Large range continuous depth soil consistency measuring device and system

Abstract

The application provides a large-range continuous deep soil compactness measuring device and system, relates to the technical field of soil data collection, and comprises an electric push rod component, a multi-sensor component, a rack, a soil probe, a forward and reverse control circuit, a guide shaft component, a power supply module and a communication module, wherein: the electric push rod component is used for applying a continuous large thrust in the vertical direction to the soil probe; the multi-sensor component is used for measuring pressure sensing data and distance sensing data generated by the soil probe in the process of being vertically inserted into the soil to be measured; the forward and reverse control circuit is used for controlling the forward pushing process and the reverse withdrawing process of the electric push rod component; the guide shaft component is used for guiding the movement direction of the positioning plate; and the communication module is used for constructing a transmission link. The application can ensure continuous measurement of soil compactness in the depth direction, vertical stable-speed operation, and meet the large-range measurement requirements of high-soil compactness areas such as saline-alkali soil.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of soil data acquisition, and particularly relates to a large-range continuous-depth soil compactness measuring device and system. BACKGROUND

[0002] Soil compactness is an important index for studying farmland degradation, which can show the ability of soil to resist compaction and crushing under external force. Soil compactness is not better the higher or the lower, and too high or too low soil compactness will have an adverse effect on the normal growth of crops.

[0003] In order to ensure the accuracy of the measured value, the existing soil compactness equipment has strict operation requirements in the measurement process. The measurement personnel need to ensure the perpendicularity of the probe and the pressing speed at any time. The deviation generated in the measurement process can affect the reliability of the measurement result. The measurement depth of the current soil compactness equipment is commonly measured in two ways. One is to mark the size on the probe, and the measurement personnel need to pay attention to the depth scale of the probe at all times. However, due to the angle of view, it is not easy to obtain the correct depth distance in the actual use process. The other is to install an ultrasonic sensor, and the actual depth distance is calculated according to the received signal of the ultrasonic wave reflected by the soil. However, the measurement error of this method is also in the centimeter level, and the interference of the weeds and other interference objects in the ultrasonic transmission path needs to be excluded to prevent the interference from affecting the measurement distance.

[0004] Therefore, there is an urgent need for a large-range continuous-depth soil compactness measuring device and system to solve the above problems. SUMMARY

[0005] In view of the problems existing in the prior art, the present application provides a large-range continuous-depth soil compactness measuring device and system.

[0006] The present application provides a large-range continuous-depth soil compactness measuring device, which comprises an electric push rod component, a multi-sensor component, a rack, a soil probe, a forward and reverse control circuit, a guide shaft component and a communication module, wherein:

[0007] The electric push rod component is used to apply a continuous vertical thrust to the soil probe, wherein one end of the electric push rod component is fixedly connected to the top of the rack; the other end of the electric push rod component is a push rod telescopic movable end, and the push rod telescopic movable end is connected to the center position of the upper surface of the positioning plate inside the rack;

[0008] The multi-sensor component is used for measuring pressure sensing data generated by the soil probe in the process of vertical insertion into the soil to be measured and distance sensing data of the soil probe in the vertical insertion direction when the electric push rod component applies the vertical pushing force to the soil probe, wherein the distance sensing data is laser ranging data.

[0009] The forward and reverse control circuit is used for controlling the forward pushing process and the reverse retracting process of the electric push rod component.

[0010] The guide shaft component is used for guiding the movement direction of the positioning plate when the electric push rod component applies the vertical pushing force to the soil probe.

[0011] The communication module is used for constructing a data transmission link.

[0012] According to the application, a large-range continuous depth soil tightness measuring device is provided.

[0013] One end of the pressure sensor is connected to the tail end of the soil probe, and the other end of the pressure sensor is fixedly connected to the center position of the lower surface of the positioning plate, and is used for measuring the pressure sensing data.

[0014] The laser ranging sensor is used for vertically emitting a laser detection signal to the bottom of the rack to measure the distance sensing data, and the laser path of the laser detection signal is parallel to the movement direction of the soil probe, wherein the laser ranging sensor is arranged on the side of the installation adjustment plate, the bottom end of the installation adjustment plate is fixedly connected to the positioning plate, and the side of the installation adjustment plate is provided with a distance adjusting hole for vertically adjusting the installation position of the laser ranging sensor on the installation adjustment plate.

[0015] According to the application, a large-range continuous depth soil tightness measuring device is provided.

[0016] According to the application, a large-range continuous depth soil tightness measuring device is provided.

[0017] According to the application, the forward and reverse control circuit comprises an electric push rod power supply circuit and a control signal sub-circuit, wherein:

[0018] The electric push rod power supply circuit is used to provide operating voltage for the push rod motor during the forward pushing process and the reverse retraction process of the electric push rod component, wherein the thrust of the push rod motor is at least greater than 300 kg.

[0019] The control signal sub-circuit is used to provide forward and reverse control signals for the push rod motor to control the electric push rod component to perform forward pushing or reverse retraction.

[0020] According to the application, the guide shaft component comprises a first guide shaft and a second guide shaft, which are vertically arranged between the electric push rod component and the bottom of the rack, and are used to guide the vertical movement of the positioning plate, wherein the first guide shaft and the second guide shaft pass through the positioning plate through corresponding through holes on both sides of the positioning plate and are connected to the bottom of the rack.

[0021] According to the application, the communication module is provided with a power supply interface corresponding to the power supply module, and the pressure sensor and the laser ranging sensor each have a corresponding communication interface.

[0022] The application also provides a soil compaction measurement system comprising a data fusion control module, a forward and reverse control module and the above-mentioned large-range continuous depth soil compaction measurement device, wherein:

[0023] The data fusion control module is used to sequentially collect multi-sensor data generated by the multi-sensor components in the large-range continuous depth soil compaction measurement device during the soil compaction measurement process according to the sampling time generated according to the preset data collection interval and the running speed of the electric push rod component, and generate corresponding forward and reverse control instructions based on the sequentially collected multi-sensor data, wherein the multi-sensor data comprises pressure sensor data generated by the soil probe in the large-range continuous depth soil compaction measurement device during the vertical insertion into the soil to be measured, and distance sensor data in the vertical insertion direction of the soil probe.

[0024] The forward and reverse control module is used to generate running mode control signals corresponding to the electric push rod component in the large-range continuous depth soil compaction measurement device according to the forward and reverse control instructions, so as to adjust the running state of the electric push rod component through the running mode control signals.

[0025] The soil compactness measuring system provided by the application further comprises a sensor network control module for constructing a data transmission link between the data fusion control module and the multi-sensor component.

[0026] The soil compactness measuring system provided by the application further comprises a data correction and analysis module for performing corresponding data correction processing on the pressure sensing data and the distance sensing data respectively, so as to obtain the soil compactness of the soil to be measured according to the pressure sensing data after data correction processing and the distance sensing data after data correction processing.

[0027] The large-range continuous-depth soil compactness measuring device and system provided by the application can exert a vertical pushing force on the soil probe by fixing one end of the electric push rod component on the top of the rack and connecting the other end of the push rod retractable active end to the center of the upper surface of the positioning plate in the rack, so as to guarantee the controllability of the verticality standard of measurement. The multi-sensor component can ensure continuous-depth soil compactness measurement, vertical stable-speed operation speed and precision when the electric push rod component exerts a force, and meet the large-range measurement requirements of high-soil compactness areas such as saline-alkali soil. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0029] Figure 1 The structure schematic diagram of the large-range continuous-depth soil compactness measuring device provided by the application is shown in the figure.

[0030] Figure 2 The overall architecture schematic diagram of the large-range continuous-depth soil compactness measuring device provided by the application is shown in the figure.

[0031] Figure 3 The structure schematic diagram of the installation adjustment plate provided by the application is shown in the figure.

[0032] Figure 4 The structure schematic diagram of the laser ranging protection plate provided by the application is shown in the figure.

[0033] Figure 5 The control process schematic diagram of the forward and reverse control circuit provided by the application is shown in the figure.

[0034] Figure 6 The interface schematic diagram of the communication module provided by the application is shown in the figure.

