CN108663232A - A kind of fully-automatic intelligent soil sampler - Google Patents
A kind of fully-automatic intelligent soil sampler Download PDFInfo
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- CN108663232A CN108663232A CN201810423928.9A CN201810423928A CN108663232A CN 108663232 A CN108663232 A CN 108663232A CN 201810423928 A CN201810423928 A CN 201810423928A CN 108663232 A CN108663232 A CN 108663232A
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- slide unit
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)
Abstract
A kind of fully-automatic intelligent soil sampler category agricultural machinery technological field, the present invention in microprocessor communicated through WIFI with mobile phone；Microprocessor is connect through driver I with the stepper motor I of slide unit group；Microprocessor is connect through driver II with the stepper motor II of rotation-control members；Microprocessor is connect through driver III with the electric pushrod of extension and contraction control component；Microprocessor is also connect with the photoelectric limit switch of slide unit group, ultrasonic sensor；The upper surface of slide unit and the L bracket of rotation-control members are affixed in slide unit group；The U-board of rotation-control members is connect with the upper end of electric pushrod in extension and contraction control component；The present invention adapts to different work situation, realize the soil sample automatically to different depth, the different volumes that fetch earth, DGPS records the position of sampled point, number automatically by computer, manpower is reduced, improves operating efficiency, moreover it is possible to overcome the fluctuating of different sampled point earth's surfaces, reduce error, the guarantee depth that fetches earth is consistent.
Description
Technical field
The invention belongs to agricultural machinery technological fields, specifically devise a kind of fully-automatic intelligent soil sampler.
Background technology
Soil sample is mostly the method for artificial sample, and most sampling instrument the degree of automation are relatively low.Such as Publication No.
The Chinese invention patent document of CN106441984A discloses a kind of electronic soil sampler and method.The electronic soil sampler includes
Pedestal, motor, soil cabin and drill bit can be rotated under the driving of motor and be fetched earth, but the component that fetches earth needs manually to rotate control
Bar processed, the component that makes to fetch earth lift on sawtooth guide rail.It is therefore, inevitable time-consuming and laborious in the larger local work of land area,
It is less efficient.By automatically sampling, can the effectively save time, improve working efficiency.
At this stage, the variable fertilization technology in precision agriculture needs the support of soil prescription map, prescription map generalization more
Number is completed by manpower, full-automatic to realize that difficulty is larger, and the present invention can be loaded into through DGPS and IMU cooperations navigation or other lead
The process of automatic sampling is completed on the automatic driving car of boat.
Invention content
The present invention is to solve the above-mentioned problems, it is proposed that a kind of fully-automatic intelligent soil sampler, which can realize takes automatically
Soil, by stepper motor opened loop control, ultrasonic wave real time distance, photoelectric limit switch provides zero-bit, corrects and is recycled per sub-sampling
Accumulated error, ensure embedded depth it is almost the same.The tapered piston on earthworm head is imitated, soil-entering resistance is reduced and reduces soil
Adherency.The collection capacity of soil sample can be adjusted by the stroke of push rod, and embedded depth can be by changing ball-screw slide unit group, electronic
Push rod and connecting rod are completed, and adaptability is preferable.
The present invention is made of control system A, slide unit group B, rotation-control members C and extension and contraction control component D, slide unit group B by
Ball-screw slide unit group c, photoelectric limit switch 6, right angle rack 7 and ultrasonic sensor 9 form, and photoelectric limit switch 6 is affixed
In the right side of the riser 4 of ball-screw slide unit group c, right angle rack 7 is fixed on the left of the nearly lower end of riser 4；Supersonic sensing
Device 9 is fixed in below lower supporting plate 8；Rotation-control members C is by light barrier 11, L bracket 12, shaft coupling 13, connecting rod 14, U
Shape plate 15 and stepper motor II 17 form, and wherein light barrier 11 is fixed in the lower left side of riser in L bracket 12；Stepper motor
II 17 are fixed on the transverse slat of L bracket 12, and the output shaft of stepper motor II 17 and the upper end of shaft coupling 13 are affixed, connecting rod 14
Upper end and the lower end of shaft coupling 13 it is affixed；14 lower end of connecting rod and the upper surface of U-board 15 are affixed；The riser of U-board 15 is equipped with
Hole I 16, wherein：Control system A is made of driver I 1, driver II 2, driver III 3, microprocessor a and mobile phone b, driving
Device I 1, driver II 2 and driver III 3 are controlled by microprocessor a；Microprocessor a and mobile phone b passes through WIFI connection communications.
