Soil bulkiness and earth surface flatness detection system and method based on laser surveying and mapping

Abstract

The invention discloses a soil bulkiness and earth surface flatness detection system and method based on laser surveying and mapping, and relates to the technical field of soil surveying and mapping. In the deep scarification operation process, laser signals are emitted to an operation area through intersection points p1r and p '1r and intersection points p2r and p' 2r at a fixed frequency epsilon, echoes reflected by the operation area are received, the time interval delta t20k from laser signal emission at the intersection point p20 to echo receiving at the kth time is obtained, the actual operation tilling depth h0k during sampling at the kth time is calculated according to the obtained time interval delta t20k, and the depth h0k is calculated according to the actual operation tilling depth h0k. The method comprises the following steps: acquiring a time interval from the kth laser signal emission from intersection points p1r and p '1r and from the kth laser signal emission from intersection points p2r and p' 2r to echo receiving, calculating the upheaval heights H2rk and H '2rk of points on a soil ridge-shaped disturbance profile corresponding to each point on an intersection line l2 according to the acquired time interval data, drawing a soil ridge-shaped disturbance profile cross section schematic diagram, and calculating the earth surface flatness after deep scarification, and determining the width Lk of the pit-shaped contour of the soil during the kth sampling after deep scarification, and calculating the bulkiness pk of the soil during the kth sampling.

Description

Technical Field

[0001] The present invention relates to the technical field of soil mapping, and in particular to a soil bulkiness and surface flatness detection system and method based on laser mapping. Background Art

[0002] Mechanical deep tillage can break up the plow bottom layer, restore the soil aggregate structure, loosen and ventilate the soil, promote deep soil maturation, and benefit the growth and development of crops and promote the sustainable development of agriculture. Reasonable deep tillage depth can not only reduce the energy consumption of deep tillage operation, but also provide good soil disturbance effect for subsequent operations such as sowing.

[0003] Generally, in order to accurately obtain the disturbance contour of the soil after deep tillage, most of the methods are to use a soil profiler and a coordinate paper with a fixed grid length to draw the disturbance contour of the soil after deep tillage. The contour is drawn once at a certain interval in the test area along the forward direction of the soil trough test vehicle, and the above drawing process is repeated many times to obtain the disturbance contour of the soil after deep tillage, and further calculate the soil disturbance effect evaluation indicators such as soil bulkiness and surface flatness. This measurement method has low working efficiency and cannot detect soil bulkiness and surface flatness during deep tillage operations. To this end, we propose a soil bulkiness and surface flatness detection system and method based on laser mapping. Summary of the invention

[0004] The main purpose of the present invention is to provide a soil bulkiness and surface flatness detection system and method based on laser mapping, which can effectively solve the problems in the background technology.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] The soil bulkiness and surface flatness detection method based on laser mapping includes:

[0007] The plane where the tip of the deep plowing shovel is located in the direction of deep plowing operation is defined as the longitudinal center plane O 1 The plane where the tip of the deep plowing shovel is located perpendicular to the direction of deep plowing operation is the transverse center plane O 2 The plane where the tip of the deep plowing shovel is parallel to the ground is the reference center plane O 3 ;

[0008] Define a plane parallel to the reference center O 3 And the distance is h 1 The plane is the measurement plane O 4 , parallel to the transverse center plane O 2 The plane with a distance L is the working plane, and the working plane includes a front working plane O located in front of the transverse center plane in the direction of deep plowing operation. 5and a rear working plane O located at the rear side of the transverse center plane 6 ;

[0009] Define the measurement plane O 4 , front working plane O 5 , longitudinal center plane O 1 The intersection point is p 10 , measuring plane O 4 With the front working plane O 5 The intersection line is l 1 At the intersection line l 1 On the intersection point p 10 The points p are symmetrically distributed along the two sides with an equidistant distance of λ. 11 , p' 11 , p 12 , p' 12 , ..., p 1n 、p' 1n ; Measurement plane O 4 , rear working plane O 6 , longitudinal center plane O 1 The intersection point is p 20 , measuring plane O 4 With the rear working plane O 6 The intersection line is l 2 At the intersection line l 2 On the intersection point p 20 The points p are symmetrically distributed along the two sides with an equidistant distance of λ. 21 , p' 21 , p 22 , p' 22 , ..., p 2n 、p' 2n ;