[0035] Figure 7 A structural schematic diagram of a soil compactness measuring system provided by the present application;

[0036] Figure 8 A schematic diagram of an overall control process of the soil compactness measuring system provided by the present application. DETAILED DESCRIPTION

[0037] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0038] In agricultural production, due to excessive use of chemical fertilizers, frequent compaction of agricultural machinery and some planting factors, the phenomenon of farmland degradation is relatively common. In order to deeply understand the farmland degradation situation, high-precision and multi-functional detection equipment plays a key role in helping scientific researchers to obtain accurate data and providing strong support for multi-angle research and judgment of the actual situation of farmland degradation.

[0039] Taking the typical degradation type of saline-alkali farmland as an example, the soil compactness is relatively high, which will hinder the infiltration of water, reduce the utilization rate of chemical fertilizers and hinder the growth of plant roots, and finally cause crop yield reduction. As an important index for measuring farmland degradation, soil compactness can reflect the ability of soil to resist external compaction and crushing, and its value that is too high or too low will interfere with the normal growth of crops.

[0040] At present, the commonly used soil compactness measuring equipment includes SC-900, Top Cloud TJSD-750-II and the like. These devices generally adopt a portable design, including a probe, a pressure sensor, a handle and a data acquisition module, and the basic working principle is that the probe, the pressure sensor and the handle are in the same vertical line, the researcher presses the handle vertically downward, the probe contacts the soil to generate a force and transmits it to the pressure sensor, and then the soil compactness value is converted according to the physical formula and displayed. Such devices are not targeted at specific soil types and need to be manually pressed down for measurement.

[0041] In order to ensure the accuracy of the measured value of the soil compaction equipment, the existing soil compaction equipment needs to pay attention to the indicators such as the verticality of the probe and the pressing speed when measuring. However, relying on manual control of the depth of the probe, the running speed and the verticality of the probe by the scientific research or operating personnel not only requires the operating personnel to have certain cognition of the principle of the equipment, but also requires the operating personnel to be skilled in the operation skill. Even if the operation manual stipulates the use mode, when different operating personnel use the same equipment, the variable data is difficult to unify; even if the same operating personnel operates at different points or multiple times, the measuring speed, the verticality of the probe and the depth of the probe are difficult to be completely consistent. The speed cannot be accurately controlled by different personnel or the same personnel at different operating times. If the speed is too high, the measured value is difficult to compare with other measurement results. If the measuring speed is too low, the measuring efficiency is affected. At the same time, when measuring the soil compaction, the measuring verticality needs to keep the measuring equipment completely vertical to the surface of the measured soil. However, in the use process, the operating personnel can only try to approach the complete verticality. The direction of the actual pressing force causes the soil compaction equipment to often penetrate into the soil layer at a certain inclination angle.

[0042] Moreover, the commonly used measuring range of the existing soil compaction equipment is 0-100kg. According to the actual soil compaction determination experiment of salinization, only the soil in the surface layer of 10cm in some areas can be measured, which causes the existing soil compaction equipment to have better adaptability in the area with relatively low soil compaction (such as black soil area or red soil area), but poor adaptability in the area with high soil compaction (such as salinized soil). In the area with high soil compaction, manual pressing operation often makes the probe difficult to penetrate, and the operation action is easy to deform. In addition, the structure of the equipment is relatively simple, and the pressure sensor, handle and the like are more prone to be damaged when used in the soil with high compaction.

[0043] In view of the problems existing in the prior art, the present application designs a large-range continuous-depth soil compaction measurement device and system integrated with laser ranging for the application scene of measuring high-compaction soil such as salinized soil. The accurate continuous measurement of the depth of soil compaction is realized by fusing the principle of laser ranging, and the large-range soil compaction measurement with controllable measuring speed and measuring verticality standard is realized through the design of the mechanical device. It should be noted that the large-range continuous-depth soil compaction measurement device provided by the present application is also applicable to non-salinized soil, which not only ensures the measuring efficiency but also improves the measuring accuracy.

[0044] Figure 1 The structure diagram of the large-range continuous-depth soil compaction measurement device provided by the present application is shown in Figure 1 The present application provides a large-range continuous-depth soil compaction measurement device, which comprises an electric push rod component 101, a multi-sensor component 102, a rack 103, a soil probe 104, a forward and reverse control circuit 105, a guide shaft component 106, a power supply module 107 and a communication module 108.

[0045] The electric push rod component 101 is used to apply a continuous vertical pushing force to the soil probe 104, wherein one end of the electric push rod component 101 is fixedly connected to the top of the rack 103; the other end of the electric push rod component 101 is a push rod telescopic movable end, which is connected to the center position of the upper surface of the positioning plate inside the rack 103;

[0046] The multi-sensor component 102 is used to measure the pressure sensing data generated by the soil probe 104 during vertical insertion into the soil to be measured and the distance sensing data of the soil probe 104 in the vertical insertion direction when the electric push rod component 101 applies the vertical pushing force to the soil probe 104, wherein the distance sensing data is laser ranging data;

[0047] The forward and reverse rotation control circuit 105 is used to control the forward pushing process and the reverse retracting process of the electric push rod component 101;

[0048] The guide shaft component 106 is used to guide the movement direction of the positioning plate when the electric push rod component 101 applies the vertical pushing force to the soil probe 104;

[0049] The power supply module 107 is used to provide corresponding operating voltage for the electric push rod component 101;

[0050] The communication module 108 is used to build a data transmission link.

[0051] In the present application, the electric push rod component 101 serves as the power source of the large-range continuous depth soil compactness measuring device, and is used to apply a vertical pushing force to the soil probe 104, so that the soil probe 104 can be vertically inserted into the soil to be measured. One end of the electric push rod component 101 is fixedly connected to the top of the rack 103, and this fixed connection ensures the stability of the electric push rod component 101 during operation. The other end of the electric push rod component 101 is a push rod telescopic movable end, which is connected to the center position of the upper surface of the positioning plate inside the rack 103, so that the electric push rod component 101 can accurately transmit the pushing force to the soil probe 104 when it is telescoped, and ensure the uniformity and accuracy of the force received by the soil probe 104 in the vertical direction, thereby ensuring that the soil probe 104 can be stably vertically inserted into the soil during the measurement process.

[0052] In the process of the electric push rod component 101 applying a vertical pushing force to the soil probe 104, the multi-sensor component 102 can obtain pressure sensing data and distance sensing data generated by the soil probe 104 in the process of vertically inserting into the soil to be measured in real time. Specifically, when the soil probe 104 is inserted into the soil, it will be subjected to resistance from the soil, and this resistance will act on the soil probe 104 in the form of pressure. The multi-sensor component 102 can accurately measure these pressure data, which are closely related to the compactness of the soil, because the higher the soil compactness, the greater the resistance to the soil probe 104, and the greater the corresponding pressure sensing data.

[0053] At the same time, the multi-sensor component 102 can also measure the distance sensing data of the soil probe 104 in the vertical insertion direction, i.e. the depth of the soil probe 104 inserted into the soil. By recording the pressure sensing data at different depths and the corresponding distance sensing data, a curve of the soil compactness changing with the depth can be drawn, so as to more comprehensively understand the compactness of the soil.

[0054] In the present application, the rack 103 serves as the support structure of the entire large-range continuous-depth soil compactness measuring device, and provides a stable mounting platform for the electric push rod component 101, the multi-sensor component 102 and the soil probe 104. The rack 103 ensures the stability of the relative positions and connection relationships between the components, so that the entire measuring device can maintain a stable operating state during the measurement process, reducing the measurement errors caused by equipment shaking or component displacement.

[0055] In the present application, the soil probe 104 is the component that directly contacts the soil to be measured, which receives the vertical pushing force applied by the electric push rod component 101 and inserts into the soil. During the insertion process, the soil probe 104 transmits the resistance generated by the soil to the multi-sensor component 102, so that the multi-sensor component 102 can measure the pressure and obtain the detection distance. In the present application, the material, shape and size of the soil probe 104 and other design factors will affect the accuracy and reliability of the measurement, for example, a suitable material can ensure that the probe is not easily damaged during insertion into the soil, and a reasonable shape and size can ensure that the probe is in full contact with the soil, so as to accurately reflect the compactness of the soil. In the present application, the end of the soil probe 104 inserted into the soil is designed in the shape of a cone, so as to better insert into the soil to be measured.

