System for testing soil properties and method for conducting soil property tests using the system

Abstract

A soil property underground probe 1 having a tubular body 101 including a head 106 with a glass-protected inspection hole 107 on the side, the head 106 including elements of a system for carrying out measurements of soil properties, characterized in that at least one protrusion, preferably in the form of a blade 105, is arranged on the outer surface of the body 101 of the probe 1, at least part of its essential surface being contained within a helical plane, preferably a linear helical plane, defined around the longitudinal axis of the probe 1. An unmanned system 2 for the probe 1, characterized in that the probe 1 attached to the body of the system 2 is positioned perpendicular to the plane of the soil to be tested. A method for conducting soil property tests including inserting a probe 1 into the soil, wherein the probe 1 is delivered to a measurement location by an unmanned system 2, inserted into the soil by a reciprocating motion, and then the direction of the reciprocating motion is changed and the probe 1 is withdrawn from the soil, thereby conducting at least one soil property test while the probe 1 is embedded in the soil, whereby the test is conducted spectroscopically, preferably by a non-spectroscopic sensor in the head portion 106 of the probe 1, before the probe 1 is withdrawn from the ground, whereby during the method the probe 1 is embedded in the reciprocating drive mechanism 207 of the unmanned system 2, and the sequence of inserting the probe 1 into the ground, the measurement sequence, and the sequence of withdrawing the probe 1 from the ground are repeated periodically at all predetermined ground test points in a given area.

Description

[Technical Field]

[0001] The object of the present invention is to A system for soil property testing comprising an unmanned aerial vehicle coupled to a subsurface probe, the probe being Include a measurement device for making spectroscopic measurements of soil properties, and may further include additional sensors for making non-spectroscopic measurements of soil properties. 。 Furthermore, the object of the present invention is to provide a subsurface probe according to the present invention. Combined with unmanned aerial vehicles of Soil testing system How to conduct soil property tests using By law can be , Shi stem drone teeth , are combined Support the probe 、 It is adapted to be inserted into the ground under test and is Saturday The method is adapted to carry out a soil property test. [Background technology]

[0002] There are known from practice and from the patent literature subsurface probes, unmanned platforms (systems) for transporting and inserting the subsurface probes into the soil to be investigated, and also methods for carrying out soil characterization based on spectroscopy or measurement sensors that use measurements of electrical conductivity, temperature or soil acidity to determine the characteristics of the soil to be investigated.

[0003] From patent application US2021356622, a portable underground optical probe for spectroscopic investigation of soil properties is known. The disclosed probe has a tubular body terminated at its bottom in a conventional manner by a conical spike. The tubular body of the probe near the spike contains elements of a system for spectroscopic measurements, such as a light source, an element for redirecting the light beam, and an inspection hole in the outer shell of the tubular body for illuminating the soil adjacent to the side of the tubular body with visible, infrared, or ultraviolet light when the probe is pressed into the soil. The disclosed probe also contains a spectrometer for analyzing the spectrum reflected from the illuminated ground. It is further disclosed that the upper body of the probe contains elements (screen, buttons) for controlling the optical system and displaying measurement results to the user, and may also contain elements for configuring the optical path, depending on the internal configuration of the elements of the optical system. It is further disclosed that the probe body may include a sensor with electrodes for measuring the electrical conductivity of the soil, and that the probe may wirelessly communicate with an external computer for transmitting output and input signals (controlling the probe system, transmitting measurement results).

[0004] The document also discloses a method for using the probe to conduct soil property testing, which involves the user pressing the probe into the ground, exposing a layer of soil adjacent to the side of the probe body through the test hole, collecting a reflectance spectrum, and transmitting it for spectroscopic analysis. After the measurement, the probe is withdrawn from the ground. Furthermore, the probe design employs a test hole, which is an annular section of the probe's outer shell made of transparent material (quartz glass, sapphire glass), which advantageously allows the probe to perform omnidirectional measurements.

[0005] Meanwhile, patent application U.S. Patent Application Publication No. 2021223226 discloses an apparatus for measuring soil properties such as electrical conductivity, pH, temperature, and absorption spectrum (NIR to UV), which has a tubular body terminated at the bottom in a conventional manner with a measurement head having parallel spikes (probes) connected to sensors for measuring the soil properties. It also provides that the probe head may include a spectrometer between the spikes, preferably offset within the head, and connected to an inspection hole via an optical system. It further discloses that the spectrometer head may be rotatably attached to the probe body, and that the probe head may include a movable aperture for self-calibration of the spectrometer.

[0006] Furthermore, the document discloses a method for conducting a probe test, which includes: pressing the probe pick into the ground and the spectrometer test hole against the surface, acquiring up to two or preferably three soil parameters, combining the measurement data in customized software to determine measurement boundary conditions in the tested area, and transmitting the measurement data to a central unit or a distributed computer network for calculation and processing of the measurement results.

[0007] The document also reveals that the probe and external computer can be integrated into a transport device suitable for offline measurements.

[0008] U.S. Patent Application Publication No. 2017370064 discloses a VIS-NIR penetrometer for testing soil properties by reflectance spectroscopy. The disclosed penetrometer has a tubular body terminated at the bottom by a conical spike in a conventional manner. A head formed on the body can include multiple NIR or VIS spectroscopic sensors, capacitive sensors, displacement sensors, and moisture sensors. A telescoping link is further provided on the opposite end of the body. Furthermore, the head of the disclosed penetrometer can include optical elements (mirrors, lenses) for changing the direction and focus of a light beam. According to the disclosure, the optical module element can be connected to multiple detectors incorporated within the penetrometer. The use of optical fibers to connect the detectors to the optical system of the probe is also provided. Furthermore, the disclosure discloses that the penetrometer can be mounted on equipment such as hydraulic soil sampling systems mounted on trucks, ATVs, and agricultural tractors. Further, the disclosure states that measurements by the probe are performed by illuminating a layer of soil adjacent to the side of the probe body as the probe is pushed into the soil and collecting the reflected spectrum, and that provisions are provided for taking continuous measurements as the probe is slowly penetrated into the soil.

[0009] A multi-sensor system for testing soil properties and a method for three-dimensional soil mapping are known from patent application US2011106451. The document discloses that the system essentially includes two components: a multi-sensor plate that is dragged along the soil surface to measure soil parameters in a horizontal axis, and a hydraulically actuated tubular probe that performs measurements deep into the soil. A set of spectrometers (NIR and VIS) and optical sensors, a soil conductivity sensor, a force sensor required to push the probe into the soil, and a soil temperature sensor is envisioned. The disclosed measurement method includes an initial pass of the set connected to a wheeled cart coupled to an agricultural tractor, which determines the insertion position of the soil probe in the horizontal plane. Control software then determines the insertion position of the soil probe based on the georeferenced surface measurement. After the small-hole probe measurement, it can be replaced with a soil core sampling probe. The plate module and the topsoil probe module are mounted on a wheeled cart towed by a known agricultural tractor, and the cart additionally includes a computer running software for data analysis and georeferenced mapping.

[0010] Meanwhile, patent application U.S. Patent Application Publication No. 2018364157 discloses an unmanned device for surveying the condition of land (or crops) through image analysis and spectroscopic analysis of samples. Preferably, the drone is an optocopter or riding drone, and is equipped with a multispectral camera mounted on its extension arm. The drone further includes a second measurement system for spectroscopic analysis of the ground. The drone is also equipped with a soil sample probing system, which is positioned below a plane determined by the drone's skids, enabling sampling without landing. The collected samples are spectroscopically analyzed by the second system, and the probing system is capable of storing abnormal samples, and the drone is capable of assigning measurements to the specific soil samples retained. According to the disclosure, the drone-based soil testing and georeferencing method involves two flights (passes). During the first flight, the drone performs image analysis using the multispectral camera to indicate the location of soil sampling by the probing system for spectroscopic analysis of specific samples before the user performs a second flight (pass). The drone then makes a second pass to the user's indicated location, collects a soil sample from the indicated location, and then performs a spectroscopic measurement. If a significant deviation is detected in the spectroscopic measurement, the drone can reserve the soil sample for further investigation and assign the measurement to it. Furthermore, based on the data from the two passes, the disclosed unmanned system can create a georeferenced map to determine the condition of the cultivation area or assign GPS data to specific sample measurements, enabling targeted cultivation treatments.

[0011] It was further disclosed that the drone can communicate wirelessly with an external user-operated computer or can be equipped with circuitry and software that allows it to operate in an autonomous mode without wirelessly transmitting measurement data to an external receiver.

[0012] Solutions known from the state of the art have several drawbacks. Subsurface probes, which allow measurements at different depths in the ground and in all directions, require direct user interaction, including pushing them into the ground and moving them between locations to test soil properties. On the other hand, systems adapted for movement without direct user interaction are large and heavy, and must be towed, among other things, by agricultural tractors, making it impossible to implement known solutions on unmanned aerial vehicles. As revealed in the state of the art, surveying systems operating on unmanned platforms (including aerial types) inherently cannot perform spectroscopic surveys of the ground below the surface. Furthermore, known probes lack solutions that facilitate their insertion and removal from the ground. The state of the art also fails to disclose methods of measurement that would allow for calibration, refinement, and elaboration of spectroscopic measurements, particularly with additional sensors operating according to technologies other than spectroscopic measurements. Furthermore, the state of the art also fails to disclose the possibility of using multiple unmanned systems to optimize the soil survey process in one or more agricultural fields. Summary of the Invention [Problem to be solved by the invention]

[0013] The object of the present invention is to provide a method for investigating soil properties. system and a probe carrier that includes components that allow measurements using spectroscopic measurements and other methods for investigating soil properties, that facilitates insertion and removal of the probe into the soil, and that allows measurements to be made without the user having to be directly involved in pushing and pulling the probe into the soil, and that is relatively lightweight without the risk of the probe carrier tipping over. plane having technical means that allow the probe to be inserted into the soil using 、 underground probe a system including an unmanned aerial vehicle coupled withThe object of the present invention is to eliminate the drawbacks known from the state of the art by developing a subsurface probe that can test the properties of the soil along a spiral track so as to cover as widely as possible the ground surface adjacent to the sides of the probe carrier as the probe carrier is plunged into the ground and withdrawn from the ground. plane and unmanned at the site where the soil characteristics survey is being conducted. plane and have the ability to develop methods to deliver the survey results to targeted cultivation operations. , bound to the probe unmanned Soil testing with an airplane System M The objective of this study is to develop a method for conducting soil characterization using the method. [Means for solving the problem]