[0010] During deep loosening operation, the intersection points p 1r 、p' 1r and the intersection point p 2r 、p' 2r Send a laser signal to the working area, r = 0, 1, ..., n; and receive the echo reflected by the working area to obtain the kth intersection point p 20 The time interval Δt between emitting the laser signal and receiving the echo 20k , according to the acquired time interval Δt 20k And the formula: Calculate the actual tillage depth h at the kth sampling time 0k , where v t is the propagation speed of the laser signal in the air medium;

[0011] Get the kth intersection point p 1r 、p'1r and the intersection point p 2r 、p' 2r The time interval Δt between emitting the laser signal and receiving the echo 1rk , Δt' 1rk , Δt 2rk , Δt' 2rk , calculate the intersection line l according to the acquired time interval data 2 The uplift height H of the points on the soil ridge disturbance contour corresponding to each point 2rk , H' 2rk , the calculation formula is: According to the obtained uplift height, a schematic cross-sectional diagram of the soil ridge disturbance contour is drawn, and the surface flatness after deep tillage is calculated; the calculation method is: on the drawn soil ridge disturbance contour, a vertical line is drawn through the highest point to intersect the depicted surface line, and it is divided into equal parts at intervals of 50 mm, and then the vertical distance from the soil ridge to the surface line is measured respectively, and the standard deviation is calculated, which is the surface flatness after deep tillage.

[0012] According to the acquired time interval data Δt 1rk , Δt' 1rk , Δt 2rk , Δt' 2rk , determine the width L of the soil pit profile at the kth sampling after deep tillage k , calculate the soil bulkiness p at the kth sampling k , the calculation formula is: Among them, A q =h 0k ×L k ; A h It is the cross-sectional area of ​​the soil ridge disturbance contour.

[0013] The width of the soil pit profile at the kth sampling after deep tillage L k The determination process includes the following steps:

[0014] The intersection line l at the kth sampling time 2 The uplift height H of the point on the soil ridge disturbance contour corresponding to the previous point 2rk , H' 2rk Construct the data set H 2k ={H 2nk , ..., H 21k , H 20k , H' 21k , ..., H' 2nk};

[0015] The intersection line l is calculated according to the time interval data obtained at the kth sampling time 1 The distance between each point and the working area is calculated as follows: Construct the set H with the obtained distance values 1k ={H 1nk , ..., H 11k , H 10k , H' 11k , ..., H' 1nk};

[0016] Set H 1rk With the set H 2k Perform difference processing on each element in to obtain the difference value set H 1rk -H 2k ={H 1nk -H 2nk , ..., H 11k -H 21k , H 10k -H 20k , H' 11k -H' 21k , ..., H' 1nk -H' 2nk};

[0017] Set the judgment threshold H. If the difference set is equal to element H 10k -H 20k When the adjacent qth element value is less than the threshold H, and the q-1th element value is greater than or equal to the threshold H, it is determined that the corresponding point is not a boundary point of the soil pit contour, q∈n;

[0018] Take the mean of the qth element value and the q-1th element value, determine the quantitative relationship between the mean of the qth element value and the q-1th element value and the threshold H, and determine the soil pit contour width L based on the quantitative relationship k .

