Soil bulking degree and ground flatness detection system and method based on laser mapping

Abstract

This invention discloses a soil looseness and surface evenness detection system and method based on laser mapping, relating to the field of soil mapping technology. During deep tillage operations, the system detects soil looseness and surface evenness at a fixed frequency ε from intersection point p. 1r p' 1r and intersection point p 2r p' 2r A laser signal is emitted into the work area, and the echo reflected from the work area is received to obtain the k-th laser signal from the intersection point p. 20 The time interval Δt between the emitted laser signal and the received echo 20k Based on the obtained time interval Δt 20k Calculate the actual tillage depth h at the kth sampling time. 0k Obtain the k-th intersection point p 1r p' 1r and intersection point p 2r p' 2r The time interval between transmitting the laser signal and receiving the echo is used to calculate the uplift height H of the points on the soil ridge disturbance profile corresponding to each point on the intersection line l2, based on the acquired time interval data. 2rk H' 2rk Draw a schematic diagram of the cross-sectional profile of the soil ridge disturbance, calculate the surface smoothness after deep tillage, and determine the width L of the soil pit profile at the kth sampling point after deep tillage. k Calculate the soil looseness p at the kth sampling time. k .

Description

Technical Field

[0001] This invention relates to the field of soil mapping technology, and in particular to a soil bulkiness and surface flatness detection system and method based on laser mapping. Background Technology

[0002] Mechanical deep tillage can break up the plow pan, restore soil aggregate structure, loosen and aerate the soil, promote deep soil maturation, and benefit crop growth and development, thus promoting sustainable agricultural development. Appropriate deep tillage depth not only reduces energy consumption during deep tillage operations but also provides good soil disturbance for subsequent operations such as sowing.

[0003] Generally, to accurately obtain the soil disturbance profile after deep tillage, the soil disturbance profile is usually drawn using a soil profilometer and coordinate paper with fixed grid side lengths after deep tillage. This process is repeated multiple times along the direction of the soil trough test vehicle within the test area to obtain the soil disturbance profile, and then soil loosening and surface smoothness evaluation indicators are calculated. This measurement method is inefficient and cannot detect soil loosening and surface smoothness during deep tillage operations. Therefore, we propose a soil loosening and surface smoothness detection system and method based on laser mapping. Summary of the Invention

[0004] The main objective of this 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 art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] Methods for detecting soil bulkiness and surface smoothness based on laser mapping include:

[0007] The plane containing the tip of the subsoil shovel in the direction of subsoil operation is defined as the longitudinal center plane. The plane containing the tip of the subsoil shovel perpendicular to the direction of subsoil operation is the transverse center plane. The plane containing the tip of the deep loosening shovel, parallel to the ground, is the reference center plane. ;

[0008] Defined parallel to the reference center plane And the distance is The plane is the measurement plane. Parallel to the transverse center plane And the distance is The plane is the working plane, which includes a front working plane located in front of the transverse center plane along the deep tillage operation direction. and the rear working plane located behind the said transverse center plane ;

[0009] Define the measurement plane Front working plane Longitudinal center plane The intersection point is Measuring plane With the previous working plane The intersection line is ; at the intersection line Above, at the intersection point Points are symmetrically distributed equidistant from the center on both sides. , , , ,..., , ; Measurement plane Post-work plane Longitudinal center plane The intersection point is Measuring plane and subsequent working plane The intersection line is ; at the intersection line Above, at the intersection point Points are symmetrically distributed equidistant from the center on both sides. , , , ,..., , ;

[0010] During deep tillage operations, at a fixed frequency ε, the intersection points are respectively... , and intersection , Emit laser signals to the work area. =0,1,..., ; and receive the echo reflected from the work area to obtain the first Next, from the intersection point The time interval between transmitting the laser signal and receiving the echo. According to the time interval of acquisition And the formula: Calculate the first Actual tillage depth at the time of the second sampling In the formula, This represents the propagation speed of the laser signal in the air medium.

[0011] Get the Next, from the intersection point , and intersection , The time interval between transmitting the laser signal and receiving the echo. , , , The intersection line is calculated based on the acquired time interval data. The height of the uplift of the points on the soil ridge disturbance profile corresponding to each point. , The calculation formula is: = - ; = - Based on the obtained uplift height, draw a schematic diagram of the cross-section of the soil ridge disturbance profile and calculate the surface smoothness after deep loosening. The calculation method is as follows: on the drawn soil ridge disturbance profile, draw a vertical line through the highest point to intersect the drawn surface line, divide it into equal parts at 50mm intervals, and then measure the vertical distance from the soil ridge to the surface line respectively, calculate the standard deviation, which is the surface smoothness after deep loosening.

