed embodiment provides a soil detection device based on laser induced breakdown spectroscopy, including: an unmanned aerial vehicle body, the unmanned aerial vehicle body is equipped with a laser, a reflective telescope, and a spectrometer; the laser is used to emit a high-energy pulsed laser to irradiate the target soil area to stimulate plasma formation; the reflective telescope is used to capture the light signal emitted by the plasma in the target soil area and guide it to the spectrometer; the spectrometer is used to collect spectral data of the light signal emitted by the plasma based on the light signal guided by the reflective telescope, and the spectral data is used for soil analysis in the target soil area. That is, combining the unmanned aerial vehicle technology with the laser induced breakdown detection technology, and the existing technology of "soil sampling and then transferring to the laboratory for analysis" can improve the real-time nature of soil analysis and detection, and can also perform large-scale and continuous detection; in addition, the capture and transmission of plasma light signals through the reflective telescope effectively solves the problems of viewing angle error and light signal attenuation caused by the flight altitude of the unmanned aerial vehicle, and at the same time improves the accuracy, stability and measurement efficiency of signal capture.

[0050] The present disclosure provides a possible implementation method, the device comprising:

[0051] The laser 4 is configured with a visible light laser lamp;

[0052] Among them, the visible light laser lamp is used to generate a visible light spot to mark the soil area irradiated by the high-energy pulse laser emitted by the laser 4; the device also includes: a visible light signal detector; the visible light signal detector is used to detect and determine the position of the visible light spot; the position of the visible light spot is used to determine the field of view of the reflecting telescope, and / or adjust the irradiation area of ​​the high-energy pulse laser emitted by the laser to the target soil area.

[0053] Among them, Figure 1-3 As shown, the visible light laser light can be an infrared laser light, the corresponding generated visible light spot is an infrared spot, and the visible light signal detector is an infrared signal detector. In addition, the visible light laser light can also be a green, blue or red visible light laser light, and the corresponding visible light signal detector is a green, blue or red light signal detector.

[0054] Specifically, the infrared laser lamp can be configured at a relatively close distance to the laser 5, so that the infrared spot generated by the infrared laser lamp is highly consistent with the target point of the laser pulse. Through the corresponding optical path adjustment, the light beam of the infrared laser lamp slightly deviates from the main laser optical path, so that it forms a coaxial emission structure at the front end of the laser. This design makes the infrared spot always coincide with the action point of the laser pulse when it is formed on the ground, thereby realizing the organic combination of precise positioning and plasma signal collection functions.

[0055] Take the infrared laser light as an example (other visible light laser lights are similar). Since the infrared laser light is close to the laser, it can be almost considered that the infrared laser light and the laser are coaxially emitted, and the position of the infrared spot can be used as the area directly irradiated by the current high-energy pulse laser. If there is no requirement for the location of the collected soil area, as long as it is an area irradiated by the high-energy pulse laser, the field of view of the reflective telescope can be directly controlled to align with the location of the infrared spot through the data control module (or control unit, the device can be adjusted according to specific needs). If the target soil area is a planned and determined location, it is determined whether the current infrared spot position is the target area. If it is not the target soil area, the position of the drone can be adjusted (or the laser emission angle of the laser light) to adjust the area irradiated by the pulsed laser to the target soil area.

[0056] The disclosed embodiment, through an infrared laser lamp, is configured with a visible light laser (such as an infrared laser), which can accurately locate the soil area irradiated by the high-energy pulse laser, thereby guiding the reflective telescope to accurately capture the light emitted by the plasma.

[0057] The present disclosure provides a possible implementation method, wherein the device further includes:

[0058] Image sensor 2;

[0059] The image sensor 2 is located below the drone 8 and is configured to collect images of the soil area irradiated by the high-energy pulse laser emitted by the laser (wherein the configuration position of the image sensor can be determined according to the position of the laser and the direction of laser emission, so as to collect images of the soil area irradiated by the high-energy pulse laser emitted by the laser). The image of the soil area irradiated by the high-energy pulse laser is used to determine the position of the soil area irradiated by the high-energy pulse laser according to the visible light spot in the image. Specifically, the position of the captured image can be determined according to the collected image through corresponding algorithms such as SLAM (simultaneous localization and mapping), real-time positioning and map construction, and then the image position of the visible light spot in the image obtained by combining the corresponding image algorithm to identify the actual position of the visible light spot (or the position of the excitation point). Then, the field of view of the reflective telescope can be controlled and adjusted to the actual position of the determined visible light spot (or the position of the excitation point).

[0060] In addition, the image sensor 2 can also provide environmental monitoring and navigation assistance: providing the drone with real-time environmental images, helping it avoid obstacles and optimize the flight path.

[0061] The present disclosure provides a possible implementation method, wherein the device further includes:

[0062] Light intensity sensor 1;

[0063] The light intensity sensor 1 is used to detect the ambient light intensity, and the detected ambient light intensity is used to determine the laser output power of the laser and / or the spectrum signal acquisition sensitivity of the spectrometer, thereby reducing the interference of ambient light and improving the accuracy of detection.