[0056] In the present application, the forward and reverse rotation control circuit 105 is a circuit module for controlling the movement direction of the electric push rod component 101. For example, when it is necessary to insert the soil probe 104 into the soil, the forward and reverse rotation control circuit 105 controls the electric push rod component 101 to move forward, so that the electric push rod generates a downward force to push the soil probe 104 into the soil; when the sampling is completed, the soil probe 104 needs to be pulled out of the soil, the forward and reverse rotation control circuit 105 controls the electric push rod component 101 to move backward, so that the electric push rod generates an upward force to pull the soil probe 104 out of the soil, thereby accurately switching the current direction of the electric push rod, and realizing the function of forward and reverse rotation.

[0057] The guide shaft component 106 is a mechanical component that plays a guiding and positioning role. When the electric push rod component 101 applies a vertical pushing force to the soil probe 104, due to the possible deviation of the movement of the electric push rod, the movement direction of the positioning plate may not be accurate enough. The role of the guide shaft component 106 is to provide a fixed and accurate track for the movement of the positioning plate. When the electric push rod component 101 applies a pushing force, the positioning plate can only move linearly along the axis direction of the guide shaft, thereby ensuring that the soil probe 104 can be accurately inserted or pulled out of the soil vertically, and improving the stability and sampling accuracy of the equipment.

[0058] The power supply module 107 is a module for providing the electric push rod component 101 with the required power for operation. As an actuator, the electric push rod component 101 needs specific voltage and current to drive the internal motor to operate, thereby realizing the extension and retraction movement of the push rod. The power supply module 107 will convert the external power source into appropriate operating voltage according to the electrical parameter requirements of the electric push rod component 101, to ensure that the electric push rod component 101 operates in a safe working environment and avoids damage caused by excessive voltage or current.

[0059] The communication module 108 is a module for building a data transmission link, which enables the device to interact with other devices or systems, and ensures accurate transmission and analysis of data.

[0060] The present application provides a wide-range continuous depth soil hardness measurement device, which can apply a vertical pushing force to the soil probe by fixing one end of the electric push rod component to the top of the rack and connecting the other end of the push rod extension and retraction movable end to the center of the upper surface of the positioning plate inside the rack, and can ensure the controllability of the measurement verticality standard. The multi-sensor component can ensure continuous measurement of soil hardness depth, vertical stable speed and accuracy when the electric push rod component is applied, and meet the demand of wide-range measurement of high soil hardness area such as saline-alkali soil.

[0061] On the basis of the above-mentioned embodiments, the multi-sensor component comprises a pressure sensor and a laser ranging sensor, wherein:

[0062] One end of the pressure sensor is connected to the tail end of the soil probe, and the other end of the pressure sensor is fixedly connected to the center position of the lower surface of the positioning plate, for measuring the pressure sensor data.

[0063] The laser ranging sensor is used to vertically emit a laser detection signal to the bottom of the rack to measure the distance sensor data, and the laser path of the laser detection signal is parallel to the movement direction of the soil probe, wherein the laser ranging sensor is arranged on the side of the installation adjustment plate, the bottom end of the installation adjustment plate is fixedly connected to the positioning plate, and the side of the installation adjustment plate is provided with a distance adjusting hole for vertically adjusting the installation position of the laser ranging sensor on the installation adjustment plate.

[0064] Figure 2 The overall framework diagram of the wide-range continuous-depth soil compactness measuring device provided by the present application is shown in Figure 2 As shown in the figure, the multi-sensor component is composed of a pressure sensor and a laser ranging sensor (laser distance sensor), which work together to obtain soil compactness related data and provide support for accurate measurement of soil compactness values. Specifically, one end of the pressure sensor is connected to the tail end of the soil probe, and this connection mode enables the soil force acting on the soil probe during insertion into the soil to be directly and accurately transmitted to the pressure sensor. The other end of the pressure sensor is fixedly connected to the center position of the lower surface of the positioning plate, ensuring the stability of the pressure sensor during measurement and enabling it to accurately perceive and measure the pressure signal from the soil probe.

[0065] In the present application, the main function of the pressure sensor is to measure pressure sensor data. When the soil probe is inserted into the soil under the action of the electric push rod, the soil will generate resistance such as pressure and friction force on the probe, and this resistance will eventually act on the pressure sensor in the form of pressure. The pressure sensor converts the received pressure signal into an electric signal, and through analysis and processing of these electric signals, the pressure value of the soil probe on the soil is obtained, which is closely related to the compactness of the soil and can be used to calculate the soil compactness.

[0066] The laser ranging sensor is used to vertically emit a laser detection signal to the bottom of the rack to measure distance sensing data. The invention utilizes the propagation characteristics of laser, calculates the distance of laser propagation by measuring the time experienced from emission to reflection, combined with the propagation speed of laser, which is the detection distance of the soil probe in the vertical insertion direction. In the invention, the laser path of the laser detection signal is parallel to the movement direction of the soil probe, ensuring that the distance measured by the laser ranging sensor accurately reflects the depth of the soil probe inserted into the soil, thereby providing accurate depth data for subsequent calculation of soil tightness.

[0067] In the invention, the laser ranging sensor is arranged on the side of the installation adjustment plate, and the bottom end of the installation adjustment plate is fixedly connected with the positioning plate, so that the laser ranging sensor can move synchronously with the movement of the positioning plate, ensuring the synchronization of the laser ranging sensor with the pressure sensor and the soil probe.

[0068] Figure 3 The structure diagram of the installation adjustment plate provided by the invention can be referred to as shown in Figure 3 In the invention, the side of the installation adjustment plate is provided with distance adjustment hole positions, through which the vertical height of the installation position of the laser ranging sensor on the installation adjustment plate can be adjusted. Since the laser sensor itself has a measurement blind area, within which the laser sensor cannot accurately obtain measurement data, it may lead to inaccurate measurement results or even missing. Therefore, attention should be paid to avoid the measurement target being in the measurement blind area during actual measurement to ensure the effectiveness of the measurement data.

[0069] In order to ensure the accuracy of measurement, it is also necessary to ensure that the laser measurement is within the range of the sensor. The range of the sensor refers to the distance range that it can accurately measure, and if the measurement distance exceeds this range, the sensor may not be able to provide reliable measurement results. Therefore, when installing and using the laser distance sensor, the position of the sensor should be adjusted reasonably according to the actual measurement requirements and the insertion depth of the soil probe, so that its measurement range can cover the target measurement area.

[0070] In the invention, in order to enable the laser sensor to accurately measure the depth of the soil probe inserted into the soil, it is necessary to ensure that its operating range can meet the actual measurement requirements. Therefore, during installation, the installation position of the laser distance sensor is adjusted reasonably according to the expected insertion depth of the soil probe and the measurement requirements. The structure diagram of the installation adjustment plate provided by the invention can be referred to as shown in Figure 3As shown, the mounting adjusting plate provided by the present application is in an overall L shape, which is convenient for mounting and connecting with the positioning plate and can provide stable support structure for the laser distance sensor, wherein the bottom surface of the mounting adjusting plate is provided with screw holes, through which the mounting adjusting plate can be firmly mounted on the positioning plate, so that loosening or displacement of the mounting adjusting plate during measurement is avoided, thereby ensuring the stability of the laser distance sensor. In addition, the distance adjusting hole on the side surface of the mounting adjusting plate is in a long strip shape, so that the laser distance sensor can be adjusted in position up and down along the hole, and through the adjustable mounting mode, the position of the laser distance sensor can be flexibly adjusted according to the actual measurement requirements and the requirements of the measurement blind area, range and parallelism mentioned in the above embodiments, so as to achieve the best measurement effect. For example, when it is necessary to expand the measurement range or adjust the parallelism of the laser path and the probe running direction, the fixing screws are loosened, the sensor is moved to a suitable position along the long strip hole, and then the fixing screws are re-fixed. In the present application, the positioning plate laser distance sensor mounting hole is perpendicular to the laser window, so that when the laser ranging sensor emits a laser detection signal towards the bottom of the rack, the laser path between the laser ranging sensor and the bottom of the rack is unblocked.