Microprocessor a is connect by driver I 1 with the stepper motor I 11 of slide unit group B；Microprocessor a passes through driver II
2 connect with the stepper motor II 17 of rotation-control members C；The electricity that microprocessor a passes through driver III 3 and extension and contraction control component D
Dynamic push rod e connections；Microprocessor a is also connect with the photoelectric limit switch 6 of slide unit group B, ultrasonic sensor 9；The cunning of slide unit group B
The upper surface of platform 5 and the L bracket 12 of rotation-control members C are affixed；The U-board 15 of rotation-control members C and extension and contraction control portion
The upper end connection of electric pushrod e in part D.
The height of the ultrasonic sensor 9 of slide unit group B and sampling earth's surface d are Hu；Ultrasonic sensor 9 is opened with photoelectric position limit
Close 6 position relationship formula be：
H=Hu+Hl-L+E
Wherein：H be fetch earth 20 bottom end of pipe to sampling earth's surface d height；8 bottom surface of lower supporting plate that E is slide unit group B is to ultrasonic
Error compensation amount between 9 receiving terminal of wave sensor；L is the taking to rotation-control members C of photoelectric limit switch 6 of slide unit group B
The length of 20 lower face of native pipe, HlFor the cross central line and the bottom surface of lower supporting plate 8 of the U-lag of photoelectric limit switch 6
Distance, ranging from 400~500mm of value；
The photoelectric limit switch 6 of slide unit group B is located at same side with the light barrier 11 of rotation-control members C.
The extension and contraction control component D is by electric pushrod e, the pipe 20 that fetches earth, drill bit 21, tapered piston 22,24 and of scraping ring
Straight pin 25 forms, and electric pushrod e, fetches earth pipe 20 and tapered piston 22 is ranked sequentially from top to bottom, the outer tube 19 of electric pushrod e
Lower end and 20 upper end of pipe of fetching earth are affixed, and the pipe 20 that fetches earth is placed on the inner push-rod 26 of electric pushrod e, and tapered piston 22 is by cylinder 30 and cone
First 31 composition, 31 upper end of conehead are fixed in 30 lower end of cylinder, and 30 nearly lower circumferential of cylinder is equipped with groove 27, the groove depth of groove 27
h1For 1.14mm, groove width C1For 1mm, center line and the 30 upper surface distance h of cylinder of groove 272For 11~13mm；In cylinder 30
Portion is equipped with hole III 28；Tapered piston 22 is fixed in 26 lower end of inner push-rod through straight pin 27；Scraping ring 24 is stuck in groove 27, scraping
The outer ring of ring 24 is slidably connected with 20 inner ring of pipe that fetches earth；Drill bit 21 is placed on 20 lower end outer ring of pipe of fetching earth, and affixed with it.
The cone angle beta of the conehead 31 is 60 °, and 31 surface of conehead is evenly distributed with the circle of 8 arc length 1.84mm, chord length 1.41mm
Arc；The conical surface of conehead 31 is uniformly distributed along the circumference five long rabbets 29, forms the scraping mouth 22 of ripple dentation, the wide b of slot bottom2Ranging from
1.5~2.5mm；The angle α on the both sides of the long rabbet 29 is 60 °, and the circular arc of the bottom surface of long rabbet 29 and scraping mouth 22 is most
The distance h of high point3For 0.5mm.
Working process and principle of the invention are：
The microprocessor a of control system A drives the slide unit being connected with driver I 1 by pwm signal, by driver I 1
The stepper motor I 10 of group A, makes soil sampler rotation-control members B axially move with the slide unit 3 of slide unit group A；Control system A's
Microprocessor a is driven the stepping electricity for the rotation-control members B being connected with driver II 2 by driver II 2 by pwm signal
Machine II 17 makes the electric pushrod e of soil sampler extension and contraction control component C complete rotary motion；The microprocessor a of control system A passes through
Pwm signal is driven the electric pushrod e for the extension and contraction control component C being connected with driver III 3 by driver III 3, makes tapered piston
22 can complete axial stretching motion with the inner push-rod 26 of electronic electric pushrod e.Therefore, tapered piston 22 can be completed to rotate
With the aggregate motion of axial stretching.