[0014] What the experts didn't expect was prior art The technical problem given to but, The technical means for screwing the underground probe into the ground and unscrewing it out of the ground Prepared Subsurface probe having a tubular body SOIL TESTING SYSTEM WITH AN UAV COMBINED THEREFOR - Patent application This was solved by developing Noshi The stem uses a probe of the disclosed design. soil The present invention is adapted to realize a method for performing an analysis of the properties of a

[0015] Combined with a droneThe underground probe according to the present invention comprises a tubular body with a measuring section, the first, typically lower, conical end of which includes a head with a glass-protected test hole formed on the side. The head further includes a measuring device for conducting soil property tests, whereby at least one protrusion, preferably in the form of a blade, is disposed on the outer surface of the probe body, at least within the head, preferably within the tubular portion of the head and the probe body, and at least a portion of its main surface is contained within a helical surface, preferably a linear helical surface, defined around the longitudinal axis of the probe. As will be clear to those skilled in the art, a helical surface means any surface formed by a curved line due to a helical movement of the probe around the longitudinal axis. It will also be clear to those skilled in the art that the term "curve" should also be understood in its specially advantageous case, i.e., a straight line.

[0016] According to the present invention, Probe head connected to the drone comprises, depending on the configuration of the object, at least one of the following: a spectrometer for analyzing the reflectance spectrum of the soil to be analyzed, technical means for transmitting a light beam or for changing the direction or focus of the light beam (e.g., mirrors, lenses, optical fibers), a light source emitting radiation in a range selected relative to the working range of the spectrometer, a sensor for non-spectrographic, for example but not limited to, analysis of the properties of the soil: an electrical conductivity sensor, moisture sensor, temperature sensor, or soil acidity sensor.

[0017] Preferably, at least one conductor (electrical conductor, optical fiber) is arranged in the probe body, extending from the probe head towards the other end of the tubular body, opposite to the first end, constituting the sinking part, for controlling or powering the measuring device arranged in the probe head or for transmitting optical radiation, thereby enabling both the transmission of optical radiation from a light source arranged outside the probe head according to the invention and the transmission of the reflection spectrum to a spectrometer arranged outside the probe head. In this case, the optical fiber is an optical fiber bundle, at least one optical fiber strand in the bundle being operatively coupled to the external spectrometer, and at least one optical fiber strand separate from the bundle and coupled to the spectrometer being operatively coupled to the external light source.

[0018] Preferably, at least one conductor (electrical conductor, optical fiber) extending within the probe body is rotatably arranged within the probe body, whereby, depending on the configuration of the probe head, the number and type of bearing conductors used in a given probe configuration, and the positioning needs of the conductor within the internal space of the body resulting from the spatial positioning of the various elements of the measuring device, at least one support point, preferably a ball bearing or smooth bearing, is provided according to the invention, the inner ring of which the conductor passes within the internal space of the body (or head) of the probe according to the invention. Preferably, the support point is established in a baffle, preferably a baffle dividing the internal space of the probe body perpendicular to its longitudinal axis, whereby preferably the axis of the support point forms an angle with respect to the longitudinal axis of the probe body, if necessary to ensure proper passage and alignment of the conductor in a given probe configuration.

[0019] The use of support points allows the probe body to rotate freely as it is screwed into the ground and twisted out of the ground around the wires that run through the probe body, allowing the probe head to be attached to the other end of the probe and beyond for manipulating the probe according to the invention. Rusi stem drone Eliminates the risk of kinking or damaging the wires connecting to the

[0020] Preferably, the probe according to the present invention may be implemented in such a way that, in addition to the measuring device of the probe head, other components responsible for acquiring, processing or wirelessly transmitting measurement data are embedded in the probe body, and these components are powered by a battery incorporated in the probe body. Rusi stem drone is not wired to the , Shi Stem drone Control Unit or Probe and stem drone It contains elements for wireless communication with an external receiver located outside the perimeter of the device.

[0021] Further, preferably, the probe comprises a probe Tashi stem drone Preferably, the probe according to the invention comprises known technical means for recording the measurement data on a storage medium for later manual retrieval after the probe has returned to base. Preferably, the probe according to the invention comprises an internal storage medium (SD card, SSD disk, etc.) for recording the measurement values, this storage medium being located within the body of the probe, preferably near the other end of the body of the probe. Preferably, in such a configuration, the probe according to the invention comprises a storage medium for storing the measurement data on a storage medium for later manual retrieval after the probe has returned to base. Rusi stem drone and is not wired.

[0022] Preferably, the probe head according to the present invention includes, in addition to the spectrometer or a measuring device (light source, mirror or lens) cooperating therewith, at least one of the following sensors: humidity sensor, soil conductivity sensor, temperature sensor, acidity sensor, which are arranged within the probe head, and whose measuring electrodes are arranged on the outer surface of the probe body shell to enable contact with the surface of the soil adjacent to the side of the body when the probe is embedded in the soil to be tested.

[0023] Preferably, opposite the first end, the second end of the probe body is a probe and a probe body according to the present invention. Rusi stem drone and this connection is in accordance with the present invention. The probe is bound unmanned plane This is discussed in the description section.

[0024] At the same time, it will be clear to a person skilled in the art that the measuring equipment used in the probe head is known and operates according to known laws, and that the data carriers and electronic circuits, transmitters, receivers (together with the control software) preferably used are essentially the same as those known in practice and from the state of the prior art, without affecting the essence of the solution relating to the design of the soil probe according to the invention, facilitating an essentially vertical insertion of the measuring head into the ground, allowing the probe to be screwed and unscrewed safely to the wire connections, and allowing the soil property tests to be carried out along a spiral path when inserting the probe into (and removing it from) the ground in order to cover as wide as possible the surface of the ground adjacent to the probe sheath, and thus enabling the soil property tests to be carried out according to the invention along a spiral path in order to cover as wide as possible the surface of the ground adjacent to the probe sheath, Rusi stem drone and Combined The probe according to the present invention Systems In the section describing the method for conducting soil property tests using the present invention, System The advantages of a spiral test path using probes are discussed.

[0025] Underground according to the present invention Bound with probe According to the present invention Rusi stem drone is a known power source, unmanned plane Known electronic control and communication systems (adapted for communication with an external transmitter and receiver) used in (drones), and known technical means for operating the systems (P The main body has a rotor drive unit, which This system unmanned plane The body of the device includes a soil spectroscopy probe having its longitudinal axis substantially perpendicular to the plane of the soil being tested. Combined Preferably, the probe is dual-functional. Linear-Rotational coupled to a drive mechanism; This system unmanned planePreferably, the flight is substantially of known design. Row Do It is a loan.

[0026] At that time, Linear-Rotational The drive mechanism provides the implanted probe with the ability to rotate about the longitudinal axis of the body and move within a substantially perpendicular axis of the body. linear and the ability to move. This system unmanned plane and the distance from the start of the probe blade according to the present invention to the ground surface is: The system's unmanned aircraft over the survey area Landing on the ground State In this embodiment, the distance from the blade to the ground surface is selected to be maintained.

[0027] Preferably, it provides rotational and linear drive for the probe. Linear-Rotational The drive mechanism is realized using an independent drive system.

[0028] Preferably, the rotation mechanism (whose drive source is preferably an electric motor) Linear-rotary drive Separated from the mechanism, preferably Is stem drone It is placed near the center of the

[0029] Preferably, the advancement mechanism is realized by widely spaced actuators (preferably electric actuators), preferably 、 Each actuator Is stem drone The actuators are located within the end sections of the flying arms. Noshi stem drone The vertical position of the probe can be controlled, allowing the probe to penetrate into the soil.

[0030] By being spaced a significant distance from each other and from the axis of rotation of the probe, the actuators for inserting and withdrawing the probe into and from the soil have increased leverage and therefore reduce torsional torque acting on the advancement mechanism. More preferably, the actuators operate independently of each other and the rotation mechanism. , Shi stem drone The body of the vehicle adjusts (by software controlled extension changes) for terrain variations to keep it level, further improving the stability of the overall system on the rough terrain tested for the purposes of this invention.

[0031] Furthermore, the rotational motion of the probe linear The movements are independent of each other and may occur due to encountering underground obstacles while screwing the probe in, or due to the probe being embedded in the ground if the ground under investigation is hard. Rishi stem drone Eliminates the undesirable tendency of the probe to tip over (due to rebound from the ground). bound to To measure the tilt angle of the body of an unmanned system , Shi stem drone preferably uses data readings from gyroscopes, accelerometers, and magnetometers included in the autopilot module, or a combination of relevant sensor readings. , Shi stem drone adjusts the feed rate and speed of the probe based on data from the autopilot module.

[0032] The separation of the two operating ranges makes it possible to insert the probe into hard soil by applying pressure perpendicular to the direction of the soil, and continue to rotate the probe to slowly penetrate the soil until the probe blade reaches a depth in the soil that allows the system according to the present invention to continue to stably screw the probe further into the soil. Linear-Rotational A practical use of the drive mechanism feature is when it is necessary to drill holes in excessively dry soil where the top layer forms a crust.

[0033] According to the present invention , Shi Stem drone placed on the body Linear-RotationalThe drive mechanism comprises in its lower part in a conventional manner a first holder for the probe body, preferably in the form of a clamp which geometrically cooperates with the probe body according to the invention and which supports the probe body in a rotatable manner, whereby preferably the lower surface of the clamp or its inner surface is embedded with technical means (for example: brushes, gaskets, scraping collars) for removing debris from the probe body as it passes through the clamp. Linear-Rotational The drive mechanism comprises, in a conventional manner, at its upper part a second holder for the probe body, which is slidably arranged on a guide extending from the first holder towards the other end of the probe according to the invention, the second holder being in the form of a clamp including technical means for imparting a rotational movement to the probe placed in the second holder.