[0019] Soil pit profile width L k The principles for determining are:

[0020] If the mean is greater than or equal to the threshold H, the width of the soil pit contour

[0021] If the mean is less than the threshold H, the width of the soil pit contour

[0022] Soil bulkiness and surface flatness detection system based on laser mapping, including:

[0023] The laser signal transmitting module is used to transmit the laser signal from the intersection point p to the intersection point p at a fixed frequency ε during deep loosening operation. 1r 、p' 1r and the intersection point p 2r 、p' 2r Sending laser signals to the working area;

[0024] A laser signal receiving module is used to receive the echo reflected by the working area and calculate the time interval between the emission of the laser signal and the reception of the echo;

[0025] The actual tillage depth calculation module is used to calculate the actual tillage depth h at the kth sampling time according to the acquired time interval. 0k , the calculation formula is:

[0026] The soil ridge disturbance contour acquisition module is used to obtain the k-th soil ridge disturbance contour from the intersection point p 1r 、p' 1r and the intersection point p 2r 、p' 2r The time interval Δt between emitting the laser signal and receiving the echo 1rk , Δt' 1rk , Δt 2rk , Δt' 2rk , calculate the intersection line l according to the acquired time interval data 2 The uplift height H of the points on the soil ridge disturbance contour corresponding to each point 2rk , H' 2rk , the calculation formula is:

[0027] The surface flatness calculation module is used to draw a cross-sectional diagram of the soil ridge disturbance contour according to the obtained uplift height, and calculate the surface flatness after deep loosening;

[0028] The soil bulkiness calculation module is used to obtain the time interval data Δt 1rk , Δt' 1rk , Δt 2rk , Δt' 2rk , determine the width L of the soil pit profile at the kth sampling after deep tillage k , and using the formula: Calculate the soil bulkiness p at the kth sampling time k , where A q =h 0k ×L k ;

[0029] The system further includes a memory, a processor, and an electronic program stored in the memory and capable of running on the processor.

[0030] The present invention has the following beneficial effects:

[0031] Compared with the prior art, in the process of deep loosening, the intersection points p 1r 、p' 1r and the intersection point p 2r 、p' 2rThe laser signal is emitted to the working area, and the echo reflected by the working area is received to obtain the kth intersection point p 20 The time interval Δt between emitting the laser signal and receiving the echo 20k , according to the acquired time interval Δt 20k Calculate the actual tillage depth h at the kth sampling time 0k , get the kth intersection point p 1r 、p' 1r and the intersection point p 2r 、p' 2r The time interval between emitting the laser signal and receiving the echo is used to calculate the intersection line l according to the acquired time interval data. 2 The uplift height H of the points on the soil ridge disturbance contour corresponding to each point 2rk , H' 2rk , draw a cross-sectional diagram of the soil ridge disturbance contour, calculate the surface flatness after deep loosening, and determine the width L of the soil pit contour at the kth sampling after deep loosening k , calculate the soil bulkiness p at the kth sampling k It can realize the detection of soil bulkiness and surface flatness during deep tillage operations, improve the calibration efficiency and the level of intelligent detection, and facilitate timely adjustment of the deep tillage process according to the detection results. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a flow chart of the soil bulkiness and surface flatness detection method based on laser mapping of the present invention;

[0033] Figure 2 It is a structural schematic diagram of the soil bulkiness and surface flatness detection system based on laser mapping of the present invention;

[0034] Figure 3 Schematic diagram of the cross section of soil disturbance profile.

[0035] In the figure, A h A is the cross-sectional area of ​​soil disturbance from the ground surface to the bottom of the theoretical deep plowing ditch after deep plowing; q A is the cross-sectional area of ​​soil disturbance from the ground surface before deep plowing to the bottom of the theoretical deep plowing ditch; s L is the cross-sectional area of ​​soil disturbance from the ground surface before deep plowing to the actual deep plowing ditch bottom; k is the width of the soil pit after deep loosening; d k It is the theoretical deep tillage depth. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with specific implementation methods, wherein the accompanying drawings are only used for exemplary descriptions and represent only schematic diagrams rather than actual drawings, and should not be understood as limiting the present invention. In order to better illustrate the specific implementation methods of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product.

