A multi-parameter farmland soil obstacle in-situ accurate detection device, method and system

Abstract

The application discloses a kind of multi-parameter farmland soil obstacle in situ precision detection device, method and system, it is related to farmland soil detection technical field, including: mobile platform, control and power cabin and lifting column;Control and power cabin are provided with on mobile platform, and mobile platform is connected with control and power cabin by bolt;Lifting column is provided in the middle of mobile platform, and the upper portion of lifting column is rotary-impact drive head, and the lower portion is main probe rod, and the bottom of rotary-impact drive head is connected with the top of main probe rod by flange;Control and power cabin are used to control rotary-impact drive head adjustment drive mode according to the soil quality of sensor feedback;Rotary-impact drive head controls the penetration mode and power output of main probe rod;Satellite probe is provided with on the two sides around main probe rod, and satellite probe is detachably connected in the two side walls of mobile platform;Needle rod probe is provided with on the bottom of main probe rod, and needle rod probe is integrated with multi-parameter sensor array inside.Effectively improve detection efficiency.

Description

Technical Field

[0001] This invention relates to the field of farmland soil testing technology, and more specifically to a multi-parameter in-situ precision detection device, method and system for farmland soil obstacles. Background Technology

[0002] Farmland soil obstacles refer to soil layers or areas where the physical and chemical properties of the soil deteriorate due to natural soil formation processes or improper human cultivation and management, thereby inhibiting the normal growth and development of crops. In a certain area, the soil mainly exhibits three types of obstacles: First, a clay layer, formed by long-term rotary tillage resulting in a shallow "plow pan" (0-15cm), or a primary clay layer formed by ancient riverbed clay deposits, exhibiting high compaction (cone penetration resistance >3MPa), severely hindering crop root penetration and water infiltration; second, secondary salinization, caused by shallow groundwater depth (<2m) and strong evaporation, leading to salt accumulation on the surface (salt content >2g / kg); and third, calcareous deposits or gravelly obstacles, affecting soil nutrient availability and tillage performance.

[0003] Currently, three main technical methods are used for detecting soil obstacles in farmland. The first type is laboratory chemical analysis, which obtains soil parameters through field sampling and laboratory physicochemical analysis. While highly accurate, it suffers from three major drawbacks: sampling disrupts the original soil structure, leading to deviations in subsequent monitoring data; the detection cycle is long, typically 3-7 days, failing to meet real-time decision-making needs; and the sampling points are sparse, making it difficult to characterize the spatial heterogeneity of obstacle factors. The second type is single-parameter in-situ sensing technology, such as soil moisture sensors based on time-domain reflectometry and pH / nutrient sensors based on ion-selective electrodes. These can simultaneously measure impedance spectra, temperature, and pH values. However, these technologies share a common limitation: they can only detect shallow soil layers, typically less than 30 cm, and are ineffective for deep obstacles, such as the 40-60 cm clay layer and calcareous deposits. The third category is geological exploration technology, such as ground-penetrating radar and resistivity tomography, which can detect deep geological structures. However, these devices are mainly geared towards mineral exploration and are insufficient for detecting physical and chemical parameters of agricultural soils, such as bulk density, porosity, and nutrient content. Moreover, the equipment is bulky and costly, making it difficult to promote and apply it at the farmland scale.

[0004] In summary, existing farmland soil testing methods have the following shortcomings:

[0005] First, depth and accuracy are difficult to balance. Shallow sensors offer high accuracy but lack depth, while geological exploration equipment can detect deep soil but has weak capabilities for retrieving agricultural parameters. Second, multi-parameter collaborative detection is lacking. Soil obstacles are often the result of the combined effects of multiple factors, including physical, chemical, and hydrological factors, and existing equipment lacks the ability to analyze these interactions in situ. Third, there is a conflict between in-situ detection and structural protection. Current in-situ detection requires inserting probes into the soil, but this process damages the original soil structure and affects the accuracy of the data. Fourth, there is a lack of geological background constraints. The formation of soil obstacles is closely related to the regional geological background, but existing agricultural detection equipment completely ignores this dimension, resulting in diagnostic results lacking support from causal mechanisms.

[0006] Therefore, there is an urgent need for an in-situ precision detection device that can perform multi-parameter continuous profile detection from the surface to the deep layers without damaging the original soil structure, and integrate geological background for causal diagnosis. Summary of the Invention

[0007] In view of the above problems, the present invention proposes a multi-parameter in-situ precision detection device, method and system for farmland soil obstacles to overcome or at least partially solve the above problems.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] In a first aspect, embodiments of the present invention provide a multi-parameter in-situ precision detection device for farmland soil obstacles, comprising: a mobile platform, a control and power cabin, and a lifting column;

[0010] The control and power compartment is located above the mobile platform, and the mobile platform and the control and power compartment are connected by bolts.

