Robot system and method for monitoring farmland nitrogen leaching to underground

Abstract

To provide a robot system and method for monitoring the farmland nitrogen leaching to the underground.SOLUTION: The robot system includes a cloud platform, a monitoring robot, and a leachate collection module. The cloud platform is used to: send information about a to-be-detected site and a to-be-detected depth to the monitoring robot; and receive measurement information of the monitoring robot. The monitoring robot is used to: move to the to-be-detected site; connect to the leachate collection module at the to-be-detected depth of the to-be-detected site; extract a leachate of the leachate collection module; perform leachate nitrogen detection on the leachate; and send a leachate nitrogen detection result to the cloud platform.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to ecological environmental protection technology, and in particular to a robotic system and method for monitoring nitrogen leaching underground in agricultural land. [Background technology]

[0002] Nitrogen is a nutrient necessary for plant growth and has an important effect on the growth and development of agricultural crops. Therefore, in agricultural production, farmers use chemical fertilizers to make up for the deficiency of nitrogen elements in the soil and improve the production and quality of agricultural crops. However, the nitrogen components in chemical fertilizers cannot be fully absorbed and utilized by plants, and some of the nitrogen enters the groundwater through erosion of rainwater and irrigation water, groundwater flow and leakage, etc., resulting in the nitrogen content of groundwater exceeding the standard, causing environmental and health problems.

[0003] At present, the problem of agricultural nitrogen leaching has attracted widespread attention and attention. According to the results of the national soil pollution survey, nitrogen pollution in farmland soil is one of the main types of soil pollution nationwide, and about 1 / 4 of farmland soil has nitrogen pollution problems. At the same time, the existence of nitrogen leaching has also caused the nitrogen content of groundwater to exceed the standard, which has become one of the key issues in current environmental protection. According to statistics, the nitrogen content of groundwater exceeds the standard in more than 1 / 3 of the country, and the main distribution areas are mainly in the eastern and northern plains.

[0004] Nitrogen pollution not only brings serious harm to human health and the ecological environment, but also brings great challenges to agricultural production and the quality of agricultural products. Nitrogen content exceeding the standard can lead to excessive toxin content in agricultural products, which has serious impacts on people's health and safety. Large nitrogen runoff also causes soil fertility loss, leading to land degradation and poor quality of cultivated land.

[0005] Therefore, solving the problem of nitrogen leaching pollution has become one of the important tasks in current environmental protection and agricultural production. Establishing an intelligent farmland underground nitrogen leaching monitoring system can detect and handle the situation of nitrogen exceeding the standard in time, help farmers to scientifically fertilize, reduce nitrogen runoff and pollution, and protect groundwater resources and the sustainable development of the ecological environment.

[0006] Conventional nitrogen leachate monitoring methods typically include static leachate collection, dynamic leaching, root zone liquid collection, microcolumn leaching, and sampling leaching.

[0007] 1. The static leachate collection method refers to establishing a leachate collection device in farmland, collecting leachate samples within a certain period of time, and then detecting and analyzing the nitrogen content of the leachate samples. This method requires the installation of a collection device in the field and has a certain impact on the land. 2. The dynamic leaching method involves injecting a certain amount of water into the soil through a spray or leak device, and collecting the water samples leached in the soil for analysis. This method is complicated to operate, requires the installation of irrigation equipment and collection equipment, and is costly. 3. The rhizosphere liquid collection method involves artificially digging and setting up rhizosphere liquid sampling tubes to collect rhizosphere liquid samples in the rhizosphere soil, and then detecting and analyzing the nitrogen content of the samples. This method is complicated to operate, requires digging and setting up sampling tubes, and is costly. 4. The micro-soil column leaching method involves loading the collected soil sample into a micro-soil column, then injecting a certain amount of water into the soil column through a spray or leak device, and collecting the water sample leached in the soil column for analysis. This method requires a large number of soil samples and is complicated in operation. 5. The sampling leaching method involves placing a soil sample in a leaching device, adding a quantitative amount of water to the soil sample, and then collecting and analyzing the leaching liquid. This method causes great damage to the soil and is prone to secondary pollution.

[0008] Therefore, current nitrogen leaching monitoring methods often adopt the combination of on-site sampling and laboratory analysis, which is time-consuming and labor-intensive and cannot realize real-time detection.In small areas, fixed detection methods are used, which use fixed sampling points to set up large-capacity leaching barrels, extract leaching liquid, and transport it to leaching liquid detection terminals through pipes to realize nitrogen leaching monitoring, and multiple sampling points need to lay multiple large-volume leaching barrels and pipes, which requires high early construction costs, large damage to soil environment, and complicated treatment process. Summary of the Invention [Problem to be solved by the invention]

[0009] In the present invention, the nitrogen leaching monitoring method in the prior art often adopts the combination of on-site sampling and laboratory analysis, which is time-consuming and labor-intensive, and cannot realize real-time detection.In small parts, fixed detection method is used, and this method uses fixed sampling points to install large-capacity leaching barrels, and then extracts leaching liquid, and transports it to leaching liquid detection terminal through pipes to realize nitrogen leaching monitoring, and multiple sampling points need to lay multiple large-volume leaching barrels and pipes, which leads to high early construction costs, large damage to soil environment, and complicated treatment process.In order to solve the technical problems, a robotic system and method for monitoring underground nitrogen leaching in farmland are provided, and the robotic system completes automatic extraction of leaching liquid in multiple locations and multiple depths of wide-area farmland soil through mobile methods, and then performs intelligent real-time detection and analysis of the extracted leaching liquid in the whole process, and does not rely on manual collection and laboratory analysis. [Means for solving the problem]

[0010] To achieve this goal, the present invention adopts the following technical solutions.

[0011] A robotic system for monitoring underground nitrogen leaching in agricultural land, the robotic system for monitoring underground nitrogen leaching includes a cloud platform, a monitoring robot, and a leaching liquid collection module, wherein: The cloud platform is used to send the detection target location and detection target depth information to the monitoring robot and receive the measurement information of the monitoring robot; The monitoring robot is used to move to the detection location, connect to the leachate collection module located at the detection location and detection depth, extract the leachate from the leachate collection module, and perform leachate nitrogen detection of the leachate, and transmit the leachate nitrogen detection result to the cloud platform.