[0037] The specific implementation process of the technical solution of the present invention includes the following steps:

[0038] Step 1: Define the plane where the tip of the deep plowing shovel is located in the direction of deep plowing as the longitudinal center plane O 1 The plane where the tip of the deep plowing shovel is located perpendicular to the direction of deep plowing operation is the transverse center plane O 2 The plane where the tip of the deep plowing shovel is parallel to the ground is the reference center plane O 3 ;

[0039] Step 2: Define a plane O parallel to the reference center 3 And the distance is h 1 The plane is the measurement plane O 4 , parallel to the transverse center plane O 2 The plane with a distance L is the working plane, and the working plane includes a front working plane O located in front of the transverse center plane in the direction of deep plowing operation. 5 and a rear working plane O located at the rear side of the transverse center plane 6 ;

[0040] Step 3: Define the measurement plane O 4 , front working plane O 5 , longitudinal center plane O 1 The intersection point is p 10 , measuring plane O 4 With the front working plane O 5 The intersection line is l 1 At the intersection line l 1 On the intersection point p 10 The points p are symmetrically distributed along the two sides with an equidistant distance of λ. 11 , p' 11 , p 12 , p' 12 , ..., p 1n 、p' 1n ; Measurement plane O 4 , rear working plane O 6 , longitudinal center plane O 1 The intersection point is p 20 , measuring plane O 4 With the rear working plane O 6 The intersection line is l 2 At the intersection line l2 On the intersection point p 20 The points p are symmetrically distributed along the two sides with an equidistant distance of λ. 21 , p' 21 , p 22 , p' 22 , ..., p 2n 、p' 2n ;

[0041] Step 4: During the deep loosening operation, the intersection points p 1r 、p' 1r and the intersection point p 2r 、p' 2r Sending a laser signal to the working area, r = 0, 1, ..., n;

[0042] Step 5: Receive the echo reflected by the working area and obtain the kth intersection point p 20 The time interval Δt between emitting the laser signal and receiving the echo 20k , according to the acquired time interval Δt 20k And the formula: Calculate the actual tillage depth h at the kth sampling time 0k , where v t is the propagation speed of the laser signal in the air medium;

[0043] Step 6: Get the kth intersection point p 1r 、p' 1r and the intersection point p 2r 、p' 2r The time interval Δt between emitting the laser signal and receiving the echo 1rk , Δt' 1rk , Δt 2rk , Δt' 2rk , calculate the intersection line l according to the acquired time interval data 2 The uplift height H of the points on the soil ridge disturbance contour corresponding to each point 2rk , H' 2rk , the calculation formula is:

[0044] Step 7: Based on the acquired time interval data Δt 1rk , Δt' 1rk , Δt 2rk , Δt' 2rk , determine the width L of the soil pit profile at the kth sampling after deep tillage k , the determination process includes the following steps:

[0045] Step 71: Take the intersection line l at the kth sampling time 2The uplift height H of the point on the soil ridge disturbance contour corresponding to the previous point 2rk , H' 2rk Construct the data set H 2k ={H 2nk , ..., H 21k , H 20k , H' 21k , ..., H' 2nk};

[0046] Step 72: Calculate the intersection line l according to the time interval data obtained during the kth sampling. 1 The distance between each point and the working area is calculated as follows: Construct the set H with the obtained distance values 1k ={H 1nk , ..., H 11k , H 10k , H' 11k , ..., H' 1nk};

[0047] Step 73: Set H 1rk With the set H 2k Perform difference processing on each element in to obtain the difference value set H 1rk -H 2k ={H 1nk -H 2nk , ..., H 11k -H 21k , H 10k -H 20k , H' 11k -H' 21k , ..., H' 1nk -H' 2nk};

[0048] Step 74: Set the judgment threshold H. If the difference value set is equal to element H 10k -H 20k When the adjacent qth element value is less than the threshold H, and the q-1th element value is greater than or equal to the threshold H, it is determined that the corresponding point is not a boundary point of the soil pit contour, q∈n;