[0064] Specifically, the light intensity sensor 1 is located above the drone 8. Figure 2 As shown. The drone 8 may be blocked by its own shadow or crops below, which may affect the measurement of light intensity. The light intensity sensor is located above the drone. The sensor above can receive the ambient light intensity information more directly, reduce the interference of blocking, and accurately reflect the ambient light intensity. In addition, the upper position can fully capture the sky light and avoid the interference of soil or surrounding reflected light, thereby providing more realistic environmental data for spectral analysis. Structural optimization: The sensor is installed at the top without interfering with the work of other modules (such as lasers or spectrometers), which is convenient for equipment layout and maintenance.

[0065] The present disclosure provides a possible implementation method, wherein the device further includes:

[0066] LiDAR rangefinder 3;

[0067] The laser radar rangefinder 3 is used to measure the distance between the drone and the target soil area on the ground; the distance between the drone and the target soil area on the ground determined by the measurement is used to determine the irradiation angle and focal length adjustment of the laser, thereby improving the accuracy of the high-energy pulse laser irradiation area.

[0068] The present disclosure provides a possible implementation method, wherein the device further includes:

[0069] A data processing module (or control unit); the data processing module is used for at least one of the following:

[0070] Performing spectral analysis on spectral data of the light signal emitted by the plasma collected by the spectrometer to determine the nutrient status of the target soil area;

[0071] Determine the field of view of the reflective telescope according to the determined position of the visible light spot, and / or adjust the irradiation area of ​​the high-energy pulse laser emitted by the laser to the target soil area;

[0072] Determining the irradiation angle and focal length adjustment of the laser according to the measured distance between the drone and the target soil area on the ground;

[0073] The laser output power of the laser and / or the spectrum signal acquisition sensitivity of the spectrometer are determined according to the measured ambient light intensity.

[0074] For example, in combination with Figure 1-3 The working process of the soil detection device based on laser induced breakdown spectroscopy provided by the embodiment of the present disclosure is as follows. It should be noted that in actual work, the relevant working steps can be adjusted.

[0075] 1. Path planning steps. Based on the preset target soil area, the mission planning software generates a route covering the target area. The mission parameters include flight altitude, speed, detection interval and path optimization.

[0076] 2. Steps for setting the working parameters of the laser 4 and the spectrometer 7. When the UAV arrives at the target soil area, the light intensity sensor 1 starts to monitor the surrounding light intensity in real time. The detected light intensity data can be used to adjust the output parameters of the laser 4 and the spectral signal acquisition sensitivity of the spectrometer 7. Specifically, if the light intensity is high, the laser 4 appropriately increases the pulse energy to enhance the plasma excitation effect, thereby avoiding the signal being masked by ambient light interference. The spectrometer 7 adjusts the spectral signal acquisition sensitivity to reduce the impact of high background light on the signal. If the light intensity is weak, the laser (4) appropriately reduces the pulse energy to prevent signal distortion caused by over-excitation. The spectrometer 7 increases the spectral acquisition sensitivity to ensure the accuracy of signal detection in a weak light environment. By dynamically adjusting these parameters, the interference of ambient light on the LIBS signal is reduced, thereby improving the accuracy of soil detection.

[0077] 3. Laser excitation area calibration step. The infrared laser light equipped on the laser 4 is turned on, and a stable infrared spot is formed on the ground. The spot serves as a positioning mark for the laser excitation point to ensure that the laser pulse can accurately irradiate the target area. Specifically, the position of the infrared spot detected by the infrared signal detector 5, the positional relationship between the laser and the infrared laser light, and the current position of the drone and other data (different data can be used depending on the accuracy requirements) can be used to determine whether the position of the high-energy pulse laser irradiation area emitted by the laser 1 is the target area position. If it is not the target area position, the action of the drone 8 can be adjusted (it can also be done by adjusting the laser emission angle of the laser) to adjust the high-energy pulse laser irradiation area emitted by the laser 1 until the high-energy pulse laser irradiation area emitted by the laser 1 is the target area position.

[0078] 4. Step of adjusting the field of view of the reflective telescope. Specifically, the infrared signal detector 5 monitors the infrared spot position in real time, and expands a predetermined area with the position as the center to serve as the field of view of the reflective telescope; or the infrared spot position relationship and the target area position relationship (such as the position relationship between the infrared spot and the target area can be determined based on the position relationship between the laser and the infrared laser light) are used to determine the position of the target soil area through the position of the infrared spot, so that the target soil area is used as the field of view of the reflective telescope. Then, the control unit or the data control template controls the reflective telescope (6) to automatically adjust, so as to ensure that the field of view of the reflective telescope is aligned with the field of view determined above.