[0012] In addition, in the robot system for monitoring nitrogen leaching underground in agricultural land of the present invention, the detection target locations include multiple detection target locations, each detection target location includes one or more detection target depths, the cloud platform includes a path planning unit, the path planning unit plans a detection movement trajectory of the monitoring robot according to the positional relationship of the multiple detection target locations and the number of detection target depths of each detection target location, and transmits the detection movement trajectory to the monitoring robot, and the monitoring robot receives the detection movement trajectory and sequentially detects nitrogen in the leaching liquid for each detection target location and each detection target depth according to the detection movement trajectory.

[0013] In addition, the robot system for monitoring underground nitrogen leaching in agricultural land of the present invention has a leachate collection module at a detection target location and a detection target depth, and the leachate collection module includes a leachate collection system, a solenoid valve module, a transmission branch pipe and a Zigbee module, of which the leachate collection system is used to collect leachate at the detection target depth at the detection target location, the solenoid valve module is connected to the leachate collection system and the transmission branch pipe, and the Zigbee module is connected to the solenoid valve module and includes a Zigbee base station module connected to the monitoring robot via a wireless manner, and is used to open and close the solenoid valve module in response to commands transmitted by the Zigbee base station module.

[0014] In addition, in the robot system for monitoring nitrogen leaching underground in agricultural land of the present invention, the monitoring robot includes a Zigbee base station module, a leaching liquid pipe connection module, and a leaching liquid extraction drive module, the detection target location includes one or more detection target depths, and each detection target depth has a leaching liquid collection module, and the leaching liquid collection module includes a leaching liquid collection system, an electromagnetic valve module, a transmission branch pipe, and a Zigbee module; The monitoring robot has a Zigbee base station module wirelessly connected to the Zigbee modules of the leachate collection modules at each detection depth, and a leachate pipe connection module connected to the transmission branch pipe of the leachate collection module at each detection depth, and sequentially uses the Zigbee base station module to communicate with the Zigbee modules of the leachate collection modules at each detection depth, turns on the solenoid valve modules of the leachate collection modules at each detection depth, extracts leachate from the transmission branch pipe of the leachate collection modules at each detection depth, and is used to perform leachate nitrogen detection for each detection depth, where when leachate is extracted for one detection depth, only the solenoid valve module of the leachate collection module at the detection depth is turned on, and the solenoid valve modules of the leachate collection modules at other detection depths are kept in the off state.

[0015] In addition, in the underground nitrogen leaching monitoring robot system in agricultural land of the present invention, the monitoring robot includes a mobile module, which includes a navigation module, a mobile carrier and a mobile carrier drive unit, the navigation unit is used to detect the position of the monitoring robot, the mobile carrier includes a wheeled mobile platform and a motor, and the mobile carrier drive unit is used to control the movement direction and movement distance of the mobile carrier.

[0016] In addition, in the robot system for monitoring underground nitrogen leaching in agricultural land of the present invention, the monitoring robot includes an environmental sensing module, which includes a temperature and humidity sensor, a wind direction sensor, a rainfall sensor and an illuminance sensor, and the monitoring robot transmits the temperature, humidity, wind direction, rainfall and illuminance information collected by the environmental sensing module to the cloud platform together with the leaching liquid nitrogen detection results.

[0017] In addition, in the robot system for monitoring underground nitrogen leaching in agricultural land of the present invention, the detection target locations include a plurality of detection target locations, each detection target location includes one or more detection target depths, and at each detection target depth of each detection target location, there is a leachate collection module, the leachate collection module includes a leachate collection system, a leachate level sensor, an electromagnetic valve module, a transmission branch pipe, and a Zigbee module, and the leachate monitoring robot has a Zigbee base station module and a dynamic path planning unit, among which: After receiving a plurality of detection target locations and one or more detection target depth information of each detection target location, the leaching monitoring robot sends a wake-up command to the Zigbee module of the leaching liquid collection module at each detection target depth of each detection target location via the Zigbee base station module, the leaching liquid level sensor of the leaching liquid collection module at each detection target depth of each detection target location detects the level of the leaching liquid already collected by the corresponding leaching liquid collection system, and the Zigbee module at each detection target depth of each detection target location sends the level of the leaching liquid collected by the corresponding leaching liquid collection system to the leaching monitoring robot according to a predetermined cycle; A dynamic path planning unit of the leaching monitoring robot dynamically plans the movement trajectory of the monitoring robot according to each specified cycle according to the leachate level collected by each leachate collection system, the positional relationship of each detection target location, and the quantity of detection target depths of each detection target location, and the monitoring robot performs leachate extraction and leachate nitrogen detection for the positional relationship of each detection target location and each detection target depth according to the dynamically planned detection movement trajectory.

[0018] In addition, in the robot system for monitoring underground nitrogen leaching in agricultural land of the present invention, the monitoring robot includes a microfluidics module, a leaching liquid nitrogen detection module, a cleaning module, a waste liquid treatment module and a data processing module, among which the microfluidics module adds the extracted leaching liquid to a reactive chemical reagent and provides the mixture of the chemical reagent and the leaching liquid to the leaching liquid nitrogen detection module to perform leaching liquid nitrogen detection, the cleaning module is used to clean the microfluidics module and the leaching liquid nitrogen detection module in the monitoring robot using the cleaning liquid after one leaching liquid nitrogen detection is completed, and the waste liquid treatment module is used to discharge the mixture of the chemical reagent and the leaching liquid and the cleaning liquid.

[0019] A method for monitoring nitrogen leaching into subsurface in agricultural land, comprising: Step A: the cloud platform transmits information of a detection target location and a detection target depth to the monitoring robot; The monitoring robot moves to the detection target location and connects with the leachate collection module located at the detection target location and the detection target depth, and one or more leachate collection modules at one detection target location are called one detection target node. The monitoring robot includes step B, which is used to extract the leachate from the leachate collection module and perform leachate nitrogen detection of the leachate, and transmit the leachate nitrogen detection result to the cloud platform.