[0034] for example, Linear-Rotational The second holder of the drive mechanism includes, in a clamp, a first electric motor and a toothed belt or drive chain connecting the shaft of the first electric motor to a toothed (serrated) section at the second end of the probe body according to the invention. Preferably, rotational motion is imparted to the head by a gear set mounted on the second holder, which couples the motor shaft to the second end of the head body. Preferably, the first motor is provided with a gear.

[0035] to allow the probe to move along a substantially vertical axis to penetrate or withdraw the probe from the ground under test; Linear-Rotational The second handle of the drive mechanism is slidably mounted on a guide that is substantially parallel to the longitudinal axis of the probe according to the invention and substantially perpendicular to the plane of the ground being tested using the system and probe according to the invention.

[0036] The second handle of the reciprocating drive mechanism of the probe is arranged on a carriage slidably arranged on a linear guide, which is a profile rail on which a rotating carriage is slidably arranged via bearing balls.

[0037] By convention, Linear-Rotational At the rear side of the carriage opposite the probe body arranged in the holder of the drive mechanism, the rotary carriage is provided with a ball nut which geometrically cooperates with a drive screw, preferably of a trapezoidal thread, substantially parallel to the longitudinal axis of the probe body and the linear guide, so that the overall length of the linear guide and the trapezoidal screw generally corresponds to the length of the probe body minus the length of the section of the probe body with the screw blades. The realization of the linear drive is achieved by transmitting the rotational movement of the trapezoidal screw, which is coupled to the shaft of the second motor, directly or via a coupling or gearbox, via the ball nut along the linear guide of the rotary carriage. linear This is done by converting the motor into a reciprocating motion, and the second motor Linear-Rotational At the bottom of the drive mechanism, it is placed in a conventional manner on its base.

[0038] In another variant, the linear guide for the carriage consists of two parallel rods of circular cross section parallel to each other and substantially parallel to the longitudinal axis of the probe, the rods being offset from each other between them, and on the axis of the plane connecting the axes of the guides, parallel to the rods, a screw, preferably with a trapezoidal thread, is arranged, the length of the screw substantially corresponds to the length of the guide, Linear-Rotational The drive mechanism includes a drive screw. Typically, this screw is connected to the shaft of a second motor at the bottom of the mechanism, preferably via a rigid coupling. Furthermore, the second motor preferably includes a gearbox. The carriage, which moves along the slide, is preferably connected to the drive trapezoidal screw, which is connected to the shaft of the second motor, by a trapezoidal thread nut.

[0039] At that time, Linear-Rotational The drive elements of the drive mechanism are connected via wires to a control system (electronic system with control software) and a power supply suitable for the drive method used in a known manner, and the drive power supply and the control system This system unmanned plane It is embedded in the body of the device.

[0040] moreover, The probe, coupled with the linear-rotary drive mechanism of the drone, Its components are This system unmanned plane The components communicate with each other via wires. can be , for analyzing signals transmitted by wires from a probe head measuring device. This system unmanned plane The probe is connected by a wire to a device embedded in the body of the probe, whereby in the other end of the probe body another wire support point is arranged, which wire may be an electric wire or an optical fiber depending on the configuration of the probe head, preferably including a rotatably arranged guide for the wire, so as to eliminate undesirable twisting phenomena of the wire during rotational movements of the probe body, which may result in permanent damage to the wire connecting the probe measuring device with the device for analyzing the measurement signals. At the same time, as will be clear to the expert, the measuring device The unmanned aircraft of this system In the case of a probe according to the invention that communicates wirelessly with a component or an external computer, the above solution is not adopted, but this does not affect the essence of the solution.

[0041] Preferably , Shi stem drone The probe includes a device for analyzing signals wirelessly transmitted from the measuring device of the probe. In such a configuration, the probe body includes the measuring device as well as electronic circuitry for wirelessly transmitting data from the measuring device to an external receiver.

[0042] Preferably, the measurement signal analysis device comprises at least one spectrometer.

[0043] Preferably, according to the present invention Rusi stem drone includes at least one external light source.

[0044] Preferably, according to the present invention Rusi stem drone The system includes at least one image recording camera. Preferably, the camera is a multispectral camera, whereby the images obtained from the camera are preferably of dronesThe software controlling the operation is used to provide additional measurements of the condition of the site based on image analysis, for example to assess the condition of plants based on the amount of chlorophyll detected in images recorded in the visible or infrared range, or to determine the density of crops in a given area of ​​the site. Furthermore, preferably, the images from the camera are , Shi stem drone Autonomous operation mode or user-initiated Rusi stem drone In the control mode, the system detects obstacles based on image analysis. drone Used by software that controls the operation of

[0045] Preferably, according to the present invention Rusi stem drone has the ability to determine the depth reached by the probe. To this end, the system Linear-Rotational The system includes a proximity sensor, preferably a laser or ultrasonic sensor, located within the drive mechanism. Preferably, the system measures the distance between the first and second handles of the drive mechanism, which varies with movement of the probe in the vertical plane, or Linear-Rotational by measuring the change in the distance between the carriage of the drive mechanism and the base by laser or ultrasonic means, by measuring the distance between the second handle of the drive mechanism and the ground surface which changes as the probe moves in the vertical plane by laser or ultrasonic means, or Linear-Rotational The depth position of the probe is determined by measuring the number of revolutions of the first motor (preferably a rotary encoder) via a sensor mounted on the drive mechanism and by an algorithm that relates the number of revolutions of the first motor to the thread pitch of the trapezoidal screw (if this type of guide is used) and converts it into the position of the second handle relative to the zero point (maximum upper position).

[0046] Preferably, according to the present invention Rusi stem drone It is equipped with software that allows it to navigate autonomously, operate probes, conduct soil characterization surveys (control of survey equipment), or create georeferenced maps. , Shi stem dronePreferably, the georeferenced map is generated by performing a soil property survey. According to the present invention This is done on an external computer equipped with software that processes the survey results based on the data sets acquired and transferred by the system (or transferred from an internal data carrier). Rusi stem drone to Combined The resulting georeferenced maps of soil property survey results, created based on the probe measurements, are then used to plan targeted cultivation operations, contributing to optimizing the consumption of materials and resources used in cultivation operations.

[0047] Preferably, in the body of the probe, or in the feed drive mechanism, or Is stem drone In the body of the solution according to the invention, a calibration module is included in the form of a sedimentation pocket for standards with a semi-transparent part, so that said module can be easily inserted into the probe or System unmanned Airplane Books To enable calibration with at least one spectrometer placed inside the body, the probe test hole is positioned facing the module with the translucent portion of the module substantially in contact with the outer surface of the probe test hole.

[0048] The method for conducting a soil property test according to the present invention comprises: It consists of an unmanned aerial vehicle coupled with a probe. According to the present invention Rusi By stem Rimi The present invention Rusi stem drone Depending on the measurement location Combined with a drone This involves delivering a subsurface probe. This system unmanned plane of Linear-Rotational By drive mechanism Linear-Rotational By means of the movement, the probe is introduced into the ground and indicates a cylindrical measurement section in the ground extending from the ground surface to where the probe reaches a predetermined maximum depth, and then Linear-RotationalThe direction of movement is changed and the probe is withdrawn from the surface, in the process performing at least one soil property test along the length of the measurement section, the measurement following a spiral trajectory.

[0049] Such a measurement method has several advantages over the inconveniences of the known state of the art, since helical orbital surveying allows measurements at different depths and in different directions relative to the axis of the probe body, with only one penetration of the probe into the ground.

[0050] Furthermore, the extended measurement path, particularly as compared to the measurement paths used with known driven-in ground probes, allows a more extensive set of soil condition data to be generated during a single insertion of the probe into the ground, thereby enabling a more accurate determination of the soil conditions at the measurement location.

[0051] Furthermore, using a bladed probe for testing reduces the risk of encountering underground obstacles (such as stones) that prevent measurements from being taken. For example, for illustrative purposes, if we define that the probe sinks 2.5 cm into the ground for every 360° rotation of the probe body, and takes a measurement every 5 cm (i.e., two rotations of the probe body per measurement interval), then even if an obstacle adjacent to the probe body makes it impossible to survey in a given direction, it is still possible to obtain survey results in other directions during a given measurement interval.

[0052] The soil property test depends on the configuration of the measuring device installed in the probe head part according to the present invention, and can be performed by spectroscopic testing of soil parameters (in the probe head part or Is stem drone The test(s) may include, but are not limited to, at least one of reflectance spectroscopy measurements in the radiation range from IR to VIS to UV, depending on the type of spectrometer and light source used installed on the main body, soil electrical conductivity testing, soil pH testing, soil temperature testing, and soil moisture content testing, and the test(s) may be performed before the probe is removed from the soil.

[0053] Spectroscopic testing of ground reflectance spectra is performed by illuminating the ground surface adjacent to the probe body with a beam of light emitted from its light source through the probe's test hole (directly or via optical elements, e.g., mirrors, lenses, optical fibers), collecting the light reflected from the ground surface adjacent to the probe body through the probe's test hole (directly or via optical elements), and transmitting it in real time to a spectrum analyzer (directly or via optical fibers).

[0054] Preferably, the investigation of the soil properties is carried out during the insertion of the probe.

[0055] Preferably, the investigation of the soil properties is carried out as the probe is withdrawn from the ground.

[0056] Preferably, the probe is Linear-Rotational The exercise is periodically interrupted, the number and length of each interruption being determined before the start of the method of the invention, so that this determination can be made by the user or by the method of the invention in autonomous mode. Rusi stem drone This can be specified in the software controlling the test by

[0057] Preferably, the probe Linear-Rotational The cessation of movement occurs at a predetermined depth in the soil.

[0058] Preferably, the soil property testing includes at least one measurement of at least one of soil electrical conductivity, soil moisture content, soil temperature, and soil acidity in addition to the spectroscopic testing, and the testing is performed using a sensor other than a spectroscopic sensor incorporated into the probe head according to the present invention.

[0059] Preferably, the soil property testing includes performing at least one reference measurement, the reference measurement being at least one of measurements made using a non-spectroscopic sensor installed in a probe head according to the present invention, the results of the reference measurement providing a background for clarifying or removing ambiguity from the spectroscopic testing.