L bracket 12 is adjusted first, and the light barrier being fixedly mounted with L bracket 12 12 is made to be located at the U-type groove of photoelectric limit switch 6
It is interior, as the zero reference point of whole system, and when light barrier 12 is located in the U-type groove of photoelectric limit switch 6, microprocessor a
Receive the signal that photoelectric limit switch 6 is sent；Measure the distance H that photoelectric limit switch 6 arrives the bottom surface of lower supporting plate 8l；It surveys
Length L of the amount photoelectric limit switch 6 to the bottom surface for the pipe 20 that fetches earth.When work starts, microprocessor a first reads ultrasonic wave and passes
Sensor 9 measure from sampling earth's surface d to the height H of itselfu, and 20 bottom end of pipe is fetched earth to sampling earth's surface d's in conjunction with manual measurement
Height H, according to H, H of test measurementl、HuWith L, formula H=H is utilizedu+Hl- L+E obtains error compensation amount E values；The error is mended
The amount of repaying E is remained unchanged in work later, and microprocessor a can utilize formula H=Hu+Hl- L+E calculates 20 bottom of pipe of fetching earth
The height H of sampling earth's surface d is held, and then determines embedded depth.
Before reaching predetermined embedded depth, tapered piston 22 is set to the lower face for the pipe 20 that fetches earth, and blocks fetch earth completely
Pipe 20 does not leave and take native space；Tapered piston 22 is with drill bit 21 together in the control backspin of stepper motor I 10 and stepper motor II 17
It is transferred to soil, is drilled into scheduled depth.The pipe 20 that fetches earth reach predetermined depth after, tapered piston 22 with electric pushrod e inner push-rod
26 retractions form space of fetching earth, and are transferred to soil, acquisition soil in the control backspin of stepper motor I 10 and stepper motor II 17 simultaneously
Sample.After completion is fetched earth, stepper motor I 10 inverts, and the pipe 20 that fetches earth moves axially upward with slide unit 3, until light barrier 12 is located at
In the U-type groove of photoelectric limit switch 6, microprocessor a reads stop signal, and then microprocessor a, which sends out to cease and desist order, makes stepping
Motor I 10 and II 17 stop motion of stepper motor；It is moved downward with inner push-rod 26 under the action of 22 electric pushrod e of tapered piston,
It is discharged in soil sample to collecting pipe；During soil sample is discharged, scraping ring 24 strikes off the clay for remaining in 20 inner wall of pipe that fetches earth.It is complete
After sampling, photoelectric limit switch 6 as the zero-bit recycled next time, to reduce error.
Compared with prior art, advantage of the invention is that：
One, it can realize that full automatic soil sample, DGPS record the position of sampled point by being connected on automatic driving car
It sets, number automatically by computer, reduces manpower, improve operating efficiency.
Two, select different ball-screw slide unit groups, electric pushrod that can realize the different depth that fetch earth from connecting rod, fetch earth
Volume is to adapt to different handling situations.
Three, for stepper motor as driving source, precision is high, accurate opened loop control can be realized, in conjunction with ultrasonic sensor
Real time distance, photoelectric limit switch make zero-bit, eliminate the displacement accumulated error sampled every time, with can overcoming different sampled points
The fluctuating of table, reduces error, and the guarantee depth that fetches earth is consistent.
Description of the drawings
Fig. 1 is the front view of fully-automatic intelligent soil sampler
Fig. 2 is the left view of slide unit group B
Fig. 3 is the front view of rotation-control members C
Fig. 4 is the front view of extension and contraction control component D
Fig. 5 is the partial sectional view of Fig. 4 meanings
Fig. 6 is the partial schematic diagram of scraping ring
Fig. 7 is the front view of tapered piston
Fig. 8 is the partial enlarged view of f meanings in Fig. 7
Fig. 9 is the upward view of Fig. 7
Figure 10 is the long rabbet schematic diagram of Fig. 7
Wherein：A. control system B. slide units group C. rotation-control members D. extension and contraction control component a. microprocessors b.