[0020] In addition, in the method for monitoring underground nitrogen leaching in agricultural land of the present invention, in step A, the detection target locations transmitted from the cloud platform to the monitoring robot include a plurality of detection target locations, each detection target location includes one or more detection target depths, and in step B, the monitoring robot moves to the detection target locations and extracts the leaching liquid and detects nitrogen in the leaching liquid. After the leaching monitoring robot receives a plurality of detection target locations and one or more detection target depth information of each detection target location, the Zigbee base station module sends a wake-up command to the Zigbee module of the leaching liquid collection module at each detection target depth of each detection target location, so that the leaching liquid level sensor of the leaching liquid collection module at each detection target depth of each detection target location detects the level of the leaching liquid already collected by the corresponding leaching liquid collection system, and the Zigbee module at each detection target depth of each detection target location sends the leaching liquid level collected by the corresponding leaching liquid collection system to the leaching monitoring robot according to a predetermined cycle; The dynamic path planning unit of the leaching monitoring robot dynamically plans a movement trajectory of the monitoring robot according to each specified cycle according to the liquid level of the leaching liquid collected by each leaching liquid collection system, and the positional relationship of each detection target location and the quantity of detection target depths of each detection target location, and the monitoring robot performs leaching liquid extraction and leaching liquid nitrogen detection of the positional relationship of each detection target location and each detection target depth according to the dynamically planned detection movement trajectory. Effect of the Invention

[0021] The technology of the present invention includes the following technical effects. 1. The robot system and method for monitoring underground nitrogen leaching in agricultural land according to the present invention can automatically realize automatic acquisition, intelligent detection and analysis of underground leaching liquid in a wide area and at multiple locations. 2. The leaching monitoring robot of the present invention can automatically navigate and move to each detection site to collect leaching liquid and perform leaching liquid nitrogen analysis, which does not require designing one or more leaching liquid nitrogen analyzers at each detection site, and the monitoring robot is shared at each detection site, thereby ensuring the consistency of nitrogen analysis of leaching liquid at each detection site and detection depth, and avoiding individual differences between each detection device, thus improving accuracy. It also reduces the cost of the entire system and avoids investment in a large number of leaching liquid nitrogen analyzers. At the same time, each leaching liquid nitrogen analyzer needs to submit measurement result information to the cloud platform, and the present invention is all handed over to the monitoring robot to complete it, which saves power consumption and avoids wiring circuits to each measurement site. 3. The leaching monitoring robot of the present invention adopts microfluidics module technology before the leaching liquid nitrogen detection module to realize that the detection of the leaching liquid nitrogen components can be completed by extracting a small amount of leaching liquid, so as to extract multiple measurement depths at multiple detection target locations, thereby avoiding the huge time consumption of measuring a large amount of leaching liquid nitrogen. 4. The robot system and method for monitoring underground nitrogen leaching in farmland according to the present invention can realize rapid collection, detection and analysis at multiple leaching monitoring nodes over a wide area. Through the setting of the control program of the base station, unmanned duty monitoring can be achieved. Through the microfluidics module, trace leaching liquid collection is realized. It has low cost, short detection time, high efficiency, and high level of automation and intelligence. 5. In particular, in order to further improve the measurement efficiency, the robot system and method for monitoring nitrogen leaching into underground in agricultural land according to the present invention further adopts a dynamic path planning method, and dynamically plans the movement trajectory of the monitoring robot according to each predetermined cycle according to the liquid level of the leaching liquid collected by each leaching liquid collection system, as well as the positional relationship of each detection target location and the quantity of detection target depths at each detection target location, so that there is no need to set the detection movement trajectory in advance, and after measurement is completed at each detection target location, the next detection target location is dynamically calculated, and the path is optimized according to the method in steps, thereby avoiding the waiting time for collecting leaching liquid at one detection target location, thereby greatly improving the overall system measurement efficiency of the robot system and method for monitoring nitrogen leaching into underground in agricultural land at multiple detection target locations and multiple detection target depths. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a structural schematic diagram of a robot system for monitoring underground nitrogen leaching in farmland in an embodiment of the present invention. [Diagram 2] FIG. 1 is a structural schematic diagram of a robot system for monitoring underground nitrogen leaching in farmland in an embodiment of the present invention. [Diagram 3] FIG. 1 is a structural schematic diagram of a robot system for monitoring underground nitrogen leaching in farmland in an embodiment of the present invention. [Figure 4] FIG. 1 is a schematic flow diagram of a method for monitoring nitrogen leaching into the subsurface in agricultural land in accordance with an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] The present invention will be described in detail below with reference to the drawings.

[0024] A few illustrative examples are disclosed below, however, the specific structural and functional details disclosed herein are for the purpose of illustrating the illustrative examples only.

[0025] However, it should be understood that the present invention is not limited to the specific illustrative embodiments disclosed, but covers all modifications, equivalents, and alternatives falling within the scope of this disclosure. In all of the drawings, the same reference numerals refer to the same parts.

[0026] With reference to the drawings, the structures, ratios, sizes, etc. depicted in the drawings attached to this specification are used only to match the contents disclosed in the specification for the understanding and reading of those skilled in the art, and are not used to limit the limited conditions that can be implemented by the present invention, and therefore do not have a technical substantial meaning, and any changes in structure, changes in proportionality, or adjustments in size are still included in the scope covered by the technical content disclosed in this invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the positional limiting terms cited in this specification are not intended to limit the scope in which the present invention can be implemented, but are only intended to clearly explain the scope, and changing or adjusting their relative relationships without making substantial changes to the technical content is also considered to be the scope in which the present invention can be implemented.

[0027] At the same time, the term "and / or" as used herein includes any and all combinations of one or more of the associated items. Furthermore, when a component or unit is referred to as being "connected" or "coupled" to another component or unit, it should be understood that it may be directly connected or coupled to the other component or unit, or there may be intermediate components or units. Also, other words for describing relationships between components or units should be understood in the same manner (e.g., "between" corresponds to "directly between," "adjacent" corresponds to "directly adjacent," etc.).