[0060] Preferably, the reference measurements include at least one measurement of at least one of soil electrical conductivity, soil moisture, soil temperature, and soil acidity.

[0061] Preferably, the reference measurement includes a calibration, whereby the comparison of the results of the spectroscopic test with a standard value (a so-called standard) is considered a calibration, whereby the standard value is obtained based on a spectroscopic test of a standardized sample of the relevant material (a standard).

[0062] For example, a reference measurement including calibration is carried out according to the following steps: bound to According to the present invention Rusi stem drone Before carrying out a series of measurements in the crop field, a standard measurement is carried out, the results of which are then transmitted wirelessly or by wire to a result processing unit (computer, database server) equipped with software for processing the results of the spectroscopic measurements.

[0063] A standard is a sample of a material whose reflectance spectral plot is already known, allowing the spectrometer or software processing the spectroscopic test results to be properly calibrated and obtain the correct reflectance spectrum (according to the known standard).

[0064] Before conducting a soil condition test, the spectrometer mounted on the probe is used to measure the reflectance spectrum of the standard. Based on the measurement results, a deviation value between the value measured by the probe spectrometer and the known spectrum of the standard is determined. Based on the determined difference between the measurement value and the standard, software that processes the soil test results performs an automatic calibration to correct the spectroscopic measurement results.

[0065] By performing calibration-based calibration on either the spectrometer or the software that processes the results of the spectroscopic measurements, it is possible to obtain a more accurate (more true) graph of the reflectance spectrum of the spectroscopic soil survey after it has been processed by the software.

[0066] Preferably, a reference measurement is used to calibrate the spectroscopic measurements.

[0067] Preferably, the calibration is performed prior to soil property testing.

[0068] Preferably, the calibration is performed after a soil property test.

[0069] Preferably, during the implementation of the method according to the invention , Shi stem drone The control software measures the current drawn by the first or second motor to determine the hardness of the ground into which the probe of the present invention is inserted based on the value of the current drawn.

[0070] Preferably, measurements of the current drawn by the first or second motor are used to determine the moment of initial contact between the probe blade and the ground, which initial contact causes an increase in the value of the current drawn by the motor due to the resistance encountered by the blade associated with the start of penetration of the probe blade into the ground.

[0071] Furthermore, the control software preferably detects and reads parameters from the measurement devices of the autopilot module. This system unmanned plane It was decided against This system unmanned plane The increase in the value by which the body of Linear-Rotational The control unit of the drive mechanism Linear-Rotational Rotation of one or more motors of the drive mechanism or linear motion speed Hakata Furthermore, during the implementation of the method according to the invention, the probe according to the invention is used to correct the advance speed of the probe by changing the direction of the probe. Rusi stem drone It is embedded in the feed drive mechanism.

[0072] Preferably, in carrying out the method according to the invention, a plurality of probe-equipped Noshi stem droneIn such a method of conducting a soil property test sequence, , Shi stem drone carry out tests simultaneously on one or more cultivated fields, whereby, as will be apparent to the expert, each system carries out tests independently of the other systems in accordance with the present disclosure, which does not affect the essence of the invention and is a further advantageous development of the invention, making it possible to shorten the duration of soil property tests on a given piece of land.

[0073] As will be clear to the expert, the method according to the invention can be carried out Rusi Stem drone If the number increases , Shi stem drone and the control and communication regarding the measurement device included therein or the measurement device in the probe head part, System Single unmanned plane These technical and functional features are based on the same communication and control principles as in the case of using a probe and carrying out the method according to the invention. System Single unmanned plane is described in more detail.

[0074] Furthermore, preferably, one or more Noshi stem drone The system begins the soil characterization test sequence by taking off from the mobile launch platform and Rashi stem The drone is It moves towards a measurement point within a given field (or multiple given fields if multiple systems are used to test the soil properties of multiple fields in parallel).

[0075] After completing the sequence of testing the soil properties of the land (or property), i.e., after completing the final survey sequence at the last designated point of the land to be surveyed, one or more Noshi stem droneThe mobile launch platform remains within the land being surveyed and returns to the mobile launch platform when it is again within range, so that the launch, sequence of testing the soil properties of the land, and return to the mobile launch platform is preferably carried out in an autonomous mode.

[0076] When conducting soil property surveys in different crop fields, ground vehicles, preferably Is stem drone A vehicle equipped with a mobile launch platform drives along roads between crop fields. When the vehicle enters the range of the crop field to be surveyed, it is assigned to conduct the survey. Tashi stem drone takes off from the mobile platform, preferably autonomously navigates to an initial survey location on the target land, and begins surveying the target land. , Shi stem drone The ground vehicle equipped with a mobile platform will wait on the surveyed land and then Bisi stem drone Once within range, the vehicle preferably returns autonomously to the mobile platform.

[0077] At least one in a single cropland Noshi stem drone When conducting soil characterization using , Shi stem drone The system takes off from a ground vehicle equipped with a mobile launch platform that moves through the cultivated fields or near the cultivated fields. When a measurement point comes within range, a radar is assigned to the measurement point. Tashi stem drone The drone, preferably autonomously, takes off from a mobile platform, travels to an initial measurement location, and begins measuring the ground. After performing a set number of measurements, the drone remains in a given area and waits, returning to the mobile launch platform when a ground vehicle is again within range.

[0078] Preferably, return to the mobile launch platform. Rusi stem drone undergo a battery recharging operation before being delivered to a new test area in accordance with the present invention.

[0079] Preferably, the mobile launch platform can be mounted on known agricultural vehicles (tractors, harvesters) as well as on known motor vehicles.

[0080] Preferably , Shi stem drone The results of the surveys carried out using the system can be applied to plan precise tillage treatments using other types of autonomous agricultural machinery, preferably including mobile launch platforms, such as autonomous fertilizer spreaders. Such a solution allows for real-time monitoring of soil condition while conducting the surveys. By stem drone Based on the soil condition data generated by the method, precise fertilizer application procedures can be carried out.

[0081] Preferably , Shi stem drone operates in autonomous mode or Is stem drone It operates based on commands issued by the operator (user).

[0082] The subject matter of the present application perfectly solves the given technical problem by eliminating the inconveniences known from the state of the art. The individual components grouped as part of a soil testing system including an unmanned aerial vehicle coupled to a probe work synergistically to meet the technical challenges posed by the present invention. A subsurface probe provided with technical means for facilitating the insertion and removal of the probe from the ground by screwing and unscrewing the probe into and from the ground using at least one protrusion, preferably in the form of a blade, the main surface of which is at least partially contained within a screw plane defined around the longitudinal axis of the probe, reduces the vertical pressure when inserting the probe into the ground, thereby Linear-Rotational It is possible to reduce the dimensions and mass of the elements of the drive mechanism, so that the probe carrier can be moved without the risk of tipping over. Bound with probe Relatively lightweight This system unmanned plane This allows the probe to be inserted into the ground and soil tests to be performed.

[0083] Furthermore, the probe's design, incorporating a screw blade and moving both rotationally and linearly, allows for soil property testing along a helical trajectory, which allows measurements to be taken at different depths and in different orientations relative to the probe body, extending the measurement path and allowing more measurement data to be collected at a given point within the survey area, allowing soil parameters to be determined based on a broader set of information. Furthermore, the rotational and linear movement of the probe's helical blade reduces the risk of measurements being blocked at a given measurement point due to encountering a subsurface obstacle that could prevent the probe from advancing further. Furthermore, taking measurements along a helical trajectory allows accurate soil measurements to be taken at a given depth interval, even if the probe encounters a subsurface obstacle that abuts the probe body and obscures the head inspection hole.

[0084] In addition, the probe This system unmanned Combine with an airplane This eliminates the need for the user to be directly involved in pushing the probe into the ground and pulling it out.

[0085] Furthermore, the probe according to the present invention and each of the unmanned aircraft The use of multiple unmanned systems can reduce the time it takes to test soil properties in a given cultivation area.

[0086] It travels on roads and between surveyed fields, System unmanned for airplanes By using ground vehicles with mobile launch platforms , Shi stem drone This allows for a broader scope of work and optimizes the time required to survey multiple fields. For example, if you have a database of users and their field coordinates, System unmanned for airplanes This will allow ground vehicles equipped with mobile launch platforms to select the best routes to travel between these crop fields to conduct surveys.

[0087] Additionally, by using ground vehicles to move around agricultural land, , Shi stem drone and on a mobile platform located on the vehicle. By Stem drone Both by being able to charge the battery , Shi stem drone Furthermore, this will enable integration with cutting-edge autonomous precision agricultural machinery, such as precision fertilizer spreaders, which can use the unmanned system's measurements in real time to carry out targeted cultivation operations.

[0088] The object of the present invention is illustrated in the accompanying drawings. [Brief explanation of the drawings]

[0089] [Figure 1] 1 shows a longitudinal section of a measuring part of a subsurface probe according to the invention in a first embodiment example; [Figure 2] 3 shows a longitudinal section of the measuring part of a subsurface probe according to the invention in an example of the second embodiment. [Figure 3] 10 shows a longitudinal section of the measuring part of a subsurface probe according to the invention in an example of the third embodiment. [Figure 4] 10 shows a longitudinal section of the measuring part of a subsurface probe according to the invention in an example of the fourth embodiment. [Figure 5] FIG. 1 is a side view of an unmanned aerial vehicle of the system coupled with a probe in an example of a first embodiment. [Figure 6] Axonometric view of the system in Figure 5. [Figure 7] Axonometric view of the system in Figure 5 with the propeller removed, viewed from the probe side. [Figure 8] FIG. 10 is an axonometric view of the system in the second embodiment example, viewed from the bottom side. [Figure 9] 1 is a side view of a linear-rotary drive mechanism in a first example embodiment in which a probe according to the present invention is embedded. FIG. [Figure 10] 1 is an axonometric view of a linear-rotary drive mechanism in a first embodiment example, in which a probe according to the present invention is embedded. DETAILED DESCRIPTION OF THE INVENTION

[0090] In a first example of an embodiment shown in FIG. Adapted to be coupled with the system's unmanned aerial vehicle The underground probe 1 according to the invention has a tubular body 101 having a measuring portion 102 and a sinking portion 103 opposite it, the measuring portion 102 of the body 101 terminating in a first end 104 tapered at the bottom in the conventional manner, whereby on the side of the first end 104 and in the conventional manner the lower part of the measuring portion 102 of the body 101 is a protrusion having the form of a blade 105, the base surface of which is contained within a helical linear surface defined around the longitudinal axis of the probe 1.