II 3. driver of mobile phone 1. driver, I 2. driver, III c. ball-screw slide unit groups d. sampling 4. risers 5. of earth's surface are slided
10. stepper motor of platform 6. photoelectric limit switch, 7. right angle rack, 8. lower supporting plate, 9. ultrasonic sensor, I 11. light barrier
13. shaft coupling of 12.L shapes holder, 14. 16. hole of connecting rod 15.U shapes plate, I 17. stepper motor, II 18. hole, II e. electric pushrods
21. drill bit of pipe, 22. tapered piston, 23. scraping mouth, 24. scraping ring, 25. straight pin, 26. inner push-rod 19. outer tube 20. fetches earth
27. 28. hole of groove, III 29. long rabbet, 30. cylinder, 31. conehead
Specific implementation mode
The present invention is described further below in conjunction with the accompanying drawings.
As shown in Figures 1 to 4, the present invention is by control system A, slide unit group B, rotation-control members C, extension and contraction control component D
Composition, wherein slide unit group B are made of ball-screw slide unit group c, photoelectric limit switch 6, right angle rack 7 and ultrasonic sensor 9,
Photoelectric limit switch 6 is fixed in the right side of the riser 4 of ball-screw slide unit group c, right angle rack 7 be fixed in riser 4 it is close under
End left side；Ultrasonic sensor 9 is fixed in below lower supporting plate 8；Rotation-control members C by light barrier 11, L bracket 12,
Shaft coupling 13, connecting rod 14, U-board 15 and stepper motor II 17 form, and wherein light barrier 11 is fixed in riser in L bracket 12
Lower left side；Stepper motor II 17 is fixed on the transverse slat of L bracket 12, and the output shaft of stepper motor II 17 and shaft coupling 13
Upper end it is affixed, the upper end and the lower end of shaft coupling 13 of connecting rod 14 are affixed；14 lower end of connecting rod and the upper surface of U-board 15 are affixed；U-shaped
The riser of plate 15 is equipped with hole I 16；
Wherein control system A is made of driver I 1, driver II 2, driver III 3, microprocessor a and mobile phone b, driving
Device I 1, driver II 2 and driver III 3 are controlled by microprocessor a；Microprocessor a and mobile phone b passes through WIFI connection communications；
Microprocessor a is connect by driver I 1 with the stepper motor I 10 of slide unit group B；Microprocessor a passes through driver II
2 connect with the stepper motor II 17 of rotation-control members C；The electricity that microprocessor a passes through driver III 3 and extension and contraction control component D
Dynamic push rod e connections；Microprocessor a is also connect with the photoelectric limit switch 6 of slide unit group B, ultrasonic sensor 9；The cunning of slide unit group B
The upper surface of platform 5 and the L bracket 12 of rotation-control members C are affixed；The U-board 15 of rotation-control members C and extension and contraction control portion
The upper end connection of electric pushrod e in part D；
The height of the ultrasonic sensor 9 of slide unit group B and sampling earth's surface d are Hu；Ultrasonic sensor 9 is opened with photoelectric position limit
Close 6 position relationship formula be：
H=Hu+Hl-L+E
Wherein：H be fetch earth 20 bottom end of pipe to sampling earth's surface d height；8 bottom surface of lower supporting plate that E is slide unit group B is to ultrasonic
Error compensation amount between 9 receiving terminal of wave sensor；L is the taking to rotation-control members C of photoelectric limit switch 6 of slide unit group B
The length of 20 lower face of native pipe, HlFor the cross central line and the bottom surface of lower supporting plate 8 of the U-lag of photoelectric limit switch 6
Distance, ranging from 400~500mm of value；
The photoelectric limit switch 6 of slide unit group B is located at same side with the light barrier 11 of rotation-control members C.
As shown in Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the extension and contraction control component D by electric pushrod e, fetch earth pipe 20, drill bit
21, tapered piston 22, scraping ring 24 and straight pin 25 form, electric pushrod e, fetch earth pipe 20 and tapered piston 22 it is suitable from top to bottom
Sequence arranges, and 19 lower end of outer tube of electric pushrod e and 20 upper end of pipe of fetching earth are affixed, and the pipe 20 that fetches earth is placed on the inner push-rod of electric pushrod e
26, tapered piston 22 is made of cylinder 30 and conehead 31, and 31 upper end of conehead is fixed in 30 lower end of cylinder, 30 nearly lower circumferential of cylinder
It is equipped with groove 27, the groove depth h of groove 271For 1.14mm, groove width C1For 1mm, center line and 30 upper surface of cylinder of groove 27
Distance h2For 11~13mm；30 middle part of cylinder is equipped with hole III 28, and tapered piston 22 is fixed in 26 lower end of inner push-rod through straight pin 27,
Scraping ring 24 is stuck in groove 27, and the outer ring of scraping ring 24 is slidably connected with 20 inner ring of pipe that fetches earth；Drill bit 21 is placed on the pipe 20 that fetches earth
Lower end outer ring, and it is affixed with it.