[0028] 1 to 3 are structural schematic diagrams of a robot system for monitoring underground nitrogen leaching in farmland in the embodiment of the present invention. As shown in the figures, the embodiment of the present invention adopts the following technical solutions:

[0029] First, the cloud platform manager sets multiple detection target locations and detection target depth information according to measurement needs, and one detection target location is treated as one detection target node, and transmits this information to the monitoring robot. The monitoring robot receives the information of the cloud platform through the narrowband Internet NB-IoT communication module, and analyzes the cloud platform information.

[0030] The monitoring robot receives the path information planned by the path planning unit of the cloud platform, drives the mobile carrier to drive the movement of the monitoring robot, and during the movement, determines the real-time position by the positioning module, and transmits the real-time position information to the cloud platform via the NB-IoT module. After arriving at the detection target position, the leachate pipe connection module of the monitoring robot is connected to the leachate collection module at the detection target location and detection target depth.

[0031] Each detection location may include multiple detection depths, and each detection depth has a leachate collection module. The one or more leachate collection modules of each detection location are collectively referred to as a detection node. Each leachate collection module has an electromagnetic valve module. Each leachate collection module turns on its electromagnetic valve module according to a command from the monitoring robot. The control module of the monitoring robot extracts the leachate in the leachate collection module to a leachate storage unit in the monitoring robot for temporarily storing the leachate, and timely adjusts the speed of a water pump for extracting the leachate according to the information of the transmission sensing unit.

[0032] After the extraction of the leachate is completed, the leachate monitoring robot sends a command to the leachate collecting module via the Zigbee base station module to turn off the solenoid valve module, and drives the leachate monitoring unit to detect leachate nitrogen. After the leachate monitoring robot completes the first depth leachate nitrogen monitoring, the monitoring robot again sends a command to the leachate collecting module of the next depth to turn on the solenoid valve module, and repeats the operation until the leachate extraction and leachate nitrogen analysis of all depths in the location are completed.

[0033] After all the detection tasks of the detection target location are completed, the monitoring robot obtains the environmental information collected by the environmental sensing unit through the environmental sensing control unit, and uploads the finally obtained environmental information of the location and the leachate nitrogen information at each depth to the cloud platform. The monitoring robot starts to plan a moving path, determines the next detection target location, and automatically moves to the detection target location, and repeats monitoring the operation of the first detection target location until all the detection tasks are completed. The cloud platform receives and stores the information sent by the monitoring robot.

[0034] To realize the above operations, the monitoring robot includes a moving module, an environment sensing module, a leachate nitrogen detection module, a wireless communication module, a power module, a microprocessor module, a control circuit board, a leachate transmission module, and a navigation module. Among them, the moving module includes a moving carrier and a moving carrier driving module. The environment sensing module includes a temperature and humidity sensor, a wind direction sensor, a rainfall sensor, and an illuminance sensor. The leachate nitrogen detection module includes a microfluidics module chip module, a leachate nitrogen detection module, a cleaning module, a waste liquid treatment module, and a data processing module. The wireless communication module includes a wireless communication chip module (NB-IoT wireless communication module, Zigbee base station module) and a wireless communication data storage module. The power module includes a solar power module and a lithium battery power module. The leachate transmission module includes a leachate transmission pipe, a leachate extraction driving module, and a leachate pipe connection module. The navigation module includes a Beidou positioning module and an attitude sensor module. Among them, the leachate pipe connection module can be connected to a transmission branch pipe at each detection target location and detection target depth.

[0035] The connection process between the monitoring robot and the leachate collection module is as follows: the monitoring robot sends a connection command to the leachate collection module through the Zigbee base station communication module, the leachate collection module has a Zigbee wireless communication module, a solenoid valve module, a transmission branch pipe, and a leachate collection system, the monitoring robot is connected to the transmission branch pipe of the leachate collection module through the leachate pipe connection module, and the monitoring robot sends a command to turn on the solenoid valve module to each leachate collection module at the detection location according to the measurement command. After the extraction of the leachate is completed, the robot sends a command to turn off the solenoid valve module and simultaneously cleans the leachate transmission pipe.

[0036] After completing the task of analyzing the nitrogen content in the leachate, the monitoring robot again sends a command to turn on the solenoid valve module, and turns on the solenoid valve module of the next leachate collection module, and the robot repeats the process of extracting leachate, analyzing and sending the control command of the solenoid valve module until the extraction, detection and analysis of leachate at all detection depths of the detection location are all completed. The robot moves to the next detection location according to the instruction of the path planning unit of the cloud platform, and repeats the above operations. The operations and cooperation are shown in Figure 1 and Figure 2.

[0037] The leachate extraction and detection process is shown in Figure 2. The monitoring robot extracts a small amount of leachate through the leachate transmission pipe to the front end of the microfluidics module, mixes with the chemical reagent that needs to react, and then enters the leachate nitrogen detection module through the microfluidics module to complete the nitrogen detection in the mixed liquid, and obtains the leachate nitrogen sensing curve. The leachate nitrogen sensing data is converted into the leachate nitrogen content through the data processing module.

[0038] Therefore, an embodiment of the present invention includes a robotic system for monitoring underground nitrogen leaching in agricultural land, the robotic system for monitoring underground nitrogen leaching includes a cloud platform, a monitoring robot, and a leaching liquid collection module, wherein: The cloud platform is used to send the detection target location and detection target depth information to the monitoring robot and receive the measurement information of the monitoring robot; The monitoring robot is used to move to the detection target location, connect to the leachate collection module located at the detection target location and detection target depth, extract the leachate from the leachate collection module, and perform leachate nitrogen detection of the leachate, and transmit the leachate nitrogen detection result to the cloud platform. One detection target location may include one or more leachate collection modules, collectively referred to as a detection target node.

[0039] In addition, in a robot system for monitoring nitrogen leaching underground in agricultural land according to an embodiment of the present invention, the detection target locations include a plurality of detection target locations, each detection target location includes one or more detection target depths, the cloud platform includes a path planning unit, the path planning unit plans a detection movement trajectory of the monitoring robot according to the positional relationship of the plurality of detection target locations and the number of detection target depths of each detection target location, and transmits the detection movement trajectory to the monitoring robot, the monitoring robot receives the detection movement trajectory, and sequentially performs nitrogen detection of the leaching liquid for each detection target location and each detection target depth according to the detection movement trajectory.

