CN114858514A - Soil environment intelligent monitoring system and method - Google Patents
Soil environment intelligent monitoring system and method Download PDFInfo
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- CN114858514A CN114858514A CN202210625766.3A CN202210625766A CN114858514A CN 114858514 A CN114858514 A CN 114858514A CN 202210625766 A CN202210625766 A CN 202210625766A CN 114858514 A CN114858514 A CN 114858514A
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Abstract
The invention is suitable for the field of intelligent soil environment monitoring, and provides a soil environment intelligent monitoring system and a soil environment intelligent monitoring method, wherein the soil environment intelligent monitoring system comprises the following steps: acquiring the position information of an actual sampling point, and controlling the sampling main body to move to the position of the actual sampling point; after a sampling agreement instruction of a central control end is obtained, acquiring sub-sampling point positions meeting a preset flatness condition according to a preset sampling quantity by taking the position center of an actual sampling point as a positioning reference; controlling the compaction end to compact sundries on the sub-sampling points until the thicknesses of the sundries are not changed any more and then resetting the compaction end; the thickness of the covering sundries after compaction is recognized, the first pushing shovel end is controlled to move obliquely downwards for a calculated distance, so that the projection of the distance of the first pushing shovel section moving obliquely downwards in the vertical direction is the sum of the thickness of the covering sundries and the partial sampling depth, the first pushing shovel end is controlled to move forwards to move the covering sundries and the soil layer out, and the sampling center is exposed, and the invention has the advantages that: the monitoring sampling efficiency is improved, and the sampling detection precision is ensured.
Description
Technical Field
The invention belongs to the field of intelligent soil environment monitoring, and particularly relates to a soil environment intelligent monitoring system and method.
Background
The soil is loose substances which are continuously coated on the land surface of the earth and have fertility, and is a historical natural body which changes along with the changes of climate, biology, mother substances, terrain and time factors; the earth environment is a system consisting of a rock circle, a water circle, a soil circle, a biosphere and an atmospheric circle, soil is positioned in the center of the system, is a product of interaction of all circle layers, is a junction of substance circulation and energy exchange of all circle layers, and is called as soil environment under natural and artificial actions and internal or external soil conditions.
The original inherent chemical composition and elemental content levels of soils in areas that are little affected by human activity and are not or not significantly contaminated and destroyed by modern industry, but in practice it is very difficult to find soils that are not affected by human activity and contamination, and only those that are as little affected as possible. Different soils or the same soil developed under different natural conditions are developed in different maternal parent rock areas, and the background values of the soil environment are also obviously different; the analysis results are not completely the same even if the samples are collected at the same place, so the background value of the soil environment is statistical.
Soil sampling is an important part in the sub-link of soil environment monitoring, and sampling in the prior art is generally completed manually, so that the manual labor intensity is higher.
Disclosure of Invention
The present invention provides a system and a method for intelligently monitoring a soil environment, which aim to solve the problems in the background art.
The embodiment of the invention is realized in such a way that, on one hand, the intelligent soil environment monitoring method comprises the following steps:
acquiring actual sampling point position information, and controlling the sampling main body to move to the actual sampling point position; there are 4 main types of soil environment monitoring, according to soil monitoring purposes: monitoring regional soil environment background, monitoring farmland soil environment quality, evaluating and monitoring construction project soil environment and monitoring soil pollution accidents;
after a sampling agreement instruction of a central control end is obtained, acquiring sub-sampling point positions meeting a preset flatness condition according to a preset sampling quantity by taking the position center of an actual sampling point as a positioning reference;
controlling the compaction end to compact sundries on the sub-sampling points until the thicknesses of the sundries are not changed any more and then resetting the compaction end;
identifying the thickness of the compacted covering sundries, controlling the first pushing shovel end to move obliquely downwards for a calculated distance, enabling the projection of the distance of the first pushing shovel section moving obliquely downwards to be the sum of the thickness of the covering sundries and the partial sampling depth in the vertical direction, and controlling the first pushing shovel end to move forwards to move out the covering sundries and the soil layer so as to enable the sampling center to be exposed;
controlling the first push shovel end to take out an avoidance soil layer formed by rotation of the first push shovel end from a formed avoidance soil pit;
controlling the first push shovel end to sample along the avoided soil pit to obtain a first soil layer;
controlling the cutting end to cut off the part of the target soil layer, which is in contact with the first push shovel end, so as to obtain the target soil layer;
mixing and impurity removing treatment are carried out on the target soil layer, and sealing treatment and labeling treatment are carried out on the bagged soil sample obtained after impurity removal is carried out on the sealing end and the labeling end;
and sending a sampling completion prompt to the central control end.
As a further aspect of the present invention, the acquiring the actual sampling point position information and controlling the sampling main body to move to the actual sampling point position specifically includes:
acquiring position information of a target sampling point, and controlling a sampling main body to move to a preset region according to the position information, wherein the preset region is a region with a preset area size and containing the target sampling point;
identifying environmental information in the target area, judging whether the environmental information around the target sampling point is consistent with the environmental information of the target sampling point, and if not, re-determining the actual sampling point;
identifying whether first preset range environment information taking a distance target sampling point as a center is consistent, if so, selecting any position point in the first preset range as an actual sampling point, and if not, selecting a position point meeting a preset flatness condition in a second preset range as the actual sampling point, wherein the second preset range is larger than the first preset range;
and recording the position information of the actual sampling center and reporting the position of the actual sampling center after point shifting.