[0091] In a conventional manner, the lower measuring part 102 of the body 101 of the probe 1 contains a head 106, whereby on this side of the body 101, an inspection hole 107 protected by sapphire glass is formed in the head 106, and furthermore, within the body 101, in the head 106, the elements of the measurement system are arranged: a light source 108, whereby the light source 108 is arranged opposite and facing the inspection hole 107. Further, in a conventional manner, below the light source 108, the head 106 contains a sensor assembly 109 for measuring soil moisture, soil temperature, acidity and soil conductivity, the measuring electrodes 110 of which extend outside the body 101 of the probe 1. Further, in a conventional manner, below the sensor assembly 109, in the head 106, a battery 111 is present, which is operatively connected to supply power to the light source 108 and the sensor assembly 109.

[0092] Furthermore, an optical fiber 112 is arranged in the body 101 of the probe 1, rotatably arranged in a bearing point 113, which is a smooth bearing and embedded in a partition 114, so that in the head part 106, the free end of the optical fiber 112 is directed towards the test hole 107 in order to collect and transmit the spectrum of light reflected from the surface of the soil under test adjacent to the test hole 107. On the opposite side of the head part 106, the optical fiber 112 is rotatably arranged in a swivel joint 115, which is arranged in the sinking part 103 of the body 101 of the probe 1, and further guided by a guide 116. Teshi stem drone 2 extends toward a spectrometer disposed within the body 201 of the optical fiber 200.

[0093] In a second example of an embodiment shown in FIG. Adapted to be coupled with the system's unmanned aerial vehicle The probe 1 has a tubular body 101 with a measuring section 102 and a sinking section 103, and a tapered first end 104 with a blade 105. The measuring section 102 has a head 106 with an inspection hole 107 protected by quartz glass. Arranged in the head in a socket 117 is a light source 108 powered by a rechargeable battery 111, which is positioned below the lower edge of the inspection hole 107 in a conventional manner. Also arranged in the head are two mirrors 118, the planes of which are angled with respect to each other, the contact point of the mirror surfaces being located on the axis of the inspection hole, and the free ends of the mirrors contact the inner surface of the body 101 of the probe 1. The angle between the mirrors 118 is selected so as to direct the light beam from the light source 108 into the inspection hole 107 and the light beam reflected from the formation adjacent to the inspection hole 107 towards the free end of an optical fiber 112, which is rotatably supported on a bearing point 113, which is a rotary bearing embedded in a baffle 114. In this exemplary embodiment, the free end of the optical fiber 112 is positioned in the conventional manner near the upper mirror 118, and on the opposite side of the head portion 106, the optical fiber 112 is rotatably supported in a swivel joint 115 located in the recessed portion 103 of the probe body 1011 and further supported by a guide 116. Teshi stem drone2 extends to a spectrometer disposed within the body 201 of the optical fiber 200.

[0094] The third example of the embodiment shown in FIG. 3 has a tubular body 101 of a similar structure to the first and second examples of the embodiment. , adapted to be coupled with the unmanned aerial vehicle of the system The probe 1 includes a light source 108 and a moisture The probe 1 includes a sensor 119, the measuring electrodes 110 of which extend outside the body 101 of the probe 1. Also arranged in the head 106 in a conventional manner above the light source 108 is a mirror 118 which directs the light beam from the light source 108 into the test hole 107. Also arranged in the head 106 of the probe in a conventional manner above the light source 108 is a spectrometer 120, the entrance slit 121 of which is located in the vicinity of the test hole 107. The light source 108, moisture The sensor 119 and spectrometer 120 are powered by a battery 111 that is conventionally embedded in the bottom of the probe head portion 106. In this exemplary embodiment, the spectrometer 120, the light source 108, and moisture The sensor 119 communicates with the wireless communication module 122 , Shi stem drone 2, so that the wireless communication module 122 functions as a transmitter, a receiver, and Bisi stem drone 2. The probe includes electronic circuitry that controls various functional components of the probe based on commands received wirelessly from the probe.

[0095] In a fourth exemplary embodiment, an underground vessel adapted to be coupled with the system's unmanned aerial vehicle; The probe 1 has a tubular body 101 having a structure similar to that of the previous exemplary embodiment, and an optical fiber 112, the free end of which is disposed in a head portion 106 and rotatably disposed in a bearing point 113 embedded in a baffle 114, provides a light beam from a light source disposed outside the periphery of the probe 1 to an inspection hole 107, and transmits a light beam reflected from the ground surface adjacent to the inspection hole 107 to a spectrometer 120, which measures the light source and the spectrometer. Is stem droneThe optical fiber 112 on the opposite side of the head portion 106 is rotatably supported in a swivel joint 115 disposed in the recessed portion 103 of the body 101 of the probe 1, and is guided by a guide 116. Teshi stem drone 2, continuing towards the main body 201 of the optical fiber 112. In this exemplary embodiment, the optical fiber 112 is a 6-window-1 optical fiber bundle, i.e., the six optical fibers surrounding the central reading fiber are illumination optical fibers operatively connected to a light source, whereby, as will be apparent to those skilled in the art, it is also possible to use bifunctional optical fiber bundles with different configurations of optical fiber strands.

[0096] Those skilled in the art will appreciate that in a further embodiment of the present invention, Adapted to be coupled with the unmanned aerial vehicle of the present system Probe 1 is 、 The probe 1 includes a plurality of sensors, the measuring electrodes 110 of which extend outside the body 101 of the probe 1. Furthermore, in a further example of embodiment, the head 106 includes a plurality of light sources 108, whereby it will be clear to the expert that the light sources 108 are light sources emitting light of different spectra: white light, infrared light, ultraviolet light, whereby, depending on the exemplary embodiment, the head 106 of the probe 1 comprises one or more light sources 108, the spectrum of which is analyzed by at least one spectrometer 120, and additional spectrometers may be installed in or on the head 106. Is stem drone 2. It will also be clear to the skilled artisan that in further examples of embodiment of the probe 1 according to the invention, the optical element directing the light beam into or out of the inspection hole 107 may be, instead of the mirror 118, a lens, a mirror or other optical element influencing the direction, focus or dispersion of the light beam emitted by the light source 108, which does not affect the essence of the invention but merely constitutes a further advantageous example of the embodiment.

[0097] In yet a further example of embodiment, electronic circuitry is located within the body of the 101 probe to process and record data acquired from the measurement equipment (spectrometer 120, sensor) onto an SD type memory card.

[0098] In yet a further example embodiment, the outer surface of the body 101 is provided with a plurality of protrusions, the major surfaces of which are contained within a surface defined between a curve that rotates at a constant speed around the longitudinal axis of the probe body 101 and a curve that moves at a constant linear velocity parallel to this axis.

[0099] In yet a further example embodiment, the spectrometer 120 and the light source 108 Is stem drone 2 and is functionally connected to the head 106 of the probe 1 via an optical fiber cable. It will be apparent to those skilled in the art that in this embodiment, the light source 108 emits light that is transmitted to the inspection hole 107 of the head 106 via an optical fiber, and the spectrum reflected by the ground is transmitted to the inspection hole 107 via the optical fiber. Teshi stem drone 2. It will also be apparent to those skilled in the art that the more significant components of the probe head 106, such as the power supply, memory module, sensors, spectrometer, and light source described in the previous embodiment, may be replaced with the spectrometer 120 embedded in the probe head 106. Woshi stem drone 2 and functionally connect these features (via optical fibers or electrical cables) to the probe head 106 or test hole 107, or to electrodes embedded in the head 106 outside the probe 1. These further embodiments should not be treated as limiting, but as further advantageous embodiments of the present invention.

[0100] As will be apparent to those skilled in the art, in further example embodiments, the components of the head portion 106 of the probe 1, including the sensor assembly 109, the light source 108, and the spectrometer 120, are control elements that collect and process data. Teshi stem droneThe probe 1 is connected to a control element 201 mounted in the body 201 of the probe 1, and powered by electrical wires that are supported in the body 101 of the probe 1 and pass through a swivel joint 115 and a guide 116. Teshi stem drone This is similar to the example embodiment including a cable extending up to 2.

[0101] Figures 5 and 6 are of the present system adapted to be coupled with a subsurface probe 1. unmanned plane 2 1st Implementation Dear In the example shown, this is a flying propeller drone. This system unmanned Airplane 2 The robot has a body 201 to which an arm 202 having an electrically driven propeller 203 at its free end is connected. The arm 202 is further connected to legs 204 via shock absorbers 205. As will be apparent to those skilled in the art, the body 201 This system unmanned plane 2 includes: devices and systems for flight control (electronic controller, central unit), a multispectral camera 206, components for controlling orientation in space (GPS module, autopilot module (including gyroscope, accelerometer, and magnetometer)), and Book system drone 2 operators or The unmanned aircraft of this system 2, as well as components (receiver, transmitter, antenna) for wireless communication with an external computer unit that monitors the parameters and functions of the probe 1 and the operation and Linear-Rotational an electronic circuit that controls the mechanism of the drive mechanism 207; and This system unmanned Airplane 2 A built-in electric energy source (battery) is arranged on the bottom side of the main body 201.

[0102] Linear-Rotational The drive mechanism 207 is This system unmanned Airplane 2 This is attached to the main body 201. Linear-Rotational The driving mechanism 207 has the probe 1 according to the present invention embedded therein, thereby Linear-RotationalThe driving mechanism 207 is connected by wire to a power source embedded in the main body 201, and further Linear-Rotational The drive mechanism 207 is wired to communicate with a control system embedded within the body 201, which controls: Linear-Rotational It controls the operation of the functional elements of the drive mechanism 207.