[0079] 5. Laser processing steps. The laser 4 emits high-energy pulsed laser to accurately irradiate the soil sample and stimulate the formation of plasma. The laser pulse heats the soil surface and quickly evaporates to form plasma. The infrared laser light remains on the ground to form a clear light spot for positioning the excitation point. The infrared signal detector 5 continuously monitors the light spot position to ensure that the laser excitation point is aligned with the target soil sample, and transmits the information to the reflective telescope 6 and the pan-tilt system (or control unit, data processing block) to automatically adjust it to ensure accurate irradiation of the laser pulse.

[0080] 6. Spectral signal acquisition step. When the high-energy pulse laser emitted by the laser excites plasma on the soil, the reflective telescope 6 can capture the optical signal emitted by the plasma, and can guide the optical signal to the spectrometer 7 through the corresponding optical path system, and the spectrometer 7 can collect the spectrum of the optical signal emitted by the plasma. Among them, the spectrometer can be a small plane grating.

[0081] 7. Spectral analysis steps: The spectrometer performs high-resolution spectral decomposition on the captured signal, extracting and analyzing the characteristic spectral lines of each element in the soil sample.

[0082] 8. Data display step. The final analysis results are transmitted to the ground station through the wireless communication module, and the element content and distribution in the soil are displayed in real time. For example, the soil nutrient distribution can be displayed in the form of charts, heat maps and maps, which is convenient for users to adjust farmland management strategies in time.

[0083] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the embodiments of the present disclosure. The drawings only show components related to the embodiments of the present disclosure rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0084] The following embodiments of the present disclosure are provided by specific specific examples to illustrate the embodiments of the present disclosure. Those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0085] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0086] The embodiments described above are part of the embodiments of the present disclosure, but not all of them. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of the present disclosure.

[0087] In the description of the embodiments of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description, rather than indicating or implying 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 embodiments of the present disclosure. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0088] In the description of the embodiments of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0089] The above are only specific implementations of the embodiments of the present disclosure, but the protection scope of the embodiments of the present disclosure is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the embodiments of the present disclosure should be included in the protection scope of the embodiments of the present disclosure. Therefore, the protection scope of the embodiments of the present disclosure should be based on the protection scope of the claims.

Claims

1. A soil detection device based on laser induced breakdown spectroscopy, characterized in that: include: A drone body, wherein the drone body is equipped with a laser, a reflecting telescope, and a spectrometer, and the laser, the reflecting telescope, and the spectrometer are located below the drone body; The laser is used to emit high-energy pulsed laser to irradiate the target soil area to stimulate the formation of plasma; The reflecting telescope is used to capture the optical signal emitted by the plasma in the target soil area and guide it to the spectrometer; The spectrometer is used to collect spectral data of the light signal emitted by the plasma based on the light signal guided by the reflecting telescope, and the spectral data is used for soil analysis of a target soil area.

2. The device according to claim 1, characterized in that The laser is equipped with a visible light laser lamp, which is used to generate a visible light spot to mark the soil area irradiated by the high-energy pulse laser emitted by the laser.

3. The device according to claim 2, characterized in that The device also includes: Visible light signal detector; The visible light signal detector is used to detect and determine the position of the visible light spot; the position of the visible light spot is used to determine the field of view of the reflective telescope and / or adjust the irradiation area of ​​the high-energy pulse laser emitted by the laser to the target soil area.

4. The device according to claim 3, characterized in that The visible light laser lamp is an infrared laser lamp, and the visible light signal detector is an infrared signal detector.

5. The device according to claim 2, characterized in that The device also includes: Image sensor; The image sensor is located under the drone and is configured to collect images of the soil area irradiated by the high-energy pulse laser emitted by the laser. The images of the soil area irradiated by the high-energy pulse laser are used to determine the position of the soil area irradiated by the high-energy pulse laser based on visible light spot analysis in the image.

6. The device according to claim 1, characterized in that The device also includes: A light intensity sensor, wherein the light intensity sensor is located above the drone; The light intensity sensor is used to detect the ambient light intensity, and the detected ambient light intensity is used to determine the laser output power of the laser and / or the spectral signal acquisition sensitivity of the spectrometer.

7. The device according to claim 1, characterized in that The device also includes: LiDAR rangefinder; The laser radar rangefinder is used to measure the distance between the UAV and the target soil area on the ground; the measured distance between the UAV and the target soil area on the ground is used to determine the irradiation angle and focal length adjustment of the laser.

8. The device according to claim 1, characterized in that The UAV is a multi-rotor UAV.

9. The device according to claim 1, characterized in that: The spectrometer is a small plane grating spectrometer.

10. The device according to any one of claims 1 to 9, characterized in that: The device also includes: A data processing module; the data processing module is used for at least one of the following: Performing spectral analysis on spectral data of the light signal emitted by the plasma collected by the spectrometer to determine the nutrient status of the target soil area; Determine the field of view of the reflective telescope according to the determined position of the visible light spot, and / or adjust the irradiation area of ​​the high-energy pulse laser emitted by the laser to the target soil area; Determining the irradiation angle and focal length adjustment of the laser according to the measured distance between the drone and the target soil area on the ground; The laser output power of the laser and / or the spectrum signal acquisition sensitivity of the spectrometer are determined according to the measured ambient light intensity.

Images