[0012] Based on the acquired time interval data , , , After confirming deep pine Soil pit outline width at the second sampling Calculate the first Soil looseness at the time of the second sampling The calculation formula is: ,in, = × ; It represents the cross-sectional area of ​​soil disturbance from the surface to the bottom of the theoretical deep-plowing trench after deep loosening.

[0013] Fukamatsu's second Soil pit outline width at the second sampling The determination process includes the following steps:

[0014] With the first The intersection line during the second sampling The height of the bulge on the soil ridge disturbance profile corresponding to the previous point , Building a dataset ={ ,..., , , ,..., };

[0015] According to the The intersection line is calculated from the time interval data obtained during the next sampling. The distance between each point and the work area is calculated using the following formula: = ; = To construct a set using the obtained distance values ={ ,..., , , ,..., };

[0016] set With sets Perform subtraction on each element in the dataset to obtain the set of differences. - ={ - ,..., - , - , - ,..., - };

[0017] Set the judgment threshold If the difference set contains elements - The adjacent first Element value less than threshold And the first Element value greater than or equal to threshold When the corresponding point is determined to be not a boundary point of the soil pit outline, ∈ ;

[0018] Take the first Element value and the first The mean of the element values, to determine the first Element value and the first Mean and threshold of element values The quantitative relationships are used to determine the width of the soil pit outline. .

[0019] Soil pit outline width The determining principle is as follows:

[0020] If the mean is greater than or equal to the threshold The width of the soil pit outline = ;

[0021] If the mean is less than the threshold The width of the soil pit outline = .

[0022] A soil bulkiness and surface evenness detection system based on laser mapping includes:

[0023] The laser signal transmitting module is used during deep tillage operations to transmit laser signals at a fixed frequency ε from the intersection points. , and intersection , Emit laser signals to the work area;

[0024] The laser signal receiving module is used to receive the echo reflected from the working area and calculate the time interval between the emitted laser signal and the received echo.

[0025] The actual tillage depth calculation module is used to calculate the tillage depth based on the acquired time interval. Actual tillage depth at the time of the second sampling The calculation formula is: ;

[0026] The soil ridge disturbance profile acquisition module is used to acquire the first... Next, from the intersection point , and intersection , The time interval between transmitting the laser signal and receiving the echo. , , , The intersection line is calculated based on the acquired time interval data. The height of the uplift of the points on the soil ridge disturbance profile corresponding to each point. , The calculation formula is: = - ; = - ;

[0027] The surface flatness calculation module is used to draw a schematic diagram of the cross-section of the soil ridge disturbance profile based on the obtained uplift height, and to calculate the surface flatness after deep loosening.

[0028] The soil looseness calculation module is used to calculate soil looseness based on the acquired time interval data. , , , After confirming deep pine Soil pit outline width at the second sampling And using the formula: Calculate the first Soil looseness at the time of the second sampling ,in, = × ;

[0029] The system also 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 existing technologies, by using a fixed frequency ε at the intersection points during deep tillage operations... , and intersection , The system emits laser signals into the work area and receives the echoes reflected from the work area to obtain the first... Next, from the intersection point The time interval between transmitting the laser signal and receiving the echo. According to the time interval of acquisition Calculate the first Actual tillage depth at the time of the second sampling , obtain the Next, from the intersection point , and intersection , The time interval between the emitted laser signal and the received echo is used to calculate the intersection line. The height of the uplift of the points on the soil ridge disturbance profile corresponding to each point. , Draw a schematic diagram of the cross-sectional profile of the soil ridge disturbance, calculate the surface flatness after deep tillage, and determine the first... Soil pit outline width at the second sampling Calculate the first Soil looseness at the time of the second sampling It can detect soil looseness and surface flatness during deep tillage operations, improve testing efficiency and intelligence, and facilitate timely adjustments to the deep tillage process based on test results. Attached Figure Description

[0032] Figure 1 This is a flowchart of the method for detecting soil bulkiness and surface flatness based on laser mapping according to the present invention.

[0033] Figure 2 This is a schematic diagram of the soil looseness and surface flatness detection system based on laser mapping according to the present invention.

[0034] Figure 3 This is a schematic diagram of the cross-sectional profile of soil disturbance.

[0035] In the diagram, A h A is the cross-sectional area of ​​soil disturbance from the surface after deep loosening to the bottom of the theoretical deep loosening trench; q A is the cross-sectional area of ​​soil disturbance from the surface before deep tillage to the bottom of the theoretical deep tillage trench; s L is the cross-sectional area of ​​soil disturbance from the surface before deep tillage to the bottom of the actual deep tillage trench. k d represents the width of the pit-shaped outline of the soil after deep loosening; k This refers to the theoretical depth of relaxation. Detailed Implementation

[0036] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the present invention. In order to better illustrate the specific embodiments of the present invention, some parts in the drawings may be omitted, enlarged or reduced, and do not represent the actual product size.