[0040] In addition, in a robot system for monitoring underground nitrogen leaching in agricultural land according to an embodiment of the present invention, a leachate collection module is provided at a detection target location and a detection target depth, and the leachate collection module includes a leachate collection system, a solenoid valve module, a transmission branch pipe and a Zigbee module, wherein the leachate collection system is used to collect leachate at the detection target depth at the detection target location, the solenoid valve module is connected to the leachate collection system and the transmission branch pipe, and the Zigbee module includes a Zigbee base station module connected to the solenoid valve module and connected to the monitoring robot via a wireless manner, and is used to open and close the solenoid valve module in response to commands transmitted by the Zigbee base station module.

[0041] In addition, in a robot system for monitoring underground nitrogen leaching in agricultural land according to an embodiment of the present invention, the monitoring robot includes a Zigbee base station module, a leachate pipe connection module, and a leachate extraction drive module, the detection target location includes one or more detection target depths, and each detection target depth has a leachate collection module, and the leachate collection module includes a leachate collection system, an electromagnetic valve module, a transmission branch pipe, and a Zigbee module; The monitoring robot has a Zigbee base station module wirelessly connected to the Zigbee modules of the leachate collection modules at each detection depth, and a leachate pipe connection module connected to the transmission branch pipe of the leachate collection module at each detection depth, and sequentially uses the Zigbee base station module to communicate with the Zigbee modules of the leachate collection modules at each detection depth, turns on the solenoid valve modules of the leachate collection modules at each detection depth, extracts leachate from the transmission branch pipe of the leachate collection modules at each detection depth, and is used to perform leachate nitrogen detection for each detection depth, where when leachate is extracted for one detection depth, only the solenoid valve module of the leachate collection module at the detection depth is turned on, and the solenoid valve modules of the leachate collection modules at other detection depths are kept in the off state.

[0042] Also, in a robot system for monitoring underground nitrogen leaching in agricultural land according to an embodiment of the present invention, the monitoring robot includes a mobile module, which includes a navigation module, a mobile carrier and a mobile carrier drive unit, the navigation unit is used to detect the position of the monitoring robot, the mobile carrier includes a wheeled mobile platform and a motor, and the mobile carrier drive unit is used to control the movement direction and distance of the mobile carrier.

[0043] In addition, in a robot system for monitoring underground nitrogen leaching in agricultural land according to an embodiment of the present invention, the monitoring robot includes an environmental sensing module that includes a temperature and humidity sensor, a wind direction sensor, a rainfall sensor and an illuminance sensor, and the monitoring robot transmits the temperature, humidity, wind direction, rainfall and illuminance information collected by the environmental sensing module to a cloud platform together with the leaching liquid nitrogen detection results.

[0044] In addition, in a robot system for monitoring underground nitrogen leaching in agricultural land according to an embodiment of the present invention, the detection target locations include a plurality of detection target locations, each detection target location includes one or more detection target depths, and at each detection target depth of each detection target location, there is a leachate collection module, the leachate collection module includes a leachate collection system, a leachate level sensor, an electromagnetic valve module, a transmission branch pipe, and a Zigbee module, and the leachate monitoring robot has a Zigbee base station module and a dynamic path planning unit, among which: After receiving a plurality of detection target locations and one or more detection target depth information of each detection target location, the leaching monitoring robot sends a wake-up command to the Zigbee module of the leaching liquid collection module at each detection target depth of each detection target location via the Zigbee base station module, the leaching liquid level sensor of the leaching liquid collection module at each detection target depth of each detection target location detects the level of the leaching liquid already collected by the corresponding leaching liquid collection system, and the Zigbee module at each detection target depth of each detection target location sends the level of the leaching liquid collected by the corresponding leaching liquid collection system to the leaching monitoring robot according to a predetermined cycle; A dynamic path planning unit of the leaching monitoring robot dynamically plans the movement trajectory of the monitoring robot according to each specified cycle according to the leachate level collected by each leachate collection system, the positional relationship of each detection target location, and the quantity of detection target depths of each detection target location, and the monitoring robot performs leachate extraction and leachate nitrogen detection for the positional relationship of each detection target location and each detection target depth according to the dynamically planned detection movement trajectory.

[0045] The above is one embodiment of the present invention, which significantly improves the overall measurement efficiency of multiple target locations and multiple target depths, which will be described in detail below.

[0046] The cloud platform sends information of the multiple detection locations and one or more detection depths at each detection location to the monitoring robot, and then the monitoring robot first sends the information to the Zigbee module of each leachate collection module at the multiple detection locations and multiple detection depths via the Zigbee base station module, and after receiving the information, the Zigbee module of each leachate collection module activates the respective leachate level sensors to detect the level of the leachate collected by each leachate collection system, and then reports the collected leachate level information to the monitoring robot via the Zigbee module of each leachate collection module.

[0047] For example, there are six detection target locations, P1 to P6, and P1 to P6 have three detection target depths, recorded as P11 to P13, ... P61 to P63, and each detection target depth has one leachate collection module. At time t0, the leachate level information of the leachate collection modules at the three depths of P2 and P5 all meets the measurement requirements, the leachate level information of the leachate collection modules at one detection target depth at each of the P1 and P3 positions meets the measurement requirements, and the leachate level information of the leachate collection modules at all detection target depths of P4 and P6 all does not meet the measurement requirements. Since the position of P5 is closer than the monitoring robot, the dynamic path planning unit of the monitoring robot first performs leachate extraction and leachate nitrogen detection at the P5 position at time t0. The monitor robot travels to position P5 and sequentially accesses leachate collection modules at P51, P52 and P53 for leachate extraction and leachate nitrogen analysis.