[0011] The mobile platform is provided with a lifting column in the middle. The upper part of the lifting column is a rotation-impact drive head, and the lower part of the lifting column is a main probe rod. The bottom of the rotation-impact drive head is connected to the top of the main probe rod through a flange.

[0012] The control and power compartment is used to control the rotation-impact drive head to adjust the drive mode based on the soil conditions fed back by the sensors.

[0013] The rotary-impact drive head is used to control the penetration mode and power output of the main probe rod;

[0014] Satellite probes are arranged on both sides around the main probe rod, and the satellite probes are detachably connected to the two side walls of the mobile platform.

[0015] The main probe rod is equipped with a needle probe at its bottom, and the needle probe integrates a multi-parameter sensor array.

[0016] Furthermore, the control and power compartment integrates an industrial computer, a data acquisition unit, a battery pack, and an impact motor controller.

[0017] The industrial control computer is used for collecting, processing and storing operating data, receiving sensor feedback signals and executing algorithm judgments, and sending control commands to the impact motor controller.

[0018] The data acquisition unit is used to acquire multiple signals from the sensor;

[0019] The battery pack is used to power the entire device;

[0020] The impact motor controller is used to receive control commands from the industrial computer and output control signals to the impact motor.

[0021] Furthermore, the rotary-impact drive head integrates an impact motor, a reducer, and a photoelectric encoder.

[0022] The impact motor is used to receive control commands output by the impact motor controller and drive the main probe rod;

[0023] The speed reducer is used to reduce the high speed of the impact motor;

[0024] The photoelectric encoder is used to detect the penetration depth in real time and feed it back to the industrial control computer to ensure accurate depth recording during the penetration of compacted soil layers.

[0025] Furthermore, a depth-coding rack is provided around the main probe rod, which is used in conjunction with a photoelectric encoder to determine the depth to which the main probe rod penetrates the soil.

[0026] Furthermore, the needle probe integrates a ground-penetrating radar microprobe, an electrical impedance spectroscopy sensor array, a fiber optic spectroscopy microprobe, and a miniature tactile sensor.

[0027] The ground-penetrating radar micro probe is located at the tip of the needle probe and is used to detect the stratigraphic interfaces and gravel distribution in front in real time.

[0028] The impedance spectrum sensor array consists of ring electrodes arranged at equal intervals along the axial direction of the needle probe, used to measure the complex impedance spectrum of soil at different depths and invert the water content, salinity, and clay content.

[0029] The fiber optic spectral microprobe uses a sapphire glass window to measure the visible and near-infrared spectra of soil and to retrieve the contents of organic matter, total nitrogen, and available phosphorus.

[0030] The miniature tactile sensor is located on the side wall of the needle probe and is used to record the resistance changes during the insertion process in real time.

[0031] Furthermore, the surface of the needle probe is engraved with a biomimetic soil-repellent texture, which, combined with high-frequency microneedle drive, allows soil particles to naturally return to their original position after passing through the needle probe, forming a dynamically yielding and elastically recovering minimally invasive channel.

[0032] The needle probe is equipped with an elastic sealing ring and a self-recovery evaluation area at the rear. The degree of soil structure recovery is quantitatively evaluated by measuring the rate of change of electrical impedance after the needle probe is pulled out of the soil. When the degree of recovery reaches a preset value, the test is considered valid.

[0033] Secondly, embodiments of the present invention provide a method for accurate in-situ detection of multi-parameter farmland soil obstacles, comprising the following steps:

[0034] S1. Obtain the boundary of the plot to be detected, generate a detection point layout plan based on the soil difference map, and output the GPS navigation trajectory;

[0035] S2. Based on the GPS navigation trajectory, arrive at the detection point, deploy the multi-parameter farmland soil obstacle in-situ precision detection device at the detection point and start it;

[0036] S3. Record the data collected by the recording device. After the needle probe of the multi-parameter farmland soil obstacle in-situ precision detection device is pulled out, measure the change in the impedance of the needle probe and assess the degree of soil recovery.

[0037] S4. The collected data is transmitted to the cloud platform for 3D reconstruction and cause diagnosis. The co-kriging interpolation algorithm is used to generate a grid-like 3D data volume. The obstacle category is identified for each grid cell, and the obstacle category and confidence level are labeled.

[0038] S5. Push the test report to the user terminal. The test report includes a three-dimensional distribution map of soil obstacles, vertical parameter distribution of each test point, obstacle type statistics, improvement suggestions, and expected improvement effects.

[0039] Furthermore, in step S2, after the multi-parameter farmland soil obstacle in-situ precision detection device is started, the main probe rod penetrates the soil. During the penetration process, the vibration frequency is adjusted according to the real-time feedback of soil conditions: when a loose soil layer is detected, the vibration frequency is reduced; when a compact soil layer is detected, the frequency is increased and the feed speed is reduced. At the same time, the rotation-impact auxiliary mode is activated to assist in penetrating the hard obstacle layer.