As shown in Fig. 8, Fig. 9 and Figure 10, the cone angle beta of the conehead 31 is 60 °, and 31 surface of conehead is evenly distributed with 8 arc length
The circular arc of 1.84mm, chord length 1.41mm；The conical surface of conehead 31 is uniformly distributed along the circumference five long rabbets 29, forms the scraping of ripple dentation
Mouth 22, the wide b of slot bottom2Ranging from 1.5~2.5mm；The angle α on the both sides of the long rabbet 29 is 60 °, and the bottom of long rabbet 29
The circular arc peak distance h in face and scraping mouth 223For 0.5mm.
As shown in Figure 1, stroke of the maximum embedded depth that can be done of soil sampler by slide unit group A, the length of connecting rod 12 with
The stroke of electric pushrod e determines, therefore replaces different slide unit group A, and connecting rod 12 and electric pushrod e can obtain different fetch earth
Depth.
Specifically, stepper motor I 10 is 57BYGH100, the effective travel of ball screw slide unit group c is 600mm, lead screw
Model G1610；Stepper motor II 17 is 57BYGH100；The stroke of electric pushrod e is 100mm；Ultrasonic sensor 10 is
US-100, and with temperature-compensating；Photoelectric limit switch 6 is EE-SX674-WR；Microprocessor a is STM32F429 chips；Driving
Device I is that thunder matches DM860 with driver II, and the stepper motor driver III of electric pushrod e is TB6600.
Claims (3)
1. a kind of fully-automatic intelligent soil sampler, by control system (A), slide unit group (B), rotation-control members (C) and extension and contraction control
Component (D) forms, and slide unit group (B) is by ball-screw slide unit group (c), photoelectric limit switch (6), right angle rack (7) and ultrasonic wave
Sensor (9) forms, and photoelectric limit switch (6) is fixed in the right side of the riser (4) of ball-screw slide unit group (c), right angle branch
Frame (7) is fixed on the left of the nearly lower end of riser (4)；Ultrasonic sensor (9) is fixed in below lower supporting plate (8)；Rotation control
Component (C) processed is by light barrier (11), L bracket (12), shaft coupling (13), connecting rod (14), U-board (15) and stepper motor II
(17) it forms, wherein light barrier (11) is fixed in the lower left side of riser in L bracket (12)；Stepper motor II (17) is fixed in
On the transverse slat of L bracket (12), and the output shaft of stepper motor II (17) and the upper end of shaft coupling (13) are affixed, connecting rod (14)
The lower end of upper end and shaft coupling (13) is affixed；The upper surface of connecting rod (14) lower end and U-board (15) are affixed；The riser of U-board (15)
It is equipped with hole I (16), which is characterized in that wherein：Control system (A) is by driver I (1), driver II (2), driver III
(3), microprocessor (a) and mobile phone (b) form, and driver I (1), driver II (2) and driver III (3) are by microprocessor
(a) it controls；Microprocessor (a) passes through WIFI connection communications with mobile phone (b)；Microprocessor (a) passes through driver I (1) and slide unit
Stepper motor I (11) connections of group (B)；The stepping electricity that microprocessor (a) passes through driver II (2) and rotation-control members (C)
Machine II (17) connections；Microprocessor (a) is connect by driver III (3) with the electric pushrod (e) of extension and contraction control component (D)；It is micro-
Processor (a) is also connect with the photoelectric limit switch of slide unit group (B) (6), ultrasonic sensor (9)；The slide unit of slide unit group (B)
(5) upper surface and the L bracket (12) of rotation-control members (C) are affixed；The U-board (15) of rotation-control members (C) with stretch
The upper end connection of electric pushrod (e) in contracting control unit (D)；The ultrasonic sensor (9) of slide unit group (B) and sampling earth's surface (d)
Height be Hu；Ultrasonic sensor (9) and the position relationship formula of photoelectric limit switch (6) are：
H=Hu+Hl-L+E
Wherein：H be fetch earth pipe (20) bottom end to sampling earth's surface (d) height；E is that lower supporting plate (8) bottom surface of slide unit group (B) is arrived
Error compensation amount between ultrasonic sensor (9) receiving terminal；L is that the photoelectric limit switch (6) of slide unit group (B) is controlled to rotation
The length of the pipe that fetches earth (20) lower face of component (C), HlCross central line for the U-lag of photoelectric limit switch (6) and lower branch
The distance of the bottom surface of fagging (8), ranging from 400~500mm of value；The photoelectric limit switch (6) of slide unit group (B) and rotation
The light barrier (11) of control unit (C) is located at same side.