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

[0038] Step 1: Define the plane containing the tip of the subsoiler shovel in the direction of subsoil operation as the longitudinal center plane. The plane containing the tip of the subsoil shovel perpendicular to the direction of subsoil operation is the transverse center plane. The plane containing the tip of the deep loosening shovel, parallel to the ground, is the reference center plane. ;

[0039] Step 2: Define a plane parallel to the reference center plane. And the distance is The plane is the measurement plane. Parallel to the transverse center plane And the distance is The plane is the working plane, which includes a front working plane located in front of the transverse center plane along the deep tillage operation direction. and the rear working plane located behind the said transverse center plane ;

[0040] Step 3: Define the measurement plane Front working plane Longitudinal center plane The intersection point is Measuring plane With the previous working plane The intersection line is ; at the intersection line Above, at the intersection point Points are symmetrically distributed equidistant from the center on both sides. , , , ,..., , ; Measurement plane Post-work plane Longitudinal center plane The intersection point is Measuring plane and subsequent working plane The intersection line is ; at the intersection line Above, at the intersection point Points are symmetrically distributed equidistant from the center on both sides. , , , ,..., , ;

[0041] Step 4: During the deep tillage operation, at a fixed frequency ε, from the intersection point... , and intersection , Emit laser signals to the work area. =0,1,..., ;

[0042] Step 5: Receive the echo reflected from the work area to obtain the first... Next, from the intersection point The time interval between transmitting the laser signal and receiving the echo. According to the time interval of acquisition And the formula: Calculate the first Actual tillage depth at the time of the second sampling In the formula, This represents the propagation speed of the laser signal in the air medium.

[0043] Step 6: Obtain the first Next, from the intersection point , and intersection , The time interval between transmitting the laser signal and receiving the echo. , , , The intersection line is calculated based on the acquired time interval data. The height of the uplift of the points on the soil ridge disturbance profile corresponding to each point. , The calculation formula is: = - ; = - ;

[0044] Step 7: Based on the acquired time interval data , , , After confirming deep pine Soil pit outline width at the second sampling The process includes the following steps:

[0045] Step 71: Using the first The intersection line during the second sampling The height of the bulge on the soil ridge disturbance profile corresponding to the previous point , Building a dataset ={ ,..., , , ,..., };

[0046] Step 72: According to the first The intersection line is calculated from the time interval data obtained during the next sampling. The distance between each point and the work area is calculated using the following formula: = ; = To construct a set using the obtained distance values ={ ,..., , , ,..., };

[0047] Step 73: Set With sets Perform subtraction on each element in the dataset to obtain the set of differences. - ={ - ,..., - , - , - ,..., - };

[0048] Step 74: Set the judgment threshold If the difference set contains elements - The adjacent first Element value less than threshold And the first Element value greater than or equal to threshold When the corresponding point is determined to be not a boundary point of the soil pit outline, ∈ ;

[0049] Step 75: Take the first... Element value and the first The mean of the element values, to determine the first Element value and the first Mean and threshold of element values The quantitative relationships are used to determine the width of the soil pit outline. Among them, the width of the soil pit outline The determining principle is as follows:

[0050] If the mean is greater than or equal to the threshold The width of the soil pit outline = ;

[0051] If the mean is less than the threshold The width of the soil pit outline =

[0052] Step 8: Draw the diagram based on the obtained bulge height. Figure 3 The diagram shows a cross-sectional profile of the soil ridge disturbance, and the surface flatness after deep loosening is calculated.

[0053] The method for calculating the surface smoothness is as follows: On the drawn soil ridge disturbance outline, draw a vertical line through the highest point to intersect the drawn surface line, divide it into equal parts at 50mm intervals, and then measure the vertical distance from the soil ridge to the surface line, calculate the standard deviation, which is the surface smoothness after deep loosening.

[0054] Step 9: Based on the obtained schematic diagram of the cross-sectional profile of the soil ridge disturbance, calculate the... Soil looseness at the time of the second sampling The calculation formula is: ,in, = × ; It represents the cross-sectional area of ​​soil disturbance from the surface to the bottom of the theoretical deep-plowing trench after deep loosening.