[0040] Furthermore, in step S2, the multi-parameter farmland soil obstacle in-situ precision detection device is pulled up at a preset speed when it reaches a preset depth, and the sensor data is recorded throughout the process.

[0041] Thirdly, embodiments of the present invention provide a multi-parameter in-situ precision detection system for farmland soil obstacles, comprising:

[0042] The detection module is used to acquire in-situ measured data of multiple parameters of the soil.

[0043] The calibration module is used to perform regional corrections on the test data;

[0044] The reconstruction module is used to generate a three-dimensional distribution map of soil obstacles.

[0045] The diagnostic module outputs the type of obstacle and improvement suggestions.

[0046] As can be seen from the above technical solutions, compared with the prior art, the present invention discloses a multi-parameter in-situ precision detection device, method and system for farmland soil obstacles, which has the following beneficial effects:

[0047] 1. This invention adopts biomimetic minimally invasive penetration technology with a probe diameter ≤15mm. Combined with high-frequency micro-vibration drive and biomimetic loose soil texture, soil particles naturally return to their original position after the probe passes through, forming a "dynamic yielding-elastic recovery" minimally invasive channel. The soil naturally recovers after detection, without affecting subsequent cultivation and crop growth, solving the industry pain point of "detection is destruction" in traditional detection.

[0048] 2. This invention integrates a ground-penetrating radar microprobe to achieve forward-looking detection. It uses an electrical impedance spectroscopy sensor array to invert water content / salt / clay content, a fiber optic spectroscopy microprobe to invert organic matter / nutrient content, and a micro tactile sensor to measure penetration resistance. A single penetration can obtain more than 15 parameters, including compaction, water content, salinity, pH, organic matter, total nitrogen, available phosphorus, clay content, and stratigraphic structure, which effectively improves detection efficiency compared to traditional methods.

[0049] 3. This invention introduces a geological background constraint calibration mechanism, which uses geological data such as 1:50,000 digital geological maps of Shijiazhuang area, Quaternary sedimentary facies maps, and groundwater depth contour maps to make regional corrections to the sensor inversion model, thereby significantly improving the accuracy of water content and salinity inversion.

[0050] 4. This invention generates a three-dimensional distribution map of soil obstacles at the farmland scale, clearly showing the type, depth, thickness, spatial continuity, and cause diagnosis of obstacles, providing a scientific basis for precise deep loosening, salt removal, and amendment injection. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0052] Figure 1This is a structural diagram of the in-situ precision detection device provided in an embodiment of the present invention;

[0053] Figure 2 This is a longitudinal sectional view of the main probe rod provided in an embodiment of the present invention.

[0054] Figure 3 This is a cross-sectional view of the internal structure of the needle probe provided in an embodiment of the present invention;

[0055] Figure 4 This is a structural diagram of the multi-parameter composite detection module provided in an embodiment of the present invention;

[0056] Figure 5 This is a schematic diagram of the needle probe provided in an embodiment of the present invention;

[0057] Figure 6 This is a flowchart of the in-situ precision detection method provided in this embodiment of the invention;

[0058] Figure 7 This is a structural diagram of the in-situ precision detection system provided in this embodiment of the invention;

[0059] Figure 8 This is a flowchart of the geological constraint calibration system provided in an embodiment of the present invention. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] This invention discloses a multi-parameter in-situ precision detection device for farmland soil obstacles, such as... Figure 1 As shown, it includes: a mobile platform, a control and power compartment, and a lifting column.

[0062] A control and power compartment is located above the mobile platform, and the platform is bolted to the control and power compartment. Specifically, the mobile platform has a handcart-like structure with wheels underneath for easy movement in the field. The control and power compartment integrates an industrial computer, a data acquisition system, a battery pack, and an impact motor controller. A lifting column is located in the middle of the platform. The upper part of the lifting column is a rotary-impact drive head, and the lower part is the main probe rod. The bottom of the rotary-impact drive head is connected to the top of the main probe rod via a flange. The lifting column can be raised and lowered under the command of the control system, thereby driving the main probe rod to penetrate or extract the soil.

[0063] The mobile platform is also equipped with quick-connect connectors, which have several interfaces, including communication and transmission interfaces such as USB interfaces; the satellite probe is connected to the device through the quick-connect connectors.

[0064] The control and power compartment is used to adjust the drive mode of the rotary-impact drive head based on soil conditions fed back by sensors. Specifically, the industrial control computer in the control and power compartment receives real-time feedback signals from various sensors in the needle probe, such as cone tip resistance and layer information detected by ground-penetrating radar, determines whether the current soil type is loose or compacted, and then sends a command to the impact motor controller to adjust the output mode of the rotary-impact drive head to either conventional penetration mode or rotary-impact coordinated mode.