[0071] In the present application, the rack is mainly used to ensure the normal operation of the large-range continuous depth soil tightness measuring device, and a frame material with light weight and high strength is adopted, and the whole frame components are specifically strengthened and weakened, so that the balance between weight, portability and measurement capacity is achieved. The overall design adopts a rectangular frame, and multiple sensor components, electric push rod components and guide shafts are fixedly installed, wherein the upper half of the rack is mainly used to install the electric push rod components, and the lower half is mainly used to install the positioning plate, the guide shaft and the soil probe. In the present application, the positioning plate, the guide shaft and the bottom guide hole are processed by a numerical control machine tool, so as to ensure the concentricity of the three, improve the smoothness of the vertical downward movement of the soil probe, and reduce the friction resistance between the components. For example, aluminum profiles can be used for processing and customization, and angle codes or other connecting pieces can be used for connection on each side, and mounting hole positions are arranged on each side, and hexagonal screws are uniformly used for fastening with spring washer nuts.

[0072] In the present application, the bottom surface of the rack has a certain contact area with the soil, so that the whole rack can be perpendicular to the measurement surface, and the bottom surface is connected with an L-shaped foot pedal and a side edge connected handrail for fixing the rack position by the operator.

[0073] On the basis of the above embodiment, the large-range continuous depth soil tightness measuring device further comprises a laser ranging reflector plate, which is fixedly arranged at the bottom of the rack, and the reflecting surface of the laser ranging reflector plate is perpendicular to the laser path of the laser detection signal.

[0074] In the present application, reference can be made to Figure 2As shown in the large-range continuous-depth soil tightness measuring device, the laser ranging reflection plate (i.e. Figure 2 the reflection plate in the above embodiment is fixedly arranged at the bottom of the rack. The rack serves as a support structure of the entire large-range continuous-depth soil tightness measuring device and provides a stable mounting platform for various components. In the present application, the laser ranging reflection plate is fixed at the bottom of the rack, which can ensure the stable position of the reflection plate during the measurement process and prevent the position from being easily changed due to the shaking or movement of the device, thereby providing a basic guarantee for the accuracy of laser ranging. On the other hand, this fixed arrangement allows the reflection plate to form a relatively fixed spatial relationship with other components (such as laser distance sensors, soil probes, etc.) in the device, which facilitates subsequent debugging and calibration.

[0075] In the present application, the reflective surface of the laser ranging reflection plate is perpendicular to the laser path of the laser detection signal. When the laser distance sensor emits a laser detection signal, the signal propagates along a specific path. Since the reflective surface of the reflection plate is perpendicular to the laser path, the laser can be incident on the reflection plate at the best angle, thereby being reflected back to the maximum extent. This perpendicular incidence and reflection method can reduce the energy loss and directional deviation of the laser during reflection, ensuring that the laser distance sensor can receive a reflected signal with sufficient intensity and accurate direction, thereby improving the measurement accuracy.

[0076] In actual measurement process, the position of laser point on the surface of the reflection plate can also be used as an important basis for judging whether the laser source of the laser distance sensor is perpendicular to the probe movement direction. Under normal circumstances, since the reflective surface of the laser ranging reflection plate is perpendicular to the laser path of the laser detection signal, the position of the laser point on the surface of the reflection plate will remain basically unchanged. If the laser point moves, it indicates that the laser source of the laser distance sensor is not perpendicular to the probe movement direction, and the propagation path of the laser will be shifted, causing the incident point and reflection direction of the laser on the reflection plate to change, thereby causing the laser point to move on the surface of the reflection plate. By observing the position change of the laser point on the surface of the reflection plate, the operator can timely find and adjust the installation angle of the laser distance sensor to ensure that the laser source is perpendicular to the probe movement direction, thereby ensuring the accuracy of the measurement results.

[0077] On the basis of the above embodiment, the large-range continuous-depth soil tightness measuring device further comprises a laser ranging protection plate arranged between the laser ranging reflection plate and the laser ranging sensor in the operating area, for shielding external interference of the laser ranging sensor during operation.

[0078] Figure 4 The structure diagram of the laser ranging protection plate provided by the present application is shown in Figure 4As shown in the present application, the laser ranging protection plate is arranged in the operation area between the laser ranging reflector plate and the laser ranging sensor, wherein the laser ranging reflector plate is arranged at the bottom of the rack and is used for reflecting the laser signal emitted by the laser ranging sensor, the laser ranging sensor is responsible for emitting and receiving the laser signal to realize distance measurement, and the operation area between the laser ranging reflector plate and the laser ranging sensor is the path of laser signal propagation. The laser ranging protection plate can directly protect the propagation path of the laser signal, effectively prevent external factors from interfering with the laser signal, and ensure the smooth progress of the laser ranging process. It should be noted that the laser ranging protection plate as a preferred component is not shown in the overall architecture of Figure 2 , and the specific structure of the laser ranging protection plate can be referred to Figure 4 .

[0079] Specifically, as shown in Figure 4 , the structure of the laser ranging protection plate is a cuboid, and its size can be set according to the operation area of the positioning plate and will not block the positioning plate, soil probe and the like. This shape design is simple and easy to manufacture and install, and can provide a relatively comprehensive protection range. In the present application, the laser ranging protection plate can block external interference from multiple directions, such as wind and sand, crop branches and human interference, etc., to create a relatively closed and stable environment for the propagation of laser signals. Among them, the top surface of the laser ranging protection plate is not closed. On the one hand, it is to ensure that the laser distance sensor can normally enter and exit, and to ensure that it can flexibly emit and receive laser signals during the measurement process. On the other hand, the unclosed top surface facilitates the observation of the operating state of the laser distance sensor by the operator, so that possible faults or abnormal conditions can be discovered in time for timely processing. Since the back surface of the laser ranging protection plate (i.e. the surface close to the soil probe) cannot interfere with the operation of the positioning plate and the probe, it is not closed. This is because the positioning plate plays a role in controlling the operating distance of the soil probe during the measurement process, and the soil probe needs to be vertically inserted into the soil for measurement. If the back surface is closed, it may hinder the movement of the positioning plate or the insertion of the probe, affecting the accuracy and stability of the measurement.

[0080] In the present application, the installation positions of the laser ranging protection plate are the rack side surface (on the same side as the laser ranging sensor) and the rack bottom end of the large-range continuous-depth soil hardness measurement device, which can effectively cover the main area of laser signal propagation and provide all-round protection for the laser signal. Please refer to Figure 2 and Figure 4As shown, taking the left side of the large-range continuous depth soil tightness measuring device as an example, the laser ranging protective plate is installed, a plurality of screw holes are arranged on the left side and the bottom end of the rack of the large-range continuous depth soil tightness measuring device, and the laser ranging protective plate is fixed through the screw holes, so that the protective plate is firmly fixed on the device and cannot be loosened or shifted due to vibration or movement of the large-range continuous depth soil tightness measuring device, thereby ensuring the stability of the protection effect. The right side of the laser ranging protective plate is not provided with screw holes, so as to avoid interference of the screw holes and the mounting structure with the operation of the probe, and ensure that the probe can be smoothly and vertically inserted into the soil for measurement. In addition, the lower side of the laser ranging protective plate needs to be installed below the reflecting plate during installation, so that the normal work of the reflecting plate is not affected, and the laser signal propagation area between the reflecting plate and the sensor can be effectively protected.

[0081] In the application, the main function of the laser ranging protective plate is to ensure that the light path of the laser distance sensor is not disturbed during operation. In the actual environment of soil tightness measurement, there are many factors that may interfere with the laser distance sensor, such as wind sand, crop branches and human disturbance. These interference factors may cause the intensity of the laser signal to weaken, the propagation direction to deviate or noise signals to be generated, thereby affecting the measurement accuracy and reliability of the laser ranging sensor. The laser ranging protective plate can effectively block or absorb these external interference factors through its special structure and installation position, create a relatively pure and stable propagation environment for the laser signal, ensure that the laser distance sensor can accurately emit and receive the laser signal, and thereby improve the accuracy and reliability of soil tightness measurement.