[0103] It is also clear to a person skilled in the art that in both the first and second embodiments , Shi stem drone 2, System drone Both the mode and scope of operation of the 2 and its various components ( Linear-Rotational The main feature of the present invention is that it is equipped with software that controls the operation of the actuator (including the drive mechanism 207).

[0104] S stem drone The first and second embodiments Continued In both of the second examples, the control unit is connected to a measuring device located in the probe 1, or to a measuring device located in the head 106 of the probe 1, or Is stem drone 2 and operatively connected to the head 106 of the probe 1, communicating by wire or wirelessly, depending on the configuration of the probe 1, with the measuring instruments (sensors, light sources) and controlling the operation of these instruments, and at least one spectrometer is located within the probe 1, or within the head of the probe 1, or at least Also stem drone 2 and operatively connected to the head portion 106 of the probe 11, controls the operation of the spectrometer and receives, for further analysis, signals generated from spectroscopic measurements by the spectrometer 120 of a light beam reflected from the ground surface adjacent the inspection hole 107 of the probe.

[0105] In a further example of embodiment , Shi stem droneThe body 201 of the probe 1 includes at least one spectrometer or at least one light source, whereby, depending on the particular example embodiment, the light source and the spectrometer are in operative communication with the test bore 107 of the probe 1 via a bundle of optical fibers that reach the probe body 101 via a guide 116 rotatably disposed at the second end of the probe body 101 of the probe 1. In such example embodiment, the system Unmanned Aerial Vehicle 2 , a probe 1 according to the fourth example of the embodiment, or a probe 1 of a design related to that shown in the fourth example of the embodiment, Linear-Rotational Drive mechanism 207 Combined There are.

[0106] at the same time , Shi stem drone It is clear to an expert that if the main body 201 of the probe 1 includes only at least one spectrometer and does not include a light source, the probe 1 includes at least one light source 108 in the head portion 106. Furthermore, the probe 1 may be combined with the probe 1 for carrying out the soil property testing method according to the present invention. Tashi stem drone It is clear that in still further examples of implementation, different (mixing) configurations are possible, in order to maintain the full functionality of the two, where the light source and part of the spectrometer Is stem drone 2, and the other light source 108 and spectrometer 120 (or spectrometers) are embedded in the head 106 of the probe 1, but this does not affect the essence of the present disclosure and merely provides a more advantageous way to implement the present invention. In this case, these functional elements can communicate with a unit that controls them, by wire or wirelessly, and depending on the embedding position, can be connected to the battery 111 or Is stem drone It is clear to experts that the power is supplied by two batteries.

[0107] In a further example of the embodiment shown in FIG. 8, propeller-driven flight It's a drone system of unmanned plane2 is formed from two independent drives that work together and are controlled by the control software independently of each other Linear-Rotational It has a drive mechanism 207. Linear-Rotational The first drive in the drive mechanism 207 is realized by a rotation mechanism 218 using an electric motor having a shaft aligned parallel to the body of the probe 1. The torque of the electric motor is transmitted to the body 101 of the probe 1 via a drive belt 219 arranged on one side to a first pulley 220 arranged on the shaft of the electric motor and on the other side to a second pulley 221 which is conventionally integrated into the upper end of the body 101 of the probe 1, whereby the probe 1 Is stem drone The second drive is rotatably mounted on the main body 201 of the second drive. Linear-Rotational As part of the drive mechanism 207, a system of actuators 222 located at each end of the arm 202 was used. linear The actuator 222 is operated by the mechanism while performing spectroscopic investigation using the probe 1. , Shi stem drone 2 operates on rough ground By stem drone The electric actuators 222 operate independently of each other to keep the two bodies 201 horizontal. At this time, it is clear that the direction of movement of the actuator 222 is substantially perpendicular to the plane of the ground, thereby Rishi stem drone 2, the main body 201 can move up and down.

[0108] In yet another embodiment, at least one of the spectrometer 120 and / or the light source 108 Gashi stem drone When the probe 1 is embedded in the body 201 of the probe 2, the body 101 of the probe 1 is connected to the body 101 of the probe 1 via a drive belt 219. Linear-RotationalWhile being rotationally driven by drive mechanism 207, spectrometer 120 and / or light source 108 remain stationary relative to the rotational movement of probe 1. An optical fiber operatively connects them to inspection hole 107 in head 106 of probe 1. It will be apparent to those skilled in the art that in these embodiments, the optical fiber is not rigidly connected to the inner shell of body 101 of probe 1. It will also be apparent that in these types of embodiments according to the invention, inspection hole 107 of probe 1 can be an annular, transparent portion of the shell of head 106 of probe 1.

[0109] It is also clear to those skilled in the art that the embodiments mentioned herein should not be construed as limiting, whether based on newly described embodiments or on previously described embodiments in detail. Rather, they represent additional and more advantageous options for further implementation of the present invention, and in particular, embodiments covering other important elements such as a battery, a wireless communication module, etc., may be used in conjunction with the main body 101 of the probe 1 or Is stem drone 2 is at least partially embedded in the body 201 of the

[0110] In another example of the embodiment shown in Figures 9 and 10, Linear-Rotational The drive mechanism 207 is Linear-Rotational It is arranged in a conventional manner at the bottom of the drive mechanism 207 and includes a first handle 208 having the form of a clamp for the body 101 of the probe 1, the first handle being fixed at one side to a base 209. Linear-Rotational The drive mechanism 207 has a second handle 210 in the form of a clamp for the body 101 of the probe 1, the second handle 210 being fixed at one end to a carriage 211 slidably mounted on a linear guide 212. The linear guide 212 then Linear-Rotational The drive mechanism 207 is substantially parallel to the body 101 of the probe 1 which is disposed within the first handle 208 and second handle 210 of the drive mechanism 207 and is connected at its bottom to a base 209 in a conventional manner, the base 209 being substantially perpendicular to the base 209.

[0111] Probe 1 linear To exercise, Linear-Rotational In the drive mechanism 207, a first motor 213 is embedded in the base 209, and its shaft is connected to a screw 214 having a trapezoidal screw thread and is parallel to the linear guide 212. Meanwhile, the rotational movement of the screw 214 is transmitted to the carriage 211. linear To convert the movement, the carriage 211 is provided with a ball nut which cooperates with the threads of the screw 214 .

[0112] Further, the second handle is provided with a second motor 215 at a position opposite the carriage 211, the second motor 215 being connected to the body 101 of the probe 1 by a gearbox, the body 101 of the probe 1 having longitudinal serrations 216 for coupling with the gearbox of the second motor 215 to subject the body 101 of the probe 1 to rotational motion.

[0113] Additionally, the first handle 208 is provided with a scraper ring 217 for removing debris from the body 101 of the probe 1 .

[0114] Linear-Rotational In a second example of realization of the drive mechanism 207, the carriage 211 is arranged on two parallel rod-like guides 212, between which is arranged a screw 214 that is put into rotational movement by a first motor 213. In this example of embodiment, the body 101 of the probe is provided with longitudinal serrations 216 and is coupled to the shaft of a second motor 215 via a toothed drive belt, and the element that cleans the soil residues from the body 101 of the probe is a brush seal arranged omnidirectionally relative to the through-hole of the first handle 208.

[0115] Linear-Rotational In a further example embodiment of the drive mechanism 207, a laser distance sensor is disposed in the carriage 211 and is connected to the second handle 210. Linear-Rotational The distance between the base 209 of the drive mechanism is measured to determine the depth of insertion of the probe 1 into the ground.

[0116] In another example embodiment, a shaft rotation sensor in the form of a rotary encoder is embedded in the shaft of the first motor 213 between the housing of the first motor 213 and its connection point to the shaft of the screw 214 to measure the number of rotations of the shaft of the first motor 213 and thereby determine the insertion depth of the probe 1 into the ground.

[0117] In yet another example embodiment, the ultrasonic sensor Linear-Rotational It is embedded in the second handle 210 of the drive mechanism 207 and measures the distance between the second handle 210 and the ground surface to determine the insertion depth of the probe 1 into the ground.

[0118] Linear-Rotational In yet another example embodiment of the drive mechanism 207, the body 101 of the probe 1 is operatively connected via longitudinal serrations 216 to a worm attached to the shaft of a second motor 215.

[0119] System comprising an unmanned aerial vehicle 2 coupled to a probe 1 according to the invention In an example embodiment, a method for conducting a test of soil properties is provided, comprising: Linear-Rotational The method by which the driving mechanism 207 embeds the probe 1 according to the present invention is , pu Robe 1 Combined system of unmanned aircraft 2 The user can move the to the measurement position in the survey area and select the test depth interval ( The probe 1 is coupled to an unmanned aerial vehicle 2. System Mu and determining a depth range for returning measurement results, where the test interval is understood to be part of the user-specified measurement section (i.e., the section from the ground surface to the maximum depth point at which measurements are taken) (e.g., in a 15 cm measurement section, a 5 cm depth test interval is specified, i.e., the measurement section is divided into the following ranges: 0-5, >5-10, >10-15 cm - constituting the interrogation interval). Furthermore, in a further example embodiment, it is allowed to determine multiple interrogation intervals that are not necessarily of equal length and evenly spaced.

[0120] next The probe 1 is coupled to an unmanned aerial vehicle 2. Unmanned System M is ,probe 1 until the end of its blade 105 contacts the ground surface. linear Then, the system 2 activates the second motor 215 to rotate the probe 1, and then The probe 1 is coupled to an unmanned aerial vehicle 2. System Mu By starting the first motor 213, the probe 1 moves downward. linear Movement continues, with Probe 1 gradually penetrating into the ground.