[0049] Step 75: Take the average of the qth element value and the q-1th element value, determine the quantitative relationship between the average of the qth element value and the q-1th element value and the threshold value H, and determine the soil pit contour width L according to the quantitative relationship k Among them, the width of the soil pit profile L k The principles for determining are:

[0050] If the mean is greater than or equal to the threshold H, the width of the soil pit contour

[0051] If the mean is less than the threshold H, the width of the soil pit contour

[0052] Step 8: Draw the following according to the obtained ridge height: Figure 3 The cross-sectional diagram of the soil ridge disturbance profile is shown, and the surface flatness after deep loosening is calculated;

[0053] The surface flatness is calculated as follows: on the drawn soil ridge disturbance contour, draw a vertical line through the highest point and intersect the drawn surface line, divide it into equal parts at intervals of 50 mm, and then measure the vertical distance from the soil ridge to the surface line respectively, and calculate the standard deviation, which is the surface flatness after deep loosening.

[0054] Step 9: Calculate the soil bulkiness p at the kth sampling time based on the obtained cross-sectional diagram of soil ridge disturbance profile k , the calculation formula is: Among them, A q =h 0k ×L k ; A h It is the cross-sectional area of ​​the soil ridge disturbance contour.

[0055] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for detecting soil bulkiness and surface flatness based on laser mapping, characterized in that: include: The plane where the tip of the deep plowing shovel is located in the direction of deep plowing operation is defined as the longitudinal center plane O1, the plane where the tip of the deep plowing shovel is located perpendicular to the direction of deep plowing operation is defined as the transverse center plane O2, and the plane where the tip of the deep plowing shovel is located parallel to the ground is defined as the reference center plane O3; A plane parallel to the reference center plane O3 and at a distance h1 is defined as a measurement plane O4, and a plane parallel to the transverse center plane O2 and at a distance L is defined as an operation plane, wherein the operation plane includes a front operation plane O5 located in front of the transverse center plane in the direction of deep plowing operation and a rear operation plane O6 located in rear of the transverse center plane; Define the intersection of the measuring plane O4, the front working plane O5, and the longitudinal center plane O1 as p 10 The intersection line of the measuring plane O4 and the front working plane O5 is l1; on the intersection line l1, the intersection point p 10 The points p are symmetrically distributed along the two sides with an equidistant distance of λ. 11 , p' 11 , p 12 , p' 12 , ..., p 1n 、p' 1n ; The intersection of the measuring plane O4, the rear working plane O6, and the longitudinal center plane O1 is p 20 The intersection line of the measuring plane O4 and the rear working plane O6 is l2; on the intersection line l2, the intersection point p 20 The points p are symmetrically distributed along the two sides with an equidistant distance of λ. 21 , p' 21 , p 22 , p' 22 , ..., p 2n 、p' 2n ; During deep loosening operation, the intersection points p 1r 、p' 1r and the intersection point p 2r 、p' 2r Send a laser signal to the working area, r = 0, 1, ..., n; and receive the echo reflected by the working area to obtain the kth intersection point p 20 The time interval Δt between emitting the laser signal and receiving the echo 20k , according to the acquired time interval Δt 20k And the formula: Calculate the actual tillage depth h at the kth sampling time 0k , where v t is the propagation speed of the laser signal in the air medium; Get the kth intersection point p 1r 、p' 1r and the intersection point p 2r 、p' 2r The time interval Δt between emitting the laser signal and receiving the echo 1rk , Δt' 1rk , Δt 2rk , Δt' 2rk , calculate the uplift height H of the point on the soil ridge disturbance contour corresponding to each point on the intersection line l2 according to the acquired time interval data 2rk , H' 2rk , the calculation formula is: Draw a cross-sectional diagram of the soil ridge disturbance contour based on the obtained uplift height, and calculate the surface flatness after deep loosening; According to the acquired time interval data Δt 1rk , Δt' 1rk , Δt 2rk , Δt' 2rk , determine the width L of the soil pit profile at the kth sampling after deep tillage k , calculate the soil bulkiness p at the kth sampling k , the calculation formula is: Among them, A q =h 0k ×L k ; A h It is the cross-sectional area of ​​the soil ridge disturbance contour.