[0082] On the basis of the above embodiment, the forward and reverse control circuit comprises an electric push rod power supply circuit and a control signal sub-circuit, wherein:

[0083] The electric push rod power supply circuit is used for providing operating voltage for the push rod motor during the forward pushing process and the reverse retracting process of the electric push rod component, and the thrust of the push rod motor is at least greater than 300kg.

[0084] The control signal sub-circuit is used for providing forward and reverse control signals for the push rod motor to control the electric push rod component to perform forward pushing or reverse retracting.

[0085] In the application, reference can be made to Figure 2As shown in the large range continuous depth soil tightness measuring device, the forward and reverse control circuit is further included. In the large range continuous depth soil tightness measuring device, the electric push rod component needs a large current to realize the extension and retraction of the push rod during operation. If a unified circuit is used to control power supply and control functions at the same time, the large current required when the electric push rod component starts will cause the current in the circuit to increase sharply. When a large current is continuously input, the voltage distribution in the circuit will also change. The fluctuation of the current and the voltage will cause a transient voltage drop at the system control end, affecting the normal operation of the control circuit, and in severe cases, it can even cause the system to crash, resulting in the inability of the large range continuous depth soil tightness measuring device to operate normally. Therefore, the forward and reverse control circuit is further provided to decouple the power supply circuit and the control circuit, ensuring the stability of the system during the operation of the electric push rod. It should be noted that the installation position of the forward and reverse control circuit in the present application can be set according to the actual equipment design requirements, and the present application does not specifically limit the specific installation position of the forward and reverse control circuit.

[0086] Figure 5 The control process diagram of the forward and reverse control circuit provided by the present application can be referred to Figure 5 As shown in the forward and reverse control circuit, the electric push rod power supply circuit (power supply circuit) is mainly responsible for providing sufficient electric energy for the electric push rod to meet the demand of large thrust operation, and the control signal sub-circuit (control circuit) is responsible for accurately controlling the running direction and state of the electric push rod. After decoupling the electric push rod power supply circuit and the control signal sub-circuit, the electric push rod power supply circuit and the control signal sub-circuit can be optimized and designed respectively to improve their performance and reliability, so that the electric push rod can more efficiently and accurately complete the vertical downward operation task of the probe.

[0087] In the present application, the electric push rod component is the main force device for measuring soil tightness. When measuring the soil tightness of saline-alkali soil and the like, at least 300 kg of thrust is required, which requires the electric push rod to obtain a large enough current to generate corresponding power during operation. The power output end of the forward and reverse control circuit is directly connected to the electric push rod component, which can provide stable large current power supply for the electric push rod component, ensuring that the push rod can run at a constant speed along the axial direction, thereby meeting the measurement requirements of the probe vertically inserted into the soil. In the present application, the control signal sub-circuit is mainly used to analyze the control signal and convert it into a control instruction for the running direction of the electric push rod component. This process only requires a small current to complete. Through decoupling, the control signal sub-circuit can work independently of the power supply circuit, using a small current for signal processing and control instruction output, avoiding interference of the large current to the control signal, and improving the control accuracy and reliability.

[0088] In the application, the power input end of the forward and reverse rotation control circuit is connected to the power supply circuit, and the power supply circuit provides the required power for the entire circuit. After the power is processed by the forward and reverse rotation control circuit, it is distributed to the electric push rod power supply circuit and the control signal sub-circuit, ensuring that each part can work normally. In the application, the forward and reverse rotation control circuit is responsible for receiving external input control signals, which contain the running direction information of the electric push rod (forward pushing or reverse retracting). The forward and reverse rotation control circuit will analyze these control signals and convert them into control instructions that can be recognized by the circuit. The analyzed control instructions are output to the forward and reverse rotation control end of the forward and reverse rotation control circuit. When the forward and reverse rotation control end receives the instructions, it changes the current path or switch state in the circuit, thereby changing the direction of the input current of the electric push rod component.

[0089] In the application, when the current direction changes, the direction of the electromagnetic field inside the electric push rod component also changes, thereby changing the direction of the electromagnetic force acting on the push rod. According to the direction of the electromagnetic force, the push rod will perform forward pushing or reverse retracting action, thereby driving the positioning plate, laser distance sensor, pressure sensor and probe connected to the extension and retraction end of the push rod to move synchronously, completing the measurement task of soil compactness. Since the electric push rod component, pressure sensor and laser distance sensor are connected to the positioning plate, the soil probe, pressure sensor and laser distance sensor move synchronously. The moving end of the electric push rod is connected to the positioning plate, and the position of the positioning plate can be controlled to accurately control the running distance of the stainless steel probe. When the electric push rod drives the positioning plate to move, the positioning plate drives the pressure sensor, laser distance sensor and soil probe connected thereto to move downward synchronously, so that the soil probe inserts into the soil for measurement. In the application, the positioning plate is connected to the guide shaft at both ends during movement, and the guide shaft remains parallel to the movement direction of the probe. The guide shaft provides guidance for the movement of the positioning plate and ensures that the positioning plate remains stable during movement, thereby ensuring that the soil probe, pressure sensor and laser distance sensor can move along the predetermined vertical direction, further improving the accuracy of measurement.

[0090] On the basis of the above embodiment, the guide shaft component includes a first guide shaft and a second guide shaft, which are vertically arranged between the electric push rod component and the bottom of the rack. The first guide shaft and the second guide shaft are used to guide the positioning plate to move in the vertical direction. The first guide shaft and the second guide shaft pass through the positioning plate through corresponding through holes on both sides of the positioning plate and are connected to the bottom of the rack.

[0091] In the application, reference can be made to Figure 2As shown, the inside of the frame of the wide-range continuous depth soil tightness measuring device is also provided with two cylindrical guide shafts (i.e. the first guide shaft and the second guide shaft) made of stainless steel and four flanges. Stainless steel has the characteristics of high strength and corrosion resistance, which can ensure that the guide shafts are not easily deformed and damaged during long-term use, thereby ensuring the stability and accuracy of the movement of the positioning plate. The four flanges are used to assist the installation and fixation of the guide shafts, and enhance the connection strength between the guide shafts and the device structure.

[0092] The first guide shaft and the second guide shaft are vertically arranged between the electric push rod component and the bottom of the frame. This vertical arrangement is to meet the requirement of the movement of the positioning plate in the vertical direction, and to ensure that the soil probe can be accurately inserted into the soil vertically for measurement. In the present application, the two guide shafts are kept parallel during installation, so that the resistance received by the positioning plate during movement along the guide shafts is uniform, avoiding the jamming or deviation of the positioning plate due to the non-parallelism of the guide shafts, thereby improving the accuracy and reliability of the measurement.

[0093] During the installation of the guide shafts, the first guide shaft and the second guide shaft are kept parallel to the soil probe, which ensures that the soil probe moves downward vertically in the same direction as the guide shafts, making the operation of the entire wide-range continuous depth soil tightness measuring device more coordinated and stable. At the same time, it also helps to reduce the measurement error caused by the non-parallelism of the guide shafts and the probe. In addition, the guide shafts are always perpendicular to the positioning plate, reducing the friction between the positioning plate and the guide shafts during the operation of the probe. If the guide shafts are not perpendicular to the positioning plate when the positioning plate moves in the vertical direction, the contact surface between the positioning plate and the guide shafts will generate additional friction, which not only increases the movement resistance of the positioning plate, but also may cause wear of the positioning plate, affecting the service life and measurement accuracy of the measuring device. Maintaining the perpendicular relationship can keep the contact surface between the positioning plate and the guide shafts always minimal and uniform, thereby effectively reducing the friction.