[0065] The rotary-impact drive head is used to control the penetration mode and power output of the main probe rod. The rotary-impact drive head integrates an impact motor, a reducer, and a photoelectric encoder, and can output rotational torque and axial impact force to drive the main probe rod to penetrate the soil in different modes.

[0066] Satellite probes are arranged on both sides around the main probe rod, and the satellite probes are detachably connected to the side walls of the moving platform. Specifically, three satellite probes are arranged in an equilateral triangle around the main probe rod, with a spacing of 10cm and an adjustable length of 15-30cm, for multi-point synchronous detection of the surface. The satellite probes are fixed to the side walls of the moving platform by bolts or other detachable connection methods, and can be replaced or removed as needed.

[0067] like Figure 2 As shown, a needle probe is located at the bottom of the main probe rod, and the needle probe integrates a multi-parameter sensor array. The main probe rod is a hollow rod with internal wiring, and its bottom is threadedly connected to the needle probe or integrally formed. The needle probe integrates various sensors for real-time acquisition of multi-dimensional soil parameters during penetration.

[0068] The control and power compartment integrates an industrial computer, data acquisition unit, battery pack, and impact motor controller.

[0069] The industrial control computer (ICC) is used for data acquisition, processing, and storage. It receives sensor feedback signals, executes algorithmic judgments, and sends control commands to the impact motor controller. The ICC is the core of the entire device's control system, with a built-in data acquisition card, storage hard drive, and communication module. It runs Windows or Linux and is equipped with data acquisition software, parameter inversion models, and geological constraint calibration algorithms.

[0070] The data acquisition unit is used to acquire multiple signals from the sensors. It includes a multi-channel analog input module, an analog-to-digital converter (ADC), and signal conditioning circuitry. It can simultaneously acquire signals from ground-penetrating radar, electrical impedance spectroscopy, fiber optic spectroscopy, miniature tactile sensors, and CPT standard sensors, and tag each data point with a depth label from an optical encoder.

[0071] The battery pack powers the entire device. It is a 48V high-capacity lithium battery that supplies power to all electrical components, including the industrial computer, data acquisition unit, impact motor controller, rotary-impact drive head, display screen, and GPS. The battery pack is removable and replaceable, supporting continuous field operation for extended periods.

[0072] The impact motor controller receives control commands from the industrial control computer and outputs control signals to the impact motor. Based on the industrial control computer commands, such as the target impact frequency and impact energy, the impact motor controller adjusts the current waveform, frequency, and duty cycle output to the impact motor, thereby precisely controlling the motor's speed, impact frequency, and impact energy.

[0073] like Figure 3 As shown, the rotary-impact drive head is integrated and installed at the lower end of the lifting column. It is the core power unit connecting the control cabin and the main probe, and adopts a "rotary-impact dual-mode" design to adapt to the penetration requirements of different soil conditions. The drive head is cylindrical and vertically arranged, integrating from top to bottom a high-frequency impact motor housing, a reducer / gearbox, a piezoelectric ceramic stack (impact unit), a photoelectric encoder, and a probe connecting flange. The top of the drive head is equipped with a hydraulic / electric quick-connect interface for connecting the hydraulic lines and signal harness of the control cabin; the bottom is rigidly connected to the main probe rod through a flange to realize power transmission.

[0074] The impact motor receives control commands from the impact motor controller and drives the main probe rod. The impact motor is a high-frequency impact motor, capable of generating axial vibrations with a frequency of 50-200Hz and an amplitude ≤2mm, while simultaneously outputting rotational torque. In conventional penetration mode, the impact motor operates at a lower frequency of approximately 50Hz, primarily providing rotational force; in the rotation-impact combined mode, the impact motor outputs a higher impact frequency of approximately 20Hz, with an impact energy of 50J, while maintaining rotation, achieving a combined effect of rotational soil breaking and impact crushing.

[0075] The speed reducer is used to lower the high speed of the impact motor. The speed reducer is typically a planetary gear reducer, which reduces the high speed of the impact motor (thousands of revolutions per minute) to a low speed of tens of revolutions per minute suitable for soil penetration, while amplifying the output torque to ensure sufficient rotational force to penetrate the compacted soil layer. The output end of the speed reducer is connected to the main probe rod via a flange.

[0076] The photoelectric encoder is used to detect the penetration depth in real time and feed it back to the industrial control computer to ensure accurate depth recording during penetration of compacted soil layers. The photoelectric encoder is installed inside the rotary-impact drive head and works in conjunction with a depth-encoding rack on the surface of the main probe rod. When the main probe rod moves up and down, the rack drives the encoder gear to rotate, and the encoder outputs pulse signals. The industrial control computer calculates the penetration depth based on the number of pulses, with an accuracy of ±1mm.