[0121] Then, within each user-specified test interval, the control unit of the system 2 sends a control signal for the generation of a light pulse by the light source 108, and sends an activation signal for the spectrometer 120 to perform a spot reflectance spectroscopy analysis of the ground surface adjacent to the test hole 107 in the body 101 of the probe 1. The device includes an unmanned aerial vehicle (2) coupled to a probe (1). System Mu's The control unit is connected to the sensor assembly 109 (or moisture The control unit sends a signal to activate the sensor 119, or, depending on the embodiment of the probe 1, one or more other (non-spectroscopic) sensors provided for use in the head 106 of the probe 1 according to the invention. The data acquired by the control unit from the spectrometer and the sensors is then stored in the memory of the control unit (or on an SD-type memory card, depending on the embodiment of the probe 1 according to the invention, or transmitted by wire / wireless). , bound to probe 1 unmanned Equipped with Airplane 2 System Mu's The signal is transmitted to the control unit, whereby the probe 1 is dipped into the ground, interrupted at given intervals for measurements, and after the measurements have been taken, the probe 1 is continued until it reaches the maximum depth of the investigation (reaching the bottom end of the investigation section). The sequence of activation of the measuring components of the head 106 is repeated periodically until the probe 1 reaches the maximum depth, after which Linear-Rotational of the driving mechanism 207 linear The direction of movement and the direction of rotation are reversed, and the probe 1 is withdrawn from the ground, and then Bound to probe 1 unmanned Equipped with Airplane 2 System M is The next investigation location is moved to and the sequence of operations according to the first example of implementation of the method according to the invention is repeated.

[0122] In a second example of implementing this test method based on the first example, each measurement sequence is performed continuously at a specific interval specified by the user. For example, if a 5 cm interval is set for a 15 cm test section, continuous measurements are performed at intervals of 0 to 5 cm and >10 to 15 cm, where the test interval >5 to 10 cm is omitted, and the movement of probe 1 is not stopped between continuous measurements, and the measurements are continuous measurements at the given intervals. The movement sequence and measurement sequence of probe 1 continue until probe 1 reaches the maximum measurement depth, and then The device includes an unmanned aerial vehicle (2) coupled to a probe (1). System M is , until you pull probe 1 out of the ground. linear Change the direction of the movement and the direction of the rotational movement, then equip the probe 1 Tashi stem drone 2 moves to the next measurement point within the survey area and repeats the survey method according to the example until the final survey is conducted at the last point within the survey area.

[0123] As will be apparent to those skilled in the art, in further examples of implementation of this method, the measurement sequence can be performed continuously over any predetermined length of the measurement path, where the length of the measurement path is understood to be the length of the spiral segment traversed by the inspection hole 107, which may be shorter than the length of the entire spiral segment traversed by the inspection hole 107 at a given interval.

[0124] In the next example, which builds on the previous example, the test method involves periodically repeating a sequence of stopping, measuring, and restarting the movement of probe 1 as it leaves the ground.

[0125] In subsequent examples of the test method based on the first or second example of the embodiment of the test method, two measurement sequences are performed in a given test interval, and in examples based on the first example of the embodiment of the test method, the number of sequences of interrupting and resuming the movement of probe 1 in a given test interval is equal to the number of measurement sequences.

[0126] It will be apparent in light of the present disclosure that in further examples of embodiments of the testing method according to the present invention, a number of measurement sequences greater than two may be permitted in a particular test interval in order to collect as many soil test result samples as possible in that particular test interval. Similarly, it will be apparent that in the case of method embodiments that include sequences of suspending and resuming the movement of probe 1, the number of such sequences is equal to the number of measurement sequences in a given test interval.

[0127] In yet another example embodiment of the test method according to the present invention, measurements by a non-spectroscopic sensor embedded in the head portion 106 of the probe 1 are performed multiple times in each test interval in order to average the results of a given measurement within the test interval or to eliminate results that are erroneous or significantly different from other measurements within the test interval by a program that controls and analyzes the measurement results.

[0128] In a further example of an embodiment of the test method based on the first example, , Shi stem drone Before the first delivery of the probe 2 to the location where the measurement will be performed, the probe 1 is calibrated by taking a standard measurement using the spectrometer 120 of the probe 1 and inputting the measurement results into software that processes the results of the reference measurement based on the obtained readings of the standard. The reference measurement, including the calibration, is performed according to the following steps: Rusi stem drone 2, before carrying out a series of measurements in the cultivated field, a standard measurement is carried out, and the results of this measurement are then transmitted wirelessly or by wire to a result processing unit (computer, database server) equipped with software for processing the results of the spectroscopic measurements. Then, a soil test is carried out according to any of the previous examples of implementation of the method according to the invention, whereby the spectrometer 120 or the sensor assembly 109, moistureThe software that processes the results of the measurements produced by the sensor 119 performs corrections to the spectroscopic measurements based on the reference results of the pattern test. After the Probe 1 movement sequence, the measurement sequence, and the Probe 1 ground exit sequence (with or without simultaneous ground survey during Probe 1 ground exit) , Shi stem drone 2 moves to the next survey point within the survey area and all probe movement and measurement sequences are repeated except for calibration, which is performed before the first probe 1 movement and measurement sequence at the first ground survey point within the survey area.

[0129] In a further example embodiment, the calibration is performed before a measurement sequence at a given measurement point. In yet a further example embodiment, the calibration is performed after a measurement sequence at a measurement point in the survey area.

[0130] In a further example of an embodiment of the method, the calibration comprises: , Shi stem drone The calibration is performed in a calibration module embedded in the body 201 of the instrument, which contains a settling pocket for a material standard (a so-called standard).

[0131] In a further example of an embodiment of the method based on one of the previous examples, the results of the test by the measurement equipment other than the spectrometer of the 106 probe head 1 are used by the software that processes the test results to correct the measurements obtained by spectroscopy or to correct or average the results obtained from other sensors of the 106 probe head 1, so that in this example of an embodiment of the method, the cycle of movement and measurement of the probe 1 is performed as in one of the previous examples, and then after the probe 1 is pulled out of the ground, , Shi stem drone 2 moves to the next measurement point within the survey area.

[0132] In a further example of an embodiment of the method, before carrying out the soil property test, the value of the insertion depth of the probe 1 into the ground is Woshi stem droneEnter the specified measurement depth into the control software and conduct a measurement sequence at that depth. , Shi stem drone 2 Linear-Rotational The probe 1 embedded in the drive mechanism 207 is less than the maximum depth that can be reached.

[0133] In a further example of an embodiment of the method similar to the previous example: , Shi stem drone 2 determines a plurality of depths to which the probe 1 penetrates the ground before carrying out a movement sequence of the probe 1 and an associated measurement sequence, and By stem drone 2 performs the measurement sequence.

[0134] In another embodiment of the method, during its implementation: , Shi stem drone The control software for the two uses the measurement equipment of the autopilot module. , Shi stem drone Measure the deviation from the horizontal plane of 2. , Shi stem drone The forward speed of the probe 1 is adjusted by reducing, stopping, or changing the direction of rotation of the first motor 213 during penetration of the probe 1 into the ground to offset the effect of repulsion from the ground surface.

[0135] In another exemplary embodiment of the method, during the insertion sequence of the probe 1 into the ground , Shi stem drone The control software of 2 measures the value of the current drawn by the motor to determine the point at which the blade 105 makes contact with the ground and begins to drive the probe 1 into the ground. Determining the point at which the probe 1 begins to drive into the ground is done by identifying an increase in the value of the current drawn by the motor. This measurement is then used to determine the hardness of the soil being tested by the method of the present invention.

[0136] In still further examples of implementation of the method that will be clear to the expert, the individual sequences and their elements can be freely combined to obtain measurements at different depths and at different angular values ​​of rotation of the probe 1 during the sinking and movement of the probe 1 out of the ground, while the sinking and movement of the probe 1 can be interrupted during the measurement sequence, or the measurement sequence can be carried out during the movement of the probe (sinking or movement out of the ground).

[0137] In yet a further example of embodiment of the method according to the present invention, Each one Pro Book 1 Prepared , the system Multiple unmanned Plane 2 Used , Shi stem Unmanned Aerial Vehicle 2 Soil property tests are carried out in parallel and independently of each other. System Multiple unmanned Plane 2 The use does not affect the essence of the invention and is a further advantageous development of the invention, making it possible to shorten the duration of soil property testing in a given area.

[0138] In yet a further example of embodiment of the method according to the invention based on the previous example, System Multiple unmanned Plane 2 , used to conduct parallel testing of soil properties in multiple areas, for example (but not limited to): Each one Pro The system's Two unmanned Plane 2 , used to conduct parallel trials in two different cultivation areas.

[0139] As will be clear to the expert, the method according to the invention can be carried out Rusi stem drone 2 If the number increases, the system Mu 2nd and its interior or probe head Part 1 06 within 1 The control and communication for the measuring equipment included in System Single unmanned Plane 2 It is based on the same communication and control principles used, which are described in the summary of this disclosure and in the previous examples of embodiments of the invention.

[0140] In a further example embodiment, a survey of soil properties is carried out in various crop fields. . stem for drone 2 A ground vehicle, preferably a car, equipped with a mobile launch platform travels along roads between crop fields. When the vehicle enters the range of the crop area to be surveyed, it receives a signal from the vehicle assigned to conduct the survey. Tashi stem drone 2 takes off from the mobile platform, moves autonomously to the first survey point within the target area, and begins surveying the target area. , Shi stem drone 2 will wait in the surveyed area and autonomously return to the mobile platform when the ground vehicle carrying the mobile platform comes within range of the unmanned system again.

[0141] In a single cropland System Multiple unmanned plane In yet another example, soil properties are investigated using , Shi stem drone The 2 takes off from a ground vehicle equipped with a mobile launch platform and circles the cultivated land. When the measurement point comes within range, the assigned Tashi stem drone 2 autonomously takes off from the mobile platform, moves to the first measurement point, and begins to take measurements in the area. After taking a certain number of measurements, , Shi stem drone 2 will remain in a given area and wait, returning to the mobile launch platform once the ground vehicle is again within range.

[0142] In yet a further example embodiment of the method, the mobile launch platform is temporarily returned to Rusi stem drone 2 is operated to charge the battery before being delivered to a new area to be tested in accordance with the present invention.

[0143] In yet another example of a method for carrying out the present invention, , Shi stem droneA mobile launch platform for the 2 is built into an agricultural vehicle.

[0144] In yet a further example of an embodiment , Shi stem drone The results of the survey carried out using 2 (in the form of georeferenced maps) will form the basis for planning precision tillage operations using autonomous fertilizer spreading equipment.