[0094] In the present application, the main function of the first guide shaft and the second guide shaft is to guide the movement of the positioning plate in the vertical direction. The positioning plate moves up and down along the guide shafts under the push of the electric push rod component. Since the first guide shaft and the second guide shaft pass through the positioning plate through the corresponding through holes on both sides of the positioning plate and are connected to the bottom of the frame, this structure makes the positioning plate constrained and guided by the guide shafts during movement, and can only move linearly in the vertical direction, thereby ensuring that the probe can be accurately inserted into the soil vertically and improving the accuracy of soil tightness measurement. At the same time, the guide shafts pass through the positioning plate through the corresponding through holes on both sides of the positioning plate and are connected to the bottom of the frame, which can ensure the stability of the guide shafts and provide reliable support for the movement of the positioning plate.

[0095] On the basis of the above-mentioned embodiments, the communication module is provided with the power supply interface corresponding to the power supply module, and the communication interface corresponding to the pressure sensor and the laser ranging sensor respectively.

[0096] In the present application, the power supply module provides the required voltage and current for the mechanical operation (such as the action of the electric push rod component) of the entire large-range continuous depth soil tightness measuring device and the operation of the system software. When measuring the soil tightness of saline-alkali land and other areas with high soil tightness, the electric push rod component needs to overcome greater soil resistance, so the power supply module must be able to provide large instantaneous starting current to ensure that the electric push rod component can start smoothly and push the soil probe vertically into the soil. At the same time, during the operation of the electric push rod component, it is also necessary to ensure continuous large current output to maintain its stable operation and meet the measurement requirements.

[0097] Due to the large current during the operation of the electric push rod component, the selection of the power supply line is crucial. The selection criteria are matched according to the size of the current, and the purpose is to reduce the influence of the heating phenomenon generated by the large current during transmission on the overall circuit. For the large current line, a customized power supply line is used, which can meet the transmission requirements of 30A large starting current and ensure stable and efficient transmission of the current. In addition, a circular bare end is used for wiring, which has good conductivity and stability and can ensure the reliability of current transmission.

[0098] Figure 6 The interface diagram of the communication module provided by the present application can be referred to Figure 6 In the present application, the communication module is provided with the power supply interface corresponding to the power supply module, and the communication interface corresponding to the pressure sensor and the laser ranging sensor respectively. By setting the power supply interface corresponding to the power supply module, the required voltage and current for the operation of each component can be introduced, ensuring that the communication module can work continuously and stably, and ensuring the smooth progress of multi-sensor data communication.

[0099] The communication module is also provided with a communication interface corresponding to the pressure sensor and the distance sensor respectively. In the process of soil compactness measurement, the multiple sensors (including the pressure sensor and the laser distance sensor) need to communicate with the system in real time, and the collected data is transmitted to the system for processing and analysis in time. In order to realize this function, the communication module provides a data transmission channel for the pressure sensor and the laser distance sensor by setting a special communication interface. In the application, the multiple sensor data communication link mainly adopts a wired connection mode, and uses RS485 bus and Modbus-RTU industrial protocol for multiple sensor data transmission. The RS485 bus has the advantages of strong anti-interference ability, long transmission distance and the ability to connect multiple devices, which can meet the data transmission requirements of the large-range continuous-depth soil compactness measuring device in complex environments. The Modbus-RTU industrial protocol is a communication protocol widely used in industrial control field, which has the characteristics of simplicity, reliability and high efficiency, and can ensure that the multiple sensor data is accurately and quickly transmitted to the system.

[0100] In the application, all communication lines are protected and connected by a nylon tow chain. The nylon tow chain can support, protect and guide the communication lines, prevent the communication lines from being disturbed and damaged by external factors during the operation of the large-range continuous-depth soil compactness measuring device, and also make the communication line layout more orderly.

[0101] Optionally, in the application, the laser distance sensor and the pressure sensor select a plug with anti-interference, easy plugging and foolproof interface, which can reduce the influence of external electromagnetic interference on sensor signal transmission, improve the accuracy of data transmission, and also facilitate the installation, disassembly and maintenance of the sensor. The foolproof interface can avoid the situation of inserting the plug in reverse or wrong, and improve the installation efficiency and accuracy.

[0102] Optionally, in the application, the lines are distinguished according to color, the signals are mainly transmitted through electronic lines, and the power supply current is mainly transmitted through red and black power supply lines. This color distinguishing method can quickly identify the type of line during installation and maintenance, and avoid wiring errors. For example, the multi-core aviation plug can provide a channel for sensor signal transmission and power supply, realize the function of one line with multiple uses, and simplify the line layout. At the same time, according to the specific characteristics of the sensor line system (such as three-wire system and four-wire system), the sensor is connected to the sensor network control module interface of the system through three-wire and four-wire aviation plugs respectively, to ensure the accurate connection between the sensor and the system and guarantee the normal transmission of sensor data.

[0103] Figure 7 The structure diagram of the soil compactness measurement system provided by the application is shown in the following figure: Figure 7As shown, the present application provides a soil compactness measurement system, comprising a data fusion control module 701, a forward and reverse rotation control module 702 and a large-range continuous-depth soil compactness measurement device 703 described in the above embodiments, wherein:

[0104] The data fusion control module 701 is configured to sequentially collect multi-sensor data generated by the multi-sensor components in the large-range continuous-depth soil compactness measurement device 703 during the soil compactness measurement process according to a preset data collection interval and a sampling time generated based on the running speed of the electric push rod component, and generate corresponding forward and reverse rotation control instructions based on the sequentially collected multi-sensor data, wherein the multi-sensor data includes pressure sensor data generated by the soil probe in the large-range continuous-depth soil compactness measurement device 703 during the vertical insertion into the soil to be measured, and distance sensor data of the soil probe in the vertical insertion direction.

[0105] The forward and reverse rotation control module 702 is configured to generate running mode control signals corresponding to the electric push rod component in the large-range continuous-depth soil compactness measurement device 703 according to the forward and reverse rotation control instructions, so as to adjust the running state of the electric push rod component through the running mode control signals.

[0106] In the present application, the data fusion control module 701 sequentially collects multi-sensor data generated by the multi-sensor components in the large-range continuous-depth soil compactness measurement device 703 during the soil compactness measurement process according to a preset data collection interval and a sampling time generated based on the running speed of the electric push rod component. Unlike the existing soil compactness equipment which only obtains one depth soil compactness and simply assigns values at a time, the present application can realize the measurement of continuous-depth soil compactness at a set interval, for example, collecting data every 2 centimeters, so as to determine the sampling time each time, and the data fusion control module 701 will continuously collect multi-sensor data according to the sampling time corresponding to the interval during the entire measurement process.

[0107] The collected multi-sensor data mainly includes pressure sensor data and distance sensor data generated by the soil probe during the vertical insertion into the soil to be measured, wherein the pressure sensor data is obtained by a pressure sensor and reflects the pressure of the soil on the probe, and the tightness of the soil can be calculated accordingly; the distance sensor data is obtained by a laser distance sensor and records the running depth of the probe in the vertical insertion direction.

[0108] In the present application, the data fusion control module 701 generates corresponding forward and reverse control instructions based on the collected multi-sensor data. The data fusion control module 701 determines the operation requirements of the electric push rod component according to the changes in pressure sensor data and distance sensor data. For example, when it is determined according to the distance sensor data that the probe has not reached the specified measurement depth, a command to continue pushing the electric push rod forward may be generated. When the pressure sensor data reaches a certain threshold, a command to stop or reverse the electric push rod may be generated.

[0109] In the present application, the data fusion control module 701 can generate instructions mainly including multi-sensor data acquisition instructions and electric push rod control instructions. The multi-sensor data acquisition instructions are used to instruct the sensor network control module to acquire multi-sensor data; the electric push rod control instructions are used to control the operating state of the electric push rod, including forward rotation, reverse rotation and stop rotation.

[0110] In the present application, the data fusion control module 701 determines whether the electric push rod has reached the maximum measurement range according to the distance data fed back after analyzing the laser ranging sensor data. If the maximum measurement range is reached, the data fusion control module 701 will send a stop electric push rod operation instruction and a multi-sensor data stop acquisition instruction to prevent the electric push rod from continuing to operate beyond the measurement range, causing damage to the equipment or inaccurate measurement data.