[0077] A depth-coding rack is installed around the main probe rod. The depth-coding rack is used in conjunction with the photoelectric encoder to realize the depth to which the main probe rod penetrates the soil.

[0078] Specifically, a precision rack with a tooth pitch of 1mm is machined axially on the surface of the main probe rod. This rack meshes with the photoelectric encoder gear inside the rotary-impact drive head. When the main probe rod rises and falls, the rack drives the encoder gear to rotate, and the encoder outputs two orthogonal pulses. The industrial control computer obtains the absolute displacement of the main probe rod in real time by counting the pulses and determining the direction. This depth data is then fused with data from various sensors to generate a depth-parameter curve.

[0079] like Figure 4 As shown, the needle probe integrates a ground-penetrating radar microprobe, an electrical impedance spectroscopy sensor array, a fiber optic spectroscopy microprobe, and a miniature tactile sensor.

[0080] Ground-penetrating radar (GPR) microprobe: Located at the tip of the needle probe, operating at a frequency of 2.4 GHz, with a detection range of 10-50 cm, it is used for real-time detection of stratigraphic interfaces and gravel distribution ahead. The GPR microprobe emits high-frequency electromagnetic waves into the soil and receives the reflected echoes. By analyzing the echo time, amplitude, and waveform, it can identify soil-rock interfaces, compacted layers, gravel layers, etc. This forward-looking detection function provides a predictive basis for drive mode switching: when a compacted soil layer, such as a clay layer, is detected ahead, the control system switches the rotation-impact drive head to a rotation-impact coordinated mode in advance to avoid probe jamming or damage due to sudden encounter with a hard layer.

[0081] The electrical impedance spectroscopy sensor array consists of ring electrodes arranged at equal intervals along the axial direction of the needle probe, with a spacing of ≤10cm between adjacent electrodes (preferably 5cm in this embodiment). Each electrode is made of platinum and is 2mm wide. During measurement, an AC excitation signal of 100Hz-10MHz is applied to the soil, and complex impedance at different frequencies is collected. The soil moisture content, salinity, and clay content are calculated using an electrical impedance spectroscopy inversion model. Studies show that the impedance in the low-frequency range of 100Hz-1kHz mainly reflects the surface charge and ion concentration of soil particles, and is related to salinity and clay content; while the impedance in the high-frequency range of 1MHz-10MHz mainly reflects the dielectric properties of soil water and is related to moisture content.

[0082] Fiber optic microprobe: Employing a sapphire glass window and a 45° reflector optical path design, this probe is used to measure the visible-near-infrared spectrum of soil and invert the contents of organic matter, total nitrogen, and available phosphorus. Incident light emitted from the light source is transmitted via optical fiber to the 45° reflector, then deflected through the sapphire window to illuminate the soil. The reflected spectrum returns to the spectrometer via the same optical path. The spectrometer converts the light signal into a digital spectrum. The industrial control computer uses spectral inversion models such as partial least squares (PLS) to calculate the contents of organic matter, total nitrogen, and available phosphorus based on the characteristic absorption peaks of the spectra.

[0083] Miniature tactile sensor: Located on the sidewall of the needle probe, this MEMS piezoresistive sensor has a range of 0-10 MPa and is used to record resistance changes in real time during penetration. The miniature tactile sensor fits tightly against the probe sidewall, directly sensing the normal pressure and frictional force of soil particles on the probe surface during penetration. This resistance curve corroborates the cone tip resistance and side friction resistance in the CPT standard sensor, helping to identify the location and thickness of hard barrier layers, such as gravel layers and calcareous deposits.

[0084] In addition, the needle probe integrates CPT standard sensors: a cone tip resistance sensor, a sidewall friction sensor, and a pore water pressure sensor. These sensors work together with the aforementioned multi-parameter sensor array to form a complete soil profile detection system.

[0085] The probe bar surface is engraved with a biomimetic soil-repellent texture, which, combined with high-frequency micro-vibration drive, causes soil particles to naturally return to their original position after the probe bar passes through, forming a dynamic yielding-elastic recovery minimally invasive channel.

[0086] Specifically, such as Figure 5 As shown, the probe surface is engraved with annular microgrooves, spaced 1 mm apart and 0.2 mm deep, simulating the transverse striations on the surface of an earthworm. During penetration, a high-frequency micro-vibration actuator, located within the rotation-impact drive head or separately, generates axial high-frequency, low-amplitude vibrations. This vibration is transmitted to the probe surface, causing soil particles to undergo "dynamic repositioning" along the microgroove gaps—that is, the soil particles are temporarily pushed towards the probe's perimeter, but do not undergo plastic flow. After the probe passes through, due to the soil's own elasticity and adhesion, the particles naturally return to their original position, leaving only a microchannel with a diameter ≤15 mm. This channel causes minimal damage to the original soil structure, allowing crop roots to easily pass through, while the migration paths of water and nutrients remain largely unaffected.