[0055] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for detecting soil bulkiness and surface smoothness based on laser mapping, characterized in that, include: The plane containing the tip of the subsoil shovel in the direction of subsoil operation is defined as the longitudinal center plane. The plane containing the tip of the subsoil shovel perpendicular to the direction of subsoil operation is the transverse center plane. The plane containing the tip of the deep loosening shovel, parallel to the ground, is the reference center plane. ; Defined parallel to the reference center plane And the distance is The plane is the measurement plane. Parallel to the transverse center plane And the distance is The plane is the working plane, which includes a front working plane located in front of the transverse center plane along the deep tillage operation direction. and the rear working plane located behind the said transverse center plane ; Define the measurement plane Front working plane Longitudinal center plane The intersection point is Measuring plane With the previous working plane The intersection line is ; at the intersection line Above, at the intersection point Points are symmetrically distributed equidistant from the center on both sides. , , , ,..., , ; Measurement plane Post-work plane Longitudinal center plane The intersection point is Measuring plane and subsequent working plane The intersection line is ; at the intersection line Above, at the intersection point Points are symmetrically distributed equidistant from the center on both sides. , , , ,..., , ; During deep tillage operations, at a fixed frequency ε, the intersection points are respectively... , and intersection , Emit laser signals to the work area. =0,1,..., ; and receive the echo reflected from the work area to obtain the first Next, from the intersection point The time interval between transmitting the laser signal and receiving the echo. According to the time interval of acquisition And the formula: Calculate the first Actual tillage depth at the time of the second sampling In the formula, This represents the propagation speed of the laser signal in the air medium. Get the Next, from the intersection point , and intersection , The time interval between transmitting the laser signal and receiving the echo. , , , The intersection line is calculated based on the acquired time interval data. The height of the uplift of the points on the soil ridge disturbance profile corresponding to each point. , The calculation formula is: = - ; = - Based on the obtained uplift height, draw a schematic diagram of the cross-section of the soil ridge disturbance profile and calculate the surface flatness after deep loosening. Based on the acquired time interval data , , , After confirming deep pine Soil pit outline width at the second sampling Calculate the first Soil looseness at the time of the second sampling The calculation formula is: ,in, = × ; It represents the cross-sectional area of ​​soil disturbance from the surface to the bottom of the theoretical deep-plowing trench after deep loosening.

2. The method for detecting soil looseness and surface smoothness based on laser mapping according to claim 1, characterized in that, Fukamatsu's second Soil pit outline width at the second sampling The determination process includes the following steps: With the first The intersection line during the second sampling The height of the bulge on the soil ridge disturbance profile corresponding to the previous point , Building a dataset ={ ,..., , , ,..., }; According to the The intersection line is calculated from the time interval data obtained during the next sampling. The distance between each point and the work area is calculated using the following formula: = ; = To construct a set using the obtained distance values ={ ,..., , , ,..., }; set With sets Perform subtraction on each element in the dataset to obtain the set of differences. - ={ - ,..., - , - , - ,..., - }; Set the judgment threshold If the difference set contains elements - The adjacent first Element value less than threshold And the first Element value greater than or equal to threshold When the corresponding point is determined to be not a boundary point of the soil pit outline, ∈ ; Take the first Element value and the first The mean of the element values, to determine the first Element value and the first Mean and threshold of element values The quantitative relationships are used to determine the width of the soil pit outline. .

3. The method for detecting soil bulkiness and surface smoothness based on laser mapping according to claim 2, characterized in that, Soil pit outline width The determining principle is as follows: If the mean is greater than or equal to the threshold The width of the soil pit outline = ; If the mean is less than the threshold The width of the soil pit outline = .

4. A soil looseness and surface flatness detection system based on laser mapping, characterized in that, The system is used to implement the steps of the method for detecting soil bulkiness and surface flatness based on laser mapping as described in any one of claims 1-3, including: The laser signal transmitting module is used during deep tillage operations to transmit laser signals at a fixed frequency ε from the intersection points. , and intersection , Emit laser signals to the work area; The laser signal receiving module is used to receive the echo reflected from the working area and calculate the time interval between the emitted laser signal and the received echo. The actual tillage depth calculation module is used to calculate the tillage depth based on the acquired time interval. Actual tillage depth at the time of the second sampling The calculation formula is: ; The soil ridge disturbance profile acquisition module is used to acquire the first... Next, from the intersection point , and intersection , The time interval between transmitting the laser signal and receiving the echo. , , , The intersection line is calculated based on the acquired time interval data. The height of the uplift of the points on the soil ridge disturbance profile corresponding to each point. , The calculation formula is: = - ; = - ; The surface flatness calculation module is used to draw a schematic diagram of the cross-section of the soil ridge disturbance profile based on the obtained uplift height, and to calculate the surface flatness after deep loosening. The soil looseness calculation module is used to calculate soil looseness based on the acquired time interval data. , , , After confirming deep pine Soil pit outline width at the second sampling And using the formula: Calculate the first Soil looseness at the time of the second sampling ,in, = × .

5. The soil bulkiness and surface evenness detection system based on laser mapping according to claim 4, 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.

Images