[0111] In addition, the data fusion control module 701 also determines whether the warning range of the pressure sensor is reached according to the compactness data analyzed by the pressure sensor. If the warning range is exceeded, the data fusion control module 701 will send a stop operation instruction to stop the electric push rod from operating, preventing the device from being damaged due to excessive pressure. When the operator sends an end instruction, the data fusion control module 701 sends a probe retracting instruction to drive the forward and reverse control module 702 to execute the electric push rod retracting operation, so that the soil probe returns to the original starting point.

[0112] In the present application, the forward and reverse control module 702 is mainly used to access the control instructions sent by the data fusion control module 701 and analyze these instructions, such as forward rotation, reverse rotation or stop rotation of the electric push rod. Further, according to the analyzed instructions, the forward and reverse control module 702 generates a running mode control signal corresponding to the electric push rod component in the large-range continuous depth soil compactness measuring device 703. This signal will clearly indicate the mode in which the electric push rod should operate, and the control mode includes motor forward rotation, motor reverse rotation and motor stop rotation, which respectively correspond to the forward extension, reverse retraction and operation stop of the electric push rod. For example, when the probe needs to continue to penetrate the soil for measurement, the forward and reverse control module 702 generates a motor forward rotation signal to control the forward extension of the electric push rod; when the measurement is completed and the probe needs to be retracted, a motor reverse rotation signal is generated to control the reverse retraction of the electric push rod.

[0113] In the soil compaction measurement, the top end of the electric push rod pushes the positioning plate and the soil probe moves along the guide shaft, the soil probe and the electric push rod are kept on the same axis, the positioning plate, the guide shaft and the bottom guide hole are highly concentric, ensuring that the electric push rod combines with various mechanical components to control the probe to be vertically inserted into the soil at a stable speed. During the insertion process, the laser distance sensor installed on the side of the positioning plate moves synchronously and in parallel with the soil probe, and through the laser ranging reflector plate installed at the bottom of the rack, the influence of soil flatness on the laser point position measurement reference position is avoided, and the measurement reference of the laser distance sensor and the data stability are maintained. At the same time, the laser ranging protection plate reduces the wind sand, crop branches and human interference in the measurement process, and improves the continuous depth measurement accuracy. The pressure sensor measures the pressure of the soil on the probe in real time.

[0114] The soil compaction measurement system provided by the application can apply a vertical pushing force to the soil probe by fixing one end of the electric push rod component to the top of the rack and connecting the other end of the push rod to the center of the upper surface of the positioning plate inside the rack, so that the verticality standard can be controlled. When the electric push rod component exerts force, the multi-sensor component can ensure continuous measurement of soil compaction in the depth direction, stable running speed and accuracy in the vertical direction, and meet the large range measurement requirements of high soil compaction areas such as saline-alkali soil.

[0115] On the basis of the above embodiment, the soil compaction measurement system further comprises a sensor network control module for constructing a data transmission link between the data fusion control module and the multi-sensor component.

[0116] In the application, when the data fusion control module issues an instruction, the sensor network control module will timely acquire and analyze the instruction to ensure that the instruction can be accurately transmitted to the multi-sensor component. For example, when starting to measure the soil compaction, the data fusion control module sends an instruction to start the multi-sensor data acquisition, and after receiving the instruction, the sensor network control module accurately transmits it to the pressure sensor and the laser distance sensor, and informs them to start the data measurement work.

[0117] The input interface of the sensor network control module is connected with the pressure sensor and the laser distance sensor respectively. After receiving the data acquisition instruction, the sensor network control module sends a specific data acquisition request to the pressure sensor and the laser distance sensor, so as to make the two sensors start working and measure the corresponding analog quantity data. The pressure sensor measures the pressure of the soil on the probe, and the laser distance sensor measures the running depth of the probe in the process of vertical insertion into the soil, and the data acquired by them are in the form of analog quantity.

[0118] In the present application, the sensor network control module has the ability to convert analog data measured by sensors into digital signals. The sensor network control module converts the analog data measured by the pressure sensor and the laser distance sensor into digital form through the internal analog-to-digital conversion circuit, preparing for subsequent data transmission and processing. In order to ensure that the data can be accurately and efficiently transmitted, the sensor network control module is also responsible for setting parameters such as baud rate for transmission. Baud rate is an indicator to measure the data transmission rate, and appropriate baud rate setting can ensure that there is no loss or error in the data transmission process. In the present application, the sensor network control module will select the appropriate baud rate for setting according to the system requirements and communication environment.

[0119] After completing data conversion and parameter setting, the sensor network control module will transmit the converted data (hexadecimal data) back through the Modbus protocol. As a communication protocol applied in the field of industrial control, Modbus protocol has the characteristics of simplicity, reliability and high efficiency. The sensor network control module uses this protocol to accurately transmit the data collected by multiple sensor components back to the data fusion control module, so that the data fusion control module can further process and analyze the data, thereby realizing accurate measurement of soil compaction.

[0120] On the basis of the above embodiment, the soil compaction measurement system further comprises a data correction and analysis module for performing corresponding data correction processing on the pressure sensor data and the distance sensor data respectively, so as to obtain the soil compaction of the soil to be measured according to the pressure sensor data after data correction processing and the distance sensor data after data correction processing.

[0121] In the present application, the data correction and analysis module mainly obtains the sensor data field in the protocol from the sensor network control module, and needs to internally embed a laser sensor data analysis algorithm for laser sensor data. For the original data obtained by the laser sensor, it needs to be processed according to the analysis algorithm, for example, a certain type of high-precision laser distance sensor has a range of 400mm and a resolution of 0.8mm, and the data correction and analysis module uses the analysis algorithm to convert the signal output by the sensor into actual usable distance values.

[0122] Since the measurement accuracy of the laser sensor depends on its installation position, the laser sensor needs to be corrected before data analysis. During correction, data collection needs to be performed on the starting point (such as 0cm), the ending point (such as 40cm), and the intermediate nodes respectively. After the collection is completed, the collected data is compared with the actual running distance of the soil probe. If the two distances are the same, it proves that the installation position of the laser sensor is correct, which can ensure the accuracy of the subsequent measurement data.

[0123] In view of the existence of the measurement blind area of the laser distance sensor, the data correction analysis module also needs to set the measurement range of the sensor. For example, the measurement range is limited to 200mm to 600mm, and the distance test in the vertical direction is carried out within this range. Through multiple tests, the measured data is compared with the actual output data to ensure that they are consistent, thereby ensuring that the laser sensor can provide accurate distance data within the effective measurement range.

[0124] In the present application, the correction process of the pressure sensor is first carried out for the uninstalled pressure sensor. Since the pressure sensor is affected by compression deformation during use, the correction process needs to be carried out under the condition that the sensor is under pressure. The correction uses multiple types of weights such as no load, 50g weight, 100g weight and 500g weight for testing, and observes whether the output current signal and the weight linearity are good. If the linearity is met, it means that the performance of the pressure sensor is normal, and the subsequent installation can be carried out; if the linearity is not met, the pressure sensor needs to be calibrated together with the transmitter, and the parameters of the pressure sensor and the transmitter are adjusted to make the output signal and the actual pressure have a good linear relationship.

[0125] After the pressure sensor is normally installed, the data correction analysis module needs to measure the pressure values in different operating stages of the installed pressure sensor. During the operation of the probe, the friction force between the positioning plate and the guide shaft or other structural installation errors can cause additional forces, which can affect the measurement results of the pressure sensor. The present application removes the forces caused by non-soil pressure factors by measuring the pressure values in different stages, thereby obtaining the true pressure values. Further, the corrected errors are fused into the data analysis algorithm, and the algorithm is used to process the data collected by the pressure sensor to remove the errors caused by various interference factors, thereby obtaining the true pressure values.

[0126] According to the pressure sensing data and distance sensing data after data correction processing, and in combination with the corresponding relationship between pressure and soil compactness, the data correction analysis module can calculate the soil compactness of the soil to be measured. For example, through a large number of experiments and data analysis, a mathematical model or a corresponding relationship table between pressure values and soil compactness is established, and the corrected pressure values are substituted into the model or table to obtain the corresponding soil compactness values. In addition, the soil compactness data at different depths can also be used to draw a curve showing the corresponding relationship between soil compactness and soil layer depth, which can intuitively show the change of soil compactness with soil layer depth, and provide more detailed data support for soil research and agricultural production.