[0087] The rear of the needle probe is provided with an elastic sealing ring and a self-recovery evaluation area. The degree of soil structure recovery is quantitatively evaluated by measuring the rate of change of electrical impedance after the needle probe is pulled out of the soil. When the degree of recovery reaches a preset value, preferably 85% in this embodiment, it is considered as valid detection.

[0088] Specifically, an elastic sealing ring is installed at the rear of the probe, near the connection point with the main probe rod, to prevent soil particles from entering the probe. The self-recovery assessment area consists of a pair of microelectrodes. After the probe is completely withdrawn, the industrial control computer controls these electrodes to measure the soil's electrical impedance. Since soil structural damage leads to changes in porosity, which in turn causes changes in electrical impedance, the recovery rate is calculated by comparing the electrical impedance values ​​before penetration and after withdrawal. If the recovery rate is below 85%, it indicates that the detection has disturbed the soil too much, and the data at that point may be distorted. The system will prompt for re-detection or mark it as low-confidence data. This mechanism ensures the authenticity and reliability of the detection data.

[0089] This embodiment also provides a multi-parameter in-situ accurate detection method for farmland soil obstacles, such as... Figure 6 As shown, this method is performed using the aforementioned multi-parameter in-situ precision detection device for farmland soil obstacles, and includes the following steps:

[0090] S1. Obtain the boundary of the plot to be detected, generate a detection point layout plan based on the soil difference map, and output the GPS navigation trajectory;

[0091] S2. Based on the GPS navigation trajectory, arrive at the detection point, deploy the multi-parameter farmland soil obstacle in-situ precision detection device at the detection point and start it;

[0092] S3. Record the data collected by the recording device. After the needle probe of the multi-parameter farmland soil obstacle in-situ precision detection device is pulled out, measure the change in the impedance of the needle probe and assess the degree of soil recovery.

[0093] S4. The collected data is transmitted to the cloud platform for 3D reconstruction and cause diagnosis. The co-kriging interpolation algorithm is used to generate a grid-like 3D data volume. The obstacle category is identified for each grid cell, and the obstacle category and confidence level are labeled.

[0094] S5. Push the test report to the user terminal. The test report includes a three-dimensional distribution map of soil obstacles, vertical parameter distribution of each test point, obstacle type statistics, improvement suggestions, and expected improvement effects.

[0095] In step S1, the boundary of the plot to be detected is first input, and a detection point layout plan is automatically generated based on the soil difference map, usually 5-8 points per hectare, and the GPS navigation path is output.

[0096] In step S2, the on-site sampling and penetration are first carried out. The operator arrives at the detection point according to the navigation path, aligns the device vertically with the ground, and starts the automatic penetration program. During the penetration process, the control system automatically adjusts the vibration frequency based on real-time feedback from the ground-penetrating radar: the frequency is reduced when a loose soil layer is detected, and the frequency is increased and the feed speed is reduced when a compacted soil layer is detected. At the same time, the rotation-impact auxiliary mode is activated to assist the probe in penetrating the hard barrier layer.

[0097] Step 3: Data Acquisition and Calibration. After the probe reaches the set depth (default 100cm in this embodiment), it is pulled upwards at a constant speed (preferably 5cm / s). Data from the ground-penetrating radar, electrical impedance spectrum, spectral density, and tactile sensor are recorded throughout the process. After the probe is withdrawn, the change in electrical impedance of the probe channel is measured to assess the degree of soil recovery. For high-precision data, three penetrations are performed at the apex of the triangle, followed by irrigation calibration.

[0098] Step 4: Data Upload and Fusion. Data is uploaded to the cloud platform in real time via 4G / 5G network, triggering the 3D reconstruction and causal diagnosis process. A 3D data volume with a 0.5m×0.5m×0.1m grid is generated using the co-kriging interpolation algorithm. Obstacle type is identified for each grid cell, and the obstacle type and confidence level are labeled.

[0099] Step 5: Decision Support. The system automatically pushes the detection report to the user terminal. The report includes: a 3D distribution map of soil obstacles, vertical parameter curves for each detection point, obstacle type statistics, improvement suggestions, and expected improvement effects.

[0100] Example 1: An experimental field in Luancheng District, Shijiazhuang City, was used as an example for application;

[0101] This device was used to test a 2.3-hectare plot of land, with 12 testing points (approximately 5.2 points per hectare). Each testing point took about 8 minutes, and continuous profile data for 15 soil parameters were obtained. The results showed that a primary clay layer existed in the southeast of the plot, with a depth of 24-44 cm, a compaction of 3.2 MPa, and a clay content of 34%. Secondary salinization existed in the northwest, with a surface layer of 0-20 cm, a salt content of 2.8 g / kg, and a pH of 8.2. The system automatically generated a 3D obstacle distribution map and differentiated improvement plans: deep tillage to 45 cm and injection of biochar amendment were recommended for the southeast; underground drainage and application of desulfurized gypsum were recommended for the northwest. After implementing this plan, the root depth of corn increased from 18 cm to 42 cm, soil salinity decreased to 1.2 g / kg, and yield increased by approximately 25%.