2. fully-automatic intelligent soil sampler as described in claim 1, it is characterised in that：The extension and contraction control component (D) is by electricity
Dynamic push rod (e), the pipe that fetches earth (20), drill bit (21), tapered piston (22), scraping ring (24) and straight pin (25) composition, wherein electricity
Dynamic push rod (e), the pipe that fetches earth (20) and tapered piston (22) are ranked sequentially from top to bottom, outer tube (19) lower end of electric pushrod (e)
Affixed with the pipe that fetches earth (20) upper end, the pipe that fetches earth (20) is placed on the inner push-rod (26) of electric pushrod (e), and tapered piston (22) is by cylinder
(30) and conehead (31) composition, conehead (31) upper end are fixed in cylinder (30) lower end, and the nearly lower circumferential of cylinder (30) is equipped with recessed
Slot (27), the groove depth h of groove (27)1For 1.14mm, groove width C1For 1mm, center line and cylinder (30) upper surface of groove (27)
Distance h2For 11~13mm；Hole III (28) is equipped in the middle part of cylinder (30), tapered piston (22) is fixed in interior push away through straight pin (27)
Bar (26) lower end, scraping ring (24) are stuck in groove (27), and outer ring and the pipe that fetches earth (20) inner ring of scraping ring (24) are slidably connected；
Drill bit (21) is placed on the pipe that fetches earth (20) lower end outer ring, and affixed with it.
3. fully-automatic intelligent soil sampler as described in claim 2, it is characterised in that：The cone angle beta of the conehead (31) is
60 °, conehead (31) surface is evenly distributed with the circular arc of 8 arc length 1.84mm, chord length 1.41mm；The conical surface of conehead (31) is uniformly distributed along the circumference five
Long rabbet (29) forms the scraping mouth (22) of ripple dentation, the wide b of slot bottom2Ranging from 1.5~2.5mm；The long rabbet
(29) angle α on both sides is 60 °, and the circular arc peak distance h of the bottom surface of long rabbet (29) and scraping mouth (22)3For
0.5mm。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810423928.9A CN108663232A (en) | 2018-05-07 | 2018-05-07 | A kind of fully-automatic intelligent soil sampler |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810423928.9A CN108663232A (en) | 2018-05-07 | 2018-05-07 | A kind of fully-automatic intelligent soil sampler |
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| CN108663232A true CN108663232A (en) | 2018-10-16 |
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| CN201810423928.9A Pending CN108663232A (en) | 2018-05-07 | 2018-05-07 | A kind of fully-automatic intelligent soil sampler |
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| CN109342112A (en) * | 2018-11-13 | 2019-02-15 | 长安大学 | A kind of rotary self-locking formula soil sample head displacer |
| CN109506979A (en) * | 2018-12-25 | 2019-03-22 | 李海 | A kind of multi-functional automatic loading and unloading type soil layer sampler |
| CN109540587A (en) * | 2019-01-10 | 2019-03-29 | 吉林大学 | A kind of soil sample automatic acquisition device |
| CN109556915A (en) * | 2018-12-29 | 2019-04-02 | 哈工大机器人义乌人工智能研究院 | The soil sample collector that automatic sampling loads |
| CN112146924A (en) * | 2020-11-04 | 2020-12-29 | 中国科学院合肥物质科学研究院 | Hydraulic hammering type full-automatic soil sampling device and control method thereof |
| US20220082475A1 (en) * | 2019-09-25 | 2022-03-17 | Bnsf Railway Company | Systems and methods for confining ballast samples |
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