[0048] During the extraction of leachate and nitrogen analysis of leachate for the leachate collection modules at P51, P52 and P53, two predetermined time intervals pass, for example at times t1 and t2, the zigbee module of each leachate collection module continues to report the collected leachate level information to the monitoring robot, for example at time t1, the leachate level information of the leachate collection modules at three depths at positions P1, P3, P4 and P6 does not all meet the measurement requirements, at time t3, the leachate level information of the leachate collection modules at three depths at position P1 all meets the measurement requirements, and the remaining P3, P4 and P6 have not yet achieved the situation where the leachate level information of the leachate collection modules at three depths all meets the measurement requirements. Compared with P2, the location of P1 is closer to P5, therefore, the leachate collection modules at the monitoring robots P51, P52 and P53, after extracting leachate and performing leachate nitrogen analysis, select the second measurement location as P1, i.e., run to the P1 position, and then sequentially perform leachate extraction and leachate nitrogen analysis for the leachate collection modules at P11, P12 and P13.

[0049] During the leachate collection modules at P11, P12 and P13 perform leachate extraction and leachate nitrogen analysis, two predetermined time intervals elapse, for example t3 and t4, and at time t4, the leachate level information of the leachate collection modules at the three depths of P4 and P6 all meet the measurement requirements. In this case, the monitoring robot compares the distance between P2, P4 and P6 and the P1 position, and finds that P2 is closer, so the dynamic path planning unit of the monitoring robot selects the third measurement location as P2, i.e., travels to the P2 position, and then sequentially performs leachate extraction and leachate nitrogen analysis for the leachate collection modules at P21, P22 and P23.

[0050] Thanks to the above dynamic path planning unit, the monitoring robot does not need to wait for leachate collection at a detection target node, or the waiting time for leachate collection is very short, and the next measurement location is found in the latest manner every time, which greatly improves the work efficiency of the underground nitrogen leaching monitoring robot system in agricultural land.

[0051] More specifically, if the liquid level depths of the leachate collection modules at measurement depths of all but all of the remaining detection target locations are sufficient to extract an appropriate amount of leachate, the monitoring robot compares each of the remaining detection target locations and makes a comprehensive judgment as to which liquid level depth of the leachate collection modules at each detection target depth is sufficient to extract an appropriate amount of leachate, depending on the number, order and distance of the leachate collection modules that meet the conditions.

[0052] For example, at time tn, there are three detection target locations remaining, namely P1, P3, and P6, but the liquid level depths of the leachate collection modules at the three detection target depths of the three detection target locations cannot meet the requirement to extract an appropriate amount of leachate at the same time. Considering that the P3 position is closer than the current position, and the liquid level depths of the leachate collection modules at depths P31 and P32 already meet the requirement, and the position of P1 is the same, but the liquid level depth of the leachate collection module at depth P11 of P1 does not meet the requirement, and only the liquid level depths of the leachate collection modules at depths P12 and P13 meet the requirement, in order to avoid confusion in the measurement order from shallow to deep, the dynamic path planning unit of the monitoring robot selects P3 as the next detection target location.

[0053] Or, in another embodiment, the surveillance robot may abandon the shallow-to-deep measurement order and pay more attention to the number of leachate collection modules that satisfy the condition and their distance from the current position, in which case the dynamic path planning unit of the surveillance robot may select P1 as the next target location for detection.

[0054] Therefore, in an embodiment of the present invention, the monitoring robot has a dynamic path planning unit, so that it has a high degree of autonomy, and can select an optimization method in a situation where multiple weights are taken into consideration, combined with a multi-species path optimization strategy, to implement a total nitrogen measurement solution for leachate at multiple detection locations and multiple detection depths.

[0055] In addition, in a robot system for monitoring underground nitrogen leaching in agricultural land according to an embodiment of the present invention, the monitoring robot includes a reaction module, a microfluidics module, a leachate nitrogen detection module, a cleaning module, a waste liquid treatment module and a data processing module, among which the reaction module adds the extracted leachate to a reactive chemical reagent, and provides the mixture of the chemical reagent and the leachate to the microfluidics module, and then provides it to the leachate nitrogen detection module for leachate nitrogen detection, the cleaning module is used to clean the microfluidics module and the leachate nitrogen detection module in the monitoring robot using the cleaning liquid after one leachate nitrogen detection is completed, and the waste liquid treatment module is used to discharge the mixture of the chemical reagent and the leachate and the cleaning liquid.

[0056] 4 is a flow diagram of a method for monitoring nitrogen leaching into the ground in agricultural land in an embodiment according to the present invention. As shown in the figure, the present invention further includes a method for monitoring nitrogen leaching into the ground in agricultural land, the method comprising: Step A: a cloud platform transmits information of a detection target location and a detection target depth to a monitoring robot; and step B, in which the monitoring robot is used to move to the detection location, connect to the leachate collection module located at the detection location and the detection depth, extract the leachate from the leachate collection module, and perform leachate nitrogen detection of the leachate, and transmit the leachate nitrogen detection result to the cloud platform.

[0057] Specifically, in FIG. 4, a method for monitoring nitrogen leaching into the ground in agricultural land according to an embodiment of the present invention is as follows: Step 1: a monitoring robot receives detection target location and detection target depth information from a cloud platform through a narrowband Internet of Things (NB-IoT) communication module; Step 2: the surveillance robot drives the mobile carrier to move to the location of the detection target location according to the command of the path planning unit of the cloud platform; Step 3: connecting the leachate transmission unit of the monitoring robot to the leachate collection module at the detection target location and detection target depth; Step 4, the monitoring robot controls the leachate transmission unit to extract the leachate from the leachate collection module at the detection target location and detection target depth, and adjusts the speed of leachate extraction; Step 5: after the extraction of the leachate is completed, the monitoring robot sends a command to the Zigbee module of the leachate collection module through the Zigbee base station module to turn off the solenoid valve module, and starts the leachate nitrogen detection module to detect leachate nitrogen; Step 6: the monitoring robot judges whether there are other detection depths in the detection location, and if so, repeats steps 3 to 5 until the leachate extraction and nitrogen analysis of all detection depths in the location are completed. At the same time, the monitoring robot obtains the environmental information collected by the environmental sensing unit through the environmental sensing control unit, and finally uploads the obtained location environmental information, leachate nitrogen information, detection location and depth coordinate information to the cloud platform; and step 7 in which the underground nitrogen leaching monitoring robot in agricultural land determines the closest detection target location from the detection target location transmitted from the cloud platform, and again performs the leaching liquid nitrogen extraction and analysis detection task, and repeats steps 2 to 7.