[0102] In this embodiment, by integrating geological exploration technology and agricultural sensor technology, a minimally invasive penetrating probe array and a multi-parameter composite detection module are designed. Combined with a geological constraint calibration system and a 3D visualization platform, this effectively solves the technical problems in existing technologies, such as the difficulty in balancing depth and accuracy, the lack of multi-parameter collaborative detection, in-situ detection damaging soil structure, and the lack of geological background constraints. Specifically, the beneficial effects of this solution are as follows: First, by adopting biomimetic minimally invasive penetrating technology, the "dynamic yielding-elastic recovery" of soil structure is achieved, solving the industry pain point of "detection equals destruction"; second, by integrating four sensors into a single probe, more than 15 parameters can be acquired in a single penetration, improving detection efficiency by 5-8 times; third, by introducing geological background constraint calibration, the accuracy of key parameter inversion is improved by more than 50%, and the diagnostic accuracy rate is ≥90%; finally, a 3D obstacle distribution map and cause diagnosis are generated, providing a scientific basis for precise soil improvement.

[0103] Based on the same inventive concept, embodiments of the present invention also provide a multi-parameter in-situ precision detection system for farmland soil obstacles, such as... Figure 7 As shown, it includes:

[0104] The detection module is used to acquire in-situ measured data of multiple parameters of the soil.

[0105] The calibration module is used to perform regional corrections on the test data;

[0106] The reconstruction module is used to generate a three-dimensional distribution map of soil obstacles.

[0107] The diagnostic module outputs the type of obstacle and improvement suggestions.

[0108] Example 2: Geological Constraint Calibration System;

[0109] Although not explicitly stated in the claims, the geological constraint calibration system is described in detail below as an important innovation of this invention, and this content can be applied to the data processing in step S4 of the method.

[0110] The geological constraint calibration system includes a regional geological background database and a Bayesian optimization-based inversion model selection module.

[0111] like Figure 8 As shown, the system first obtains the GPS coordinates of the detection point, and retrieves background parameters such as Quaternary sedimentary facies, soil type, and groundwater depth from the regional geological background database; at the same time, it receives the electrical impedance spectrum, spectrum, and tactile sensor data measured by the probe.

[0112] The in-situ calibration module uses multi-point sampling in an equilateral triangle with a side length of 2m, 3 probe penetration points, and a cofferdam irrigation experiment to simulate three humidity states: saturation, field water holding capacity, and wilting point. This allows the acquisition of the soil moisture characteristic curve for the plot and preliminary calibration of the sensor's raw data.

[0113] The next step is to select the optimal inversion model: based on the geological background, a suitable model family is selected, the model parameters are dynamically fine-tuned using Bayesian optimization, high-precision soil physicochemical parameters and obstacle diagnosis results are output, and the results are fed back to the database to enable continuous model iteration.

[0114] Those skilled in the art should understand that the specific connection methods such as bolted connections and flange connections described in the above embodiments are merely examples. In actual implementation, other fixing connection methods such as welding, snap-fit ​​connections, and threaded connections can be used. The number of satellite probes is not limited to three; it can also be two or four or more, as long as multi-point synchronous detection can be achieved. Parameters such as the diameter of the main probe rod and the cone angle of the probe rod can also be optimized and adjusted according to the specific soil type, all of which fall within the protection scope of this invention.

[0115] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-parameter in-situ precision detection device for farmland soil obstacles, characterized in that, include: Mobile platform, control and power compartment, and lifting columns; The control and power compartment is located above the mobile platform, and the mobile platform and the control and power compartment are connected by bolts. The mobile platform is provided with a lifting column in the middle. The upper part of the lifting column is a rotation-impact drive head, and the lower part of the lifting column is a main probe rod. The bottom of the rotation-impact drive head is connected to the top of the main probe rod through a flange. The control and power compartment is used to control the rotation-impact drive head to adjust the drive mode based on the soil conditions fed back by the sensors. The rotary-impact drive head is used to control the penetration mode and power output of the main probe rod; Satellite probes are arranged on both sides around the main probe rod, and the satellite probes are detachably connected to the two side walls of the mobile platform. The main probe rod is equipped with a needle probe at its bottom, and the needle probe integrates a multi-parameter sensor array.

2. The multi-parameter in-situ precision detection device for farmland soil obstacles as described in claim 1, characterized in that, The control and power compartment integrates an industrial computer, a data acquisition unit, a battery pack, and an impact motor controller. The industrial control computer is used for collecting, processing and storing operating data, receiving sensor feedback signals and executing algorithm judgments, and sending control commands to the impact motor controller. The data acquisition unit is used to acquire multiple signals from the sensor; The battery pack is used to power the entire device; The impact motor controller is used to receive control commands from the industrial computer and output control signals to the impact motor.