[0145] It will be clear to those skilled in the art that in the preceding examples of the above method embodiments , Shi stem drone 2 operates in autonomous mode or Is stem drone It operates based on commands issued by the operator (user) 2.

[0146] Furthermore, as will be apparent to the expert and for carrying out the method according to the invention Nisi stem drone Used by 2 Linear-Rotational As a result of the particular configuration of the probe head 106 of the probe 1 embedded in the drive mechanism 207, the measurement results are , Shi stem drone The data may be processed by a computer unit located in the body 201 of the probe 1 or in the body 101 of the probe head 106 of the probe 1 and then stored on an internal storage medium, or may be stored in the body 101 of the probe 1 or in an external computer (or cloud computing or computing server) for data processing. Is stem drone The signal can be transmitted in real time to an external receiver via a transmitter or a communication cable located in the main body 201 of the device.

[0147] Furthermore, as is clear to experts , Shi stem droneThe data acquired during the operation of the two is uploaded to an external receiver (computer, server, cloud) in combination with GPS and depth data for a given measurement and used by external software to create a georeferenced map, which involves mapping the results in three dimensions (surface and deep underground) to plan precision agricultural processes.

[0148] It will also be apparent to those skilled in the art that in all of the above mentioned further examples of method embodiments, the cycle of the method embodiment will be performed at all of the previously user-indicated land survey points in a given area starting from the first survey point and ending at the last survey point in the area. , Shi stem drone Repeated by 2.

[0149] Additionally, probe 1 bound to system drone In each of the examples of the soil property survey method using 2 , Shi stem drone 2 may include software that controls its operation and enables measurements in autonomous mode; , Shi stem drone 2 and its functions can be controlled by the user via a computer program implemented in an external computer or via a suitable wireless remote control, which does not affect the essence of the present disclosure and constitutes an advantageous additional possibility of using the present invention in realizing a method for performing soil property tests using the various elements disclosed in this application.

Claims

1. 1. A subsurface probe for testing soil properties, the subsurface probe having a tubular body, a first conical end of which comprises a head portion, said head portion having a glass-protected inspection hole in a side of the shell, said head portion comprising measuring device elements for carrying out measurements of the soil properties, characterized in that at least one protrusion, preferably in the form of a blade (105), is arranged on the outer surface of the body (101) of said probe (1), at least part of its essential surface being contained within a helical surface, preferably a linear helical surface, defined around the longitudinal axis of said probe (1).

2. 2. The probe of claim 1, wherein at least one wire is disposed within the body (101) and extends from the head portion (106) toward the second end of the tubular body (101).

3. 3. The probe according to claim 1 or 2, characterized in that there is at least one light source (108) operatively connected to the head portion (106) of the probe (1).

4. 4. The probe of claim 3, wherein the light source (108) is embedded in the head (106) of the probe (1).

5. Probe according to any one of claims 1 to 4, characterized in that at least one spectrometer (120) is operatively connected to the head part (106) of the probe (1).

6. Probe according to claim 5, characterized in that at least one spectrometer (120) is embedded in the head (106) of the probe (1).

7. Probe according to any one of the preceding claims, characterized in that the head portion (106) includes at least one element for redirecting a light beam.

8. A probe according to any one of claims 1 to 7, characterized in that the components of the system for measuring soil properties communicate wirelessly with an external receiver and an external transmitter.

9. Probe according to any one of claims 1 to 7, characterized in that it comprises an internal data carrier.

10. The probe according to any one of claims 1 to 9, characterized in that a humidity sensor assembly (109) is embedded in the head (106) and its electrodes (110) are located on the outer surface of the head shell (106).

11. The probe according to any one of claims 1 to 10, characterized in that a soil conductivity sensor is embedded in the head (106) and its electrodes (110) are arranged on the outer surface of the head shell (106).

12. Probe according to any one of claims 1 to 11, characterized in that a temperature sensor is embedded in the head (106) and its electrodes (110) are located on the outer surface of the head shell (106).

13. 13. The probe of claim 1, wherein a soil acidity (pH) sensor is embedded in the head (106) and its electrodes (110) are located on the outer surface of the head shell (106).

14. Probe according to any one of the preceding claims, characterized in that at least one cable is rotatably arranged within the probe body (101).

15. An unmanned system for a soil property probe, having a body with a power source, an electronic control and communication system adapted for communication with an external transmitter and an external receiver, a GPS module, and a telemetry transmitter and receiver, wherein the probe attached to the body of the system is positioned perpendicular to the plane of the soil being tested.

16. The unmanned system of claim 15, wherein a soil spectroscopy probe (1) according to any one of claims 1 to 14 is present on the body (201) of the unmanned system (2), and the probe (1) is coupled to a reciprocating drive mechanism (207) attached to the body (101) of the unmanned system (2).

17. 17. Unmanned system according to claim 15 or 16, characterized in that it is a flying drone.

18. 17. An unmanned system according to claim 15 or 16, characterized in that it is a traveling drone.

19. An unmanned system according to any one of claims 15 to 18, characterized in that it includes a device for analyzing signals transmitted by wires from the probe head (106) of the probe (1).

20. An unmanned system according to any one of claims 15 to 18, characterized in that it includes a device for analyzing signals wirelessly transmitted from the probe head (106) of the probe (1).

21. 21. Unmanned system according to claim 19 or 20, characterized in that the signal analysis device comprises at least one spectrometer (120).

22. An unmanned system according to any one of claims 15 to 21, characterized in that it comprises at least one light source.

23. An unmanned system according to any one of claims 15 to 22, characterized in that it comprises at least one camera (206) for recording images.

24. An unmanned system according to any one of claims 15 to 23, characterized in that the drone is capable of operating in autonomous mode.

25. An unmanned system according to any one of claims 15 to 24, characterized in that the reciprocating drive mechanism (207) comprises a rotary drive and a linear drive.

26. 26. The unmanned system of claim 25, wherein the rotary drive and the linear drive are realized by independent drive systems.

27. 27. An unmanned system according to claim 25 or 26, characterized in that the rotary drive is an electric drive.

28. 27. An unmanned system according to claim 25 or 26, characterized in that the linear drive is an electric drive.

29. 27. An unmanned system according to claim 25 or 26, characterized in that the linear drive is a pneumatic drive.

30. 27. An unmanned system according to claim 25 or 26, characterized in that the linear drive is a hydraulic drive.

31. Unmanned system according to any one of claims 15 to 30, characterized in that the system (2) includes a proximity sensor.

32. An unmanned system according to any one of claims 15 to 30, characterized in that it includes an engine speed sensor.

33. A method for performing a soil property test, comprising inserting a probe into the soil, the longitudinal axis of the probe being perpendicular to the surface of the soil during the measurement, performing the soil property test using a measurement device of the probe, and then removing the probe from the soil, the method comprising: delivering a soil property test probe (1) according to any one of claims 1 to 14 to a location where the measurement is to be performed, then introducing the probe (1) into the soil in a reciprocating motion, delimiting a cylindrical measurement section in the soil that extends from the surface of the soil to a location where the probe (1) reaches a predetermined maximum depth, and then reciprocating the probe (1). and withdrawing the probe (1) from the soil while testing soil properties along the length of the measurement section at least once, whereby the testing is performed by irradiating a lateral line tangent to the body (101) of the probe (1) at the ground surface with a beam of light emitted from the light source (108) before withdrawing the probe (1) from the ground, and using optical elements of the probe head (106) to collect light reflected from the lateral line tangent to the body (101) of the probe (1) at the ground surface and transmitting it in real time to a spectrum analyzer.

34. 34. A method according to claim 33, characterized in that the test of soil properties is carried out while inserting the probe (1) into the soil.

35. 35. A method according to claim 33 or 34, characterized in that the test of soil properties is carried out while the probe (1) is withdrawn from the soil.

36. A method according to any one of claims 33 to 35, characterized in that the reciprocating movement of the probe (1) is interrupted periodically during the soil property test.

37. 37. The method of claim 36, wherein the interruption in the reciprocating motion of the probe occurs at a predetermined depth in the soil.

38. 38. The method according to any one of claims 33 to 37, characterized in that the testing of soil properties further comprises at least one measurement of at least one of soil electrical conductivity, soil moisture content, soil temperature, soil acidity, and the testing is carried out using a sensor integrated into a probe head (106) of the probe (1).

39. 39. A method according to any one of claims 33 to 38, characterized in that said testing of soil properties comprises carrying out at least one reference measurement.

40. 40. The method of claim 39, wherein the reference measurement includes at least one measurement of at least one of soil electrical conductivity, soil moisture content, soil temperature, and soil acidity.

41. 41. The method of claim 39 or 40, wherein the reference measurement comprises a calibration.

42. A method according to any one of claims 39 to 41, characterized in that a reference measurement is used to calibrate the spectroscopic measurement results.

43. A method according to any one of claims 33 to 43, characterised in that the measurement of the current drawn by the motor is used to measure the hardness of the soil.

44. A method according to any one of claims 33 to 43, characterized in that the measurement of the current drawn by the motor is used to determine the moment of contact of the probe (1) with the ground.

45. 45. The method according to any one of claims 33 to 44, characterized in that the measurement of the tilt value of the unmanned system (2) is used to correct the stability of the unmanned system (2) during the insertion of the probe (1) into the ground.

46. A method according to any one of claims 33 to 45, characterized in that it comprises measuring the depth of insertion of the probe (1) into the ground.

47. Method according to any one of claims 33 to 46, characterized in that during the implementation of the method a probe (1) according to any one of claims 1 to 12 is embedded in an unmanned system (2) according to any one of claims 13 to 30.

48. A method according to any one of claims 33 to 47, characterized in that it is carried out in parallel using a plurality of unmanned systems (2) equipped with said probes (1).

49. 49. The method of claim 48, wherein parallel methods of testing soil properties are performed in multiple cultivated areas at a given time.

50. 50. The method according to any one of claims 33 to 49, characterized in that at least one unmanned system (2) takes off from a mobile launch platform before the start of the soil characterization survey at the first measurement point of each piece of land and returns to said mobile launch platform after the completion of the soil characterization survey at the last measurement point of each piece of land.

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