[0058] In addition, in a method for monitoring underground nitrogen leaching in agricultural land according to an embodiment of the present invention, in step A, a plurality of detection target locations are transmitted from a cloud platform to a monitoring robot, each detection target location includes one or more detection target depths, and in step B, the monitoring robot moves to the detection target locations and extracts leaching liquid and detects nitrogen in the leaching liquid. After the leaching monitoring robot receives a plurality of detection target locations and one or more detection target depth information of each detection target location, it sends a wake-up command to the Zigbee module of the leaching liquid collection module at each detection target depth of each detection target location via the Zigbee base station module, so that the leaching liquid level sensor of the leaching liquid collection module at each detection target depth of each detection target location detects the level of the leaching liquid already collected by the corresponding leaching liquid collection system, and sends the level of the leaching liquid collected by the corresponding leaching liquid collection system according to a predetermined cycle to the leaching monitoring robot via the Zigbee module at each detection target depth of each detection target location; The dynamic path planning unit of the leaching monitoring robot dynamically plans a movement trajectory of the monitoring robot according to each specified cycle depending on the liquid level of the leaching liquid collected by each leaching liquid collection system, and the positional relationship of each detection target location and the quantity of detection target depths of each detection target location, and the monitoring robot performs leaching liquid extraction and leaching liquid nitrogen detection of the positional relationship of each detection target location and each detection target depth according to the dynamically planned detection movement trajectory.

[0059] The technology of the present invention includes the following technical effects. 1. The robot system and method for monitoring underground nitrogen leaching in agricultural land according to the present invention can automatically realize automatic acquisition, intelligent detection and analysis of underground leaching liquid in a wide area and at multiple locations. 2. The leaching monitoring robot of the present invention can automatically navigate and move to each detection site to collect leaching liquid and perform leaching liquid nitrogen analysis, which does not require designing one or more leaching liquid nitrogen analyzers at each detection site, and the monitoring robot is shared at each detection site, thereby ensuring the consistency of nitrogen analysis of leaching liquid at each detection site and detection depth, and avoiding individual differences between each detection device, thus improving accuracy. It also reduces the cost of the entire system and avoids investment in a large number of leaching liquid nitrogen analyzers. At the same time, each leaching liquid nitrogen analyzer needs to submit measurement result information to the cloud platform, and the present invention is all handed over to the monitoring robot to complete it, which saves power consumption and avoids wiring circuits to each measurement site. 3. The leaching monitoring robot of the present invention adopts microfluidics module technology before the leaching liquid nitrogen detection module to realize that the detection of the nitrogen components in the leaching liquid can be completed by extracting a small amount of leaching liquid, thereby avoiding multiple measurement depths at multiple detection locations, collecting a large amount of leaching liquid nitrogen, and consuming a large amount of time for measurement. 4. The robot system and method for monitoring underground nitrogen leaching in farmland according to the present invention can realize rapid collection, detection and analysis at multiple leaching monitoring sites over a wide area. Through the setting of the control program of the base station, unmanned on-duty monitoring can be achieved. Through the microfluidics module, trace leaching liquid collection is realized. It has low cost, short detection time, high efficiency, and high level of automation and intelligence. 5. In particular, in order to further improve the measurement efficiency, the robot system and method for monitoring nitrogen leaching into underground in agricultural land according to the present invention further adopts a dynamic path planning method, and dynamically plans the movement trajectory of the monitoring robot according to each predetermined cycle according to the liquid level of the leaching liquid collected by each leaching liquid collection system, as well as the positional relationship of each detection target location and the quantity of detection target depths at each detection target location, so that there is no need to set the detection movement trajectory in advance, and after measurement is completed at each detection target location, the next detection target location is dynamically calculated, and the path is optimized according to the method in steps, thereby avoiding the waiting time for collecting leaching liquid at one detection target location, thereby greatly improving the overall system measurement efficiency of the robot system and method for monitoring nitrogen leaching into underground in agricultural land at multiple detection target locations and multiple detection target depths.

[0060] The above description shows and describes several preferred embodiments of the present invention, but as stated above, the present invention is not limited to the form disclosed herein, and should not be considered as exclusive to other embodiments, but can be used in various other combinations, modifications and environments, and can be modified by the above teachings or the skill or knowledge of the relevant art within the scope of the inventive concept of the present specification. Changes and variations made by those skilled in the art are within the scope of the appended claims of the present invention if they do not depart from the spirit and scope of the present invention.

Claims

1. A robotic system for monitoring nitrogen leaching into subsurface in agricultural land, the robotic system for monitoring nitrogen leaching into subsurface includes a cloud platform, a monitoring robot, and a leaching liquid collection module; The cloud platform is used to send the detection target location and detection target depth information to the monitoring robot and receive the measurement information of the monitoring robot; The monitoring robot is used to move to the detection location, connect to the leachate collection module located at the detection location and detection depth, extract the leachate collected by the leachate collection module, and perform leachate nitrogen detection of the leachate, and transmit the leachate nitrogen detection result to the cloud platform. A robot system for monitoring underground nitrogen leaching in agricultural land.

2. The detection target locations include a plurality of detection target locations, each detection target location includes one or more detection target depths, and the cloud platform includes a path planning unit, which plans a detection movement trajectory of a monitoring robot according to a positional relationship of the plurality of detection target locations and a quantity of the detection target depths of each detection target location, and sends the detection movement trajectory to the monitoring robot, and the monitoring robot receives the detection movement trajectory and sequentially performs nitrogen detection of the leaching liquid for each detection target location and each detection target depth according to the detection movement trajectory. The robot system for monitoring nitrogen leaching into underground in farmland according to claim 1.

3. The detection target location has a leachate collection module at a detection target depth, the leachate collection module includes a leachate collection system, a solenoid valve module, a transmission branch pipe, and a Zigbee module, the leachate collection system is used to collect leachate at the detection target depth of the detection target location, the solenoid valve module is connected to the leachate collection system and the transmission branch pipe, the Zigbee module includes a Zigbee base station module connected to the solenoid valve module and connected to the monitoring robot by a wireless communication method, and is used to open and close the solenoid valve module according to a command transmitted by the Zigbee base station module. The robot system for monitoring nitrogen leaching into underground in farmland according to claim 1.