3. The multi-parameter in-situ precision detection device for farmland soil obstacles as described in claim 2, characterized in that, The rotary-impact drive head integrates an impact motor, a reducer, and a photoelectric encoder. The impact motor is used to receive control commands output by the impact motor controller and drive the main probe rod; The speed reducer is used to reduce the high speed of the impact motor; The photoelectric encoder is used to detect the penetration depth in real time and feed it back to the industrial control computer to ensure accurate depth recording during the penetration of compacted soil layers.

4. The multi-parameter in-situ precision detection device for farmland soil obstacles as described in claim 3, characterized in that, A depth-coding rack is provided around the main probe rod, which is used in conjunction with a photoelectric encoder to determine the depth to which the main probe rod penetrates the soil.

5. The multi-parameter in-situ precision detection device for farmland soil obstacles as described in claim 1, characterized in that, The needle probe integrates a ground-penetrating radar microprobe, an electrical impedance spectroscopy sensor array, a fiber optic spectroscopy microprobe, and a miniature tactile sensor. The ground-penetrating radar micro probe is located at the tip of the needle probe and is used to detect the stratigraphic interfaces and gravel distribution in front in real time. The impedance spectrum sensor array consists of ring electrodes arranged at equal intervals along the axial direction of the needle probe, used to measure the complex impedance spectrum of soil at different depths and invert the water content, salinity, and clay content. The fiber optic spectral microprobe uses a sapphire glass window to measure the visible and near-infrared spectra of soil and to retrieve the contents of organic matter, total nitrogen, and available phosphorus. The miniature tactile sensor is located on the side wall of the needle probe and is used to record the resistance changes during the insertion process in real time.

6. The multi-parameter in-situ precision detection device for farmland soil obstacles as described in claim 1, characterized in that, The surface of the needle probe is engraved with a biomimetic soil-repellent texture. Combined with high-frequency microneedle drive, soil particles naturally return to their original position after passing through the needle probe, forming a dynamically yielding and elastically recovering minimally invasive channel. The needle probe is equipped with an elastic sealing ring and a self-recovery evaluation area at the rear. The degree of soil structure recovery is quantitatively evaluated by measuring the rate of change of electrical impedance after the needle probe is pulled out of the soil. When the degree of recovery reaches a preset value, the test is considered valid.

7. A method for in-situ accurate detection of multi-parameter farmland soil obstacles, characterized in that, Includes the following steps: S1. Obtain the boundary of the plot to be detected, generate a detection point layout plan based on the soil difference map, and output the GPS navigation trajectory; S2. Based on the GPS navigation trajectory, arrive at the detection point, deploy the multi-parameter farmland soil obstacle in-situ precision detection device at the detection point and start it; S3. Record the data collected by the recording device. After the needle probe of the multi-parameter farmland soil obstacle in-situ precision detection device is pulled out, measure the change in the impedance of the needle probe and assess the degree of soil recovery. S4. The collected data is transmitted to the cloud platform for 3D reconstruction and cause diagnosis. The co-kriging interpolation algorithm is used to generate a grid-like 3D data volume. The obstacle category is identified for each grid cell, and the obstacle category and confidence level are labeled. S5. Push the test report to the user terminal. The test report includes a three-dimensional distribution map of soil obstacles, vertical parameter distribution of each test point, obstacle type statistics, improvement suggestions, and expected improvement effects.

8. The method for in-situ accurate detection of multi-parameter farmland soil obstacles as described in claim 7, characterized in that, In step S2, after the multi-parameter farmland soil obstacle in-situ precision detection device is started, the main probe rod penetrates the soil. During the penetration process, the vibration frequency is adjusted according to the real-time feedback of the soil conditions: when a loose soil layer is detected, the vibration frequency is reduced; when a compact soil layer is detected, the frequency is increased and the feed speed is reduced. At the same time, the rotation-impact auxiliary mode is activated to assist in penetrating the hard obstacle layer.

9. The method for in-situ accurate detection of multi-parameter farmland soil obstacles as described in claim 7, characterized in that, In step S2, the multi-parameter farmland soil obstacle in-situ precision detection device is pulled up at a preset speed when it reaches a preset depth, and the sensor data is recorded throughout the process.

10. A multi-parameter in-situ precision detection system for farmland soil obstacles, characterized in that, include: The detection module is used to acquire in-situ measured data of multiple parameters of the soil. The calibration module is used to perform regional corrections on the test data; The reconstruction module is used to generate a three-dimensional distribution map of soil obstacles. The diagnostic module outputs the type of obstacle and improvement suggestions.

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