[0127] Figure 8 The schematic diagram of the overall control process of the soil compactness measurement system provided by the present application can be referred to Figure 8As shown, in the present application, when the soil compaction measurement is carried out, the soil compaction measurement system sends the electric push rod control instruction, the top of the electric push rod pushes the positioning plate and the soil probe along the guide shaft, the soil probe and the electric push rod are kept on the same axis, and the positioning plate, the guide shaft and the bottom guide hole are concentric, the electric push rod combines with various mechanical components to control the probe to be vertically inserted into the soil at a stable speed.

[0128] During the process of inserting the probe into the soil, the laser distance sensor installed on the side of the positioning plate moves synchronously and in parallel with the soil probe, the laser ranging reflector plate installed at the bottom is used to avoid the influence of soil flatness on the laser point position measurement reference position, and the measurement reference of the laser distance sensor is kept stable. At the same time, the laser ranging protection plate reduces the wind and sand, crop branches and artificial interference in the measurement process, and improves the accuracy of continuous depth measurement. The present application ensures the vertical guidance of the soil probe through the guide shaft and the bottom guide hole, and realizes the smooth operation of the conical probe at the bottom of the probe.

[0129] Further, the electric push large-range continuous depth soil compaction measurement device is used, and the depth direction continuous soil compaction measurement is realized by combining the pressure sensor and the laser distance sensor measurement data. In the present application, the precise geometric measurement is realized by the good linearity of the laser distance sensor, and the probe operation depth is synchronously measured in a non-contact manner when the soil probe is vertically inserted into the soil.

[0130] During the operation of the soil compaction measurement system, the data fusion control module, the sensor network control module and the data correction analysis module are combined to obtain the operation depth and pressure value in time, the electric push rod motion state is controlled by the forward and reverse control module, the motor of the electric push rod is prevented from being blocked and burned out, and the device is damaged, so that the soil compaction measurement speed, the measurement verticality and the measurement depth are standardized, and the result accuracy is improved.

[0131] The present application meets the standardization measurement requirements of each link of soil compaction by the design of mechanical devices and the realization of software systems, the measurement speed, the measurement verticality and the measurement depth are set and met by the system and the device, the soil compaction measurement speed, the measurement verticality and the measurement depth are standardized, the existing operation mode mainly relies on the proficiency of the operator, the measurement speed is not constant, the measurement is inclined, and the interference of the soil compaction data is reduced; at the same time, the personnel operation burden is also reduced, for example: the measurement depth accuracy of the present application is millimeter level, the continuous measurement accuracy distance measurement interval is better than 5mm, the probe can be kept perpendicular to the measurement surface during the measurement process, and stable operation is realized. Moreover, the measurement range of the soil compaction measurement system is expanded from the existing 0-100kg of the soil compaction measurement equipment to 0-300kg, and the application range of the high soil compaction area such as saline-alkali soil is expanded.

[0132] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features therein can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A large-range continuous-depth soil compaction measurement device, characterized in that, It includes an electric actuator assembly, a multi-sensor assembly, a frame, a soil probe, a forward and reverse control circuit, a guide shaft assembly, and a communication module, among which: The electric push rod component is used to apply a continuous vertical thrust to the soil probe. One end of the electric push rod component is fixedly connected to the top of the frame. The other end of the electric push rod component is a push rod telescopic movable end, which is connected to the center position of the upper surface of the positioning plate inside the frame. The multi-sensor component is used to measure the pressure sensing data generated by the soil probe during its vertical insertion into the soil to be tested, and the distance sensing data of the soil probe in the vertical insertion direction, when the electric push rod component applies the vertical thrust to the soil probe. The distance sensing data is laser ranging data, and the soil to be tested is saline-alkali soil. The forward and reverse control circuit is used to control the forward pushing process and the reverse retraction process of the electric push rod component; The guide shaft component is used to guide the movement direction of the positioning plate when the electric push rod component applies the vertical thrust to the soil probe; The communication module is used to establish a data transmission link; The forward and reverse rotation control circuit includes an electric actuator power supply circuit and a control signal sub-circuit, wherein: The electric push rod is supplied with an electronic circuit for providing operating voltage to the push rod motor during the forward pushing process and the reverse retraction process of the electric push rod component, wherein the pushing force of the push rod motor is at least greater than 300 kg; The control signal sub-circuit is used to provide forward and reverse control signals to the push rod motor to control the electric push rod component to perform forward pushing or reverse retraction.

2. The large-range continuous depth soil compaction measuring device according to claim 1, characterized in that, The multi-sensor component includes a pressure sensor and a laser rangefinder, wherein: One end of the pressure sensor is connected to the tail end of the soil probe, and the other end of the pressure sensor is fixedly connected to the center position of the lower surface of the positioning plate, for measuring the pressure sensing data; The laser rangefinder sensor is used to vertically emit a laser detection signal towards the bottom of the frame to measure the distance sensing data, and the laser path of the laser detection signal is parallel to the movement direction of the soil probe. The laser rangefinder sensor is disposed on the side of the mounting adjustment plate, and the bottom end of the mounting adjustment plate is fixedly connected to the positioning plate. The side of the mounting adjustment plate is provided with distance adjustment holes for vertically adjusting the installation position of the laser rangefinder sensor on the mounting adjustment plate.

3. The large-range continuous depth soil compaction measuring device according to claim 2, characterized in that, The large-range continuous depth soil compaction measuring device also includes a laser ranging reflector, which is fixedly installed at the bottom of the frame, and the reflective surface of the laser ranging reflector is perpendicular to the laser path of the laser detection signal.

4. The large-range continuous depth soil compaction measuring device according to claim 3, characterized in that, The large-range continuous depth soil compaction measuring device also includes a laser ranging protective plate, which is disposed in the operating area between the laser ranging reflector and the laser ranging sensor to shield the laser ranging sensor from external interference during operation.

5. The large-range continuous depth soil compaction measuring device according to claim 1, characterized in that, The guide shaft component includes a first guide shaft and a second guide shaft. The first guide shaft and the second guide shaft are vertically disposed between the electric push rod component and the bottom of the frame. The first guide shaft and the second guide shaft are used to guide the positioning plate to move in a vertical direction. The first guide shaft and the second guide shaft pass through the positioning plate through corresponding through holes on both sides of the positioning plate and are connected to the bottom of the frame.

6. The large-range continuous depth soil compaction measuring device according to claim 2, characterized in that, The communication module is equipped with a power interface corresponding to the power supply module, as well as communication interfaces corresponding to the pressure sensor and the laser rangefinder.

7. A soil compaction measurement system, characterized in that, It includes a data fusion control module, a forward and reverse rotation control module, and a large-range continuous-depth soil compaction measuring device as described in any one of claims 1 to 6, wherein: The data fusion control module is used to collect multi-sensor data generated by the multi-sensor components in the large-range continuous depth soil compaction measuring device during the soil compaction measurement process according to the preset data acquisition interval and the sampling time generated by the running speed of the electric push rod component. Based on the multi-sensor data collected sequentially, the module generates corresponding forward and reverse control commands. The multi-sensor data includes pressure sensing data generated by the soil probe in the large-range continuous depth soil compaction measuring device during the vertical insertion into the soil to be tested, and distance sensing data of the soil probe in the vertical insertion direction. The forward and reverse rotation control module is used to generate an operating mode control signal corresponding to the electric push rod component in the large-range continuous depth soil compaction measuring device according to the forward and reverse rotation control command, so as to adjust the operating state of the electric push rod component through the operating mode control signal.

8. The soil compaction measurement system according to claim 7, characterized in that, The soil compaction measurement system also includes a sensor network control module, which is used to establish a data transmission link between the data fusion control module and the multi-sensor components.

9. The soil compaction measurement system according to claim 7, characterized in that, The soil compaction measurement system also includes a data correction and analysis module, which performs corresponding data correction processing on the pressure sensing data and the distance sensing data respectively, so as to obtain the soil compaction of the soil to be tested based on the data-corrected pressure sensing data and the data-corrected distance sensing data.

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