4. The monitoring robot includes a Zigbee base station module, a leachate pipe connection module and a leachate extraction drive module, the detection target location includes one or more detection target depths, and each detection target depth has a leachate collection module, the leachate collection module includes a leachate collection system, an electromagnetic valve module, a transmission branch pipe and a Zigbee module; The monitoring robot has a Zigbee base station module wirelessly connected to the Zigbee modules of the leachate collection modules at each detection depth, a leachate pipe connection module connected to the transmission branch pipe of the leachate collection module at each detection depth, and uses the Zigbee base station module to communicate with the Zigbee modules of the leachate collection modules at each detection depth, turns on the solenoid valve modules of the leachate collection modules at each detection depth, extracts leachate from the transmission branch pipe of the leachate collection modules at each detection depth, and performs nitrogen detection on the leachate extracted at each detection depth, where when leachate is extracted for one detection depth, only the solenoid valve module of the leachate collection module at that detection depth is turned on, and the solenoid valve modules of the leachate collection modules at other detection depths are kept in an off state. The robot system for monitoring nitrogen leaching into underground in farmland according to claim 3.

5. The surveillance robot includes a mobile module, the mobile module includes a navigation module, a mobile carrier and a mobile carrier driving unit, the navigation module is used to obtain the position of the surveillance robot, the mobile carrier includes a wheeled mobile platform and a motor, and the mobile carrier driving unit is used to control the moving direction and distance of the mobile carrier. The robot system for monitoring nitrogen leaching into underground in farmland according to claim 1.

6. The monitoring robot includes an environmental sensing module, the environmental sensing module includes a temperature and humidity sensor, a wind direction sensor, a rainfall sensor, and an illuminance sensor, and the monitoring robot transmits the temperature, humidity, wind direction, rainfall, and illuminance information collected by the environmental sensing module to the cloud platform together with the leachate nitrogen detection result. The robot system for monitoring nitrogen leaching into underground in farmland according to claim 1.

7. The detection target locations include a plurality of detection target locations, each detection target location includes one or more detection target depths, and at each detection target depth of each detection target location, there is a leachate collection module, the leachate collection module includes a leachate collection system, a leachate level sensor, a solenoid valve module, a transmission branch pipe and a Zigbee module, and the leachate monitoring robot has a Zigbee base station module and a path planning unit; After receiving a plurality of detection target locations and one or more detection target depth information of each detection target location, the leaching monitoring robot sends a wake-up command to the Zigbee module of the leachate collection module at each detection target depth of each detection target location via the Zigbee base station module, the leachate level sensor of the leachate collection module at each detection target depth of each detection target location detects the level of the leachate already collected by the corresponding leachate collection system, and the Zigbee module at each detection target depth of each detection target location sends the level of the leachate collected by the corresponding leachate collection system to the leachate monitoring robot according to a predetermined cycle; The path planning unit of the leachate monitoring robot dynamically plans a movement trajectory of the monitoring robot according to each predetermined cycle according to the leachate level uploaded by each leachate collecting system, the positional relationship of each detection target location, and the quantity of detection target depths of each detection target location, and the monitoring robot performs leachate extraction and leachate nitrogen detection for the positional relationship of each detection target location and each detection target depth according to the dynamically planned detection movement trajectory. The robot system for monitoring nitrogen leaching into underground in farmland according to claim 1.

8. The monitoring robot includes a reaction module, a microfluidics module, a leachate nitrogen detection module, a cleaning module, a waste liquid treatment module and a data processing module. The reaction module adds the extracted leachate to a reacting chemical reagent, and provides the mixture of the chemical reagent and the leachate to the microfluidics module, and then provides it to the leachate nitrogen detection module for leachate nitrogen detection. The cleaning module is used to clean the reaction module, the microfluidics module and the leachate nitrogen detection module in the monitoring robot with cleaning liquid after one leachate nitrogen detection is completed. The waste liquid treatment module is used to discharge the mixture of the chemical reagent and the leachate and the cleaning liquid. The robot system for monitoring nitrogen leaching into underground in farmland according to claim 4.

9. A method for monitoring nitrogen leaching into subsurface in agricultural land, comprising: Step A: the cloud platform transmits information on a location and a depth of the detection target to the surveillance robot; Step B is used for the monitoring robot to move to the detection location, connect with the leachate collection module located at the detection location and the detection depth, extract the leachate from the leachate collection module, and perform leachate nitrogen detection of the leachate, and transmit the leachate nitrogen detection result to the cloud platform. A method for monitoring nitrogen leaching into underground in agricultural land.

10. In step A, the detection target locations transmitted from the cloud platform to the monitoring robot include a plurality of detection target locations, each detection target location includes one or more detection target depths; in step B, the monitoring robot travels to the detection target locations to extract leachate and detect nitrogen in the leachate; After the leaching monitoring robot receives a plurality of detection target locations and one or more detection target depth information of each detection target location, the Zigbee base station module sends a wake-up command to the Zigbee module of the leaching liquid collection module at each detection target depth of each detection target location, so that the leaching liquid level sensor of the leaching liquid collection module at each detection target depth of each detection target location detects the level of the leaching liquid already collected by the corresponding leaching liquid collection system, and the Zigbee module at each detection target depth of each detection target location sends the level of the leaching liquid collected by the corresponding leaching liquid collection system to the leaching monitoring robot according to a predetermined cycle; The path planning unit of the leaching monitoring robot dynamically plans a movement trajectory of the monitoring robot according to each predetermined cycle according to the liquid level of the leaching liquid collected by each leaching liquid collection system, and the positional relationship of each detection target location and the number of detection target depths of each detection target location; and the monitoring robot performs leaching liquid extraction and leaching liquid nitrogen detection for the positional relationship of each detection target location and each detection target depth according to the dynamically planned detection movement trajectory. The method for monitoring nitrogen leaching into the ground in agricultural land according to claim 9.

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