2. The method for detecting soil bulkiness and surface flatness based on laser mapping according to claim 1, characterized in that: The width of the soil pit profile at the kth sampling after deep tillage L k The determination process includes the following steps: The uplift height H of the point on the soil ridge disturbance contour corresponding to the point on the intersection line l2 at the kth sampling time is 2rk , H' 2rk Construct the data set H 2k ={H 2nk , ..., H 21k , H 20k , H' 21k , ..., H' 2nk }; The distance between each point on the intersection line l1 and the operation area is calculated according to the time interval data obtained at the kth sampling, and the calculation formula is: Construct the set H with the obtained distance values 1k ={H 1nk , ..., H 11k , H 10k , H' 11k , ..., H' 1nk }; Set H 1rk With the set H 2k Perform difference processing on each element in to obtain the difference value set H 1rk -H 2k ={H 1nk -H 2nk , ..., H 11k -H 21k , H 10k -H 20k , H' 11k -H' 21k , ..., H' 1nk -H' 2nk }; Set the judgment threshold H. If the difference set is equal to element H 10k -H 20k When the adjacent qth element value is less than the threshold H, and the q-1th element value is greater than or equal to the threshold H, it is determined that the corresponding point is not a boundary point of the soil pit contour, q∈n; Take the mean of the qth element value and the q-1th element value, determine the quantitative relationship between the mean of the qth element value and the q-1th element value and the threshold H, and determine the soil pit contour width L based on the quantitative relationship k .

3. The method for detecting soil bulkiness and surface flatness based on laser mapping according to claim 2 is characterized in that: Soil pit profile width L k The determination principle is: If the mean is greater than or equal to the threshold H, the width of the soil pit contour If the mean is less than the threshold H, the width of the soil pit contour 4. The soil bulkiness and surface flatness detection system based on laser mapping is characterized by: The system is used to implement the steps of the soil bulkiness and surface flatness detection method based on laser mapping according to any one of claims 1 to 3, including: The laser signal transmitting module is used to transmit the laser signal from the intersection point p to the intersection point p at a fixed frequency ε during deep loosening operation. 1r 、p' 1r and the intersection point p 2r 、p' 2r Sending laser signals to the working area; A laser signal receiving module is used to receive the echo reflected by the working area and calculate the time interval between the emission of the laser signal and the reception of the echo; The actual tillage depth calculation module is used to calculate the actual tillage depth h at the kth sampling time according to the acquired time interval. 0k , the calculation formula is: The soil ridge disturbance contour acquisition module is used to obtain the k-th soil ridge disturbance contour from the intersection point p 1r 、p' 1r and the intersection point p 2r 、p' 2r The time interval Δt between emitting the laser signal and receiving the echo 1rk , Δt' 1rk , Δt 2rk , Δt' 2rk , calculate the uplift height H of the point on the soil ridge disturbance contour corresponding to each point on the intersection line l2 according to the acquired time interval data 2rk , H' 2rk , the calculation formula is: The surface flatness calculation module is used to draw a cross-sectional diagram of the soil ridge disturbance contour according to the obtained uplift height, and calculate the surface flatness after deep loosening; The soil bulkiness calculation module is used to obtain the time interval data Δt 1rk , Δt' 1rk , Δt 2rk , Δt' 2rk , determine the width L of the soil pit profile at the kth sampling after deep tillage k , and using the formula: Calculate the soil bulkiness p at the kth sampling time k , where A q =h 0k ×L k .

5. The soil bulkiness and surface flatness detection system based on laser mapping according to claim 4 is characterized in that: The system also includes a memory, a processor, and an electronic program stored in the memory and capable of running on the processor, wherein the processor can implement the steps of the soil bulkiness and surface flatness detection method based on laser mapping as described in any one of claims 1-3 when running the electronic program.

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