As still further aspect of the present invention, the method further comprises:
and identifying whether the sub-sampling points are covered with impurities or not, if so, controlling the sampling main body to move to one side of the sub-sampling point position, and controlling the compaction end to press downwards.
As a further aspect of the present invention, the step of identifying the thickness of the covering impurities after compaction specifically comprises:
controlling the sensing detection end to extend downwards, and detecting the time point when the pressure detected at the bottom end of the sensing detection end changes;
when the pressure detected at the bottom end of the sensing detection end changes, the extending distance of the sensing detection end is recorded, and the thickness of the covering sundries is calculated according to the extending distance.
As a further aspect of the present invention, the controlling the first shovel end to bring the avoided soil layer formed by the rotation of the first shovel end out of the formed avoided soil pit specifically includes:
acquiring a soil sample acquisition instruction of the planned area size and the planned depth on the exposed sampling center, and controlling a marking end to mark the soil surface which meets the planned area according to the soil sample acquisition instruction to form a marking pattern;
controlling the first shovel pushing end to extend into a first depth along the edge of the marking pattern in an inclined mode towards the soil depth direction, wherein the first depth is not smaller than the planned depth;
and controlling the first push shovel end to rotate for at least one circle by taking a point far away from the mark pattern as a circle center and taking a preset distance as a radius, and controlling the first push shovel end to take out an avoidance soil layer formed by rotation from a formed avoidance soil pit.
As a further aspect of the present invention, the controlling the first dozing blade end to sample along the avoided pit to obtain the first soil layer specifically includes:
controlling the first shovel pushing end to move to a preset depth along the edge of the marked pattern in the depth direction in sequence to obtain a first preset depth groove, and controlling the first shovel pushing end to vertically reset;
and controlling the first push shovel end to move to the depth of the first preset depth groove from the longest edge of the first preset depth groove in the depth direction, controlling the first push shovel end to obliquely move in the direction of avoiding the pit, and taking out the first soil layer.
As a further scheme of the present invention, the controlling the cutting end to cut off a portion of the target soil layer in contact with the first shovel end to obtain the target soil layer specifically includes:
controlling the first pushing shovel end to keep an inclined state after movement, controlling the containing disc to move to one side of the first pushing shovel end, and controlling the first pushing shovel end to turn over by a preset angle so that the first soil layer slides onto the containing disc;
controlling the containing disc to reset and controlling a vertical cutter at the top of the containing disc to cut the periphery of the first soil layer, and controlling a blowing device to blow off the soil blocks cut by shoveling when each plane is cut to the bottom;
controlling the containing disc to be close to the vertical cutter, enabling the remaining second soil layer after blowing to be in contact with the vertical cutter, controlling the transverse cutter to cut the top and the bottom of the second soil layer respectively, and simultaneously matching with control blowing equipment to blow off the soil blocks cut off by shoveling to obtain a target soil layer;
controlling a cleaning end to clean all equipment ends in a single soil monitoring and sampling process, and controlling a drying end piece to dry after cleaning;
and obtaining the target soil layer according with the number and the weight of the sampling points according to the steps.
As a further scheme of the present invention, the mixing and impurity removal treatment of the target soil layer specifically includes:
transferring all target soil layers from the containing disc to a rotating mixing disc with an isolating layer, and controlling a breaking hammer to press downwards to break the soil layers, wherein a breaking part of the breaking hammer is coated with the isolating layer;
controlling lifting rings around the rotary mixing disc to rise to form a semi-closed structure surrounding a crushed target soil layer, wherein the crushed target soil layer is fully paved at the bottom of the rotary mixing disc;
the rotating mixing disc is driven to rotate in a reciprocating mode according to a preset rotating speed, a first preset thickness portion of a middle layer of a ground target soil layer in the rotating mixing disc is detected, and when the fact that the content of solid particles and long-strip impurities in the middle layer is not changed any more is detected, the rotating mixing disc is controlled to stop rotating;
and controlling the mechanical arm to grab and remove the impurities with the second preset thickness on the top layer of the rotary mixing disc, and controlling the mechanical arm to grab the soil with the first preset thickness on the middle layer and transfer the soil into the sealing bag.
As a further aspect of the present invention, in another aspect, a soil environment intelligent monitoring system includes:
the actual sampling point acquisition module is used for acquiring the position information of the actual sampling point and controlling the sampling main body to move to the position of the actual sampling point;
the sub-sampling point location acquisition module is used for acquiring sub-sampling point locations meeting a preset flatness condition according to a preset sampling quantity by taking the position center of an actual sampling point as a positioning reference after acquiring a sampling agreement instruction of the central control terminal;
the sundry compacting module is used for controlling the compacting end to compact sundries on the sub-sampling points until the thickness of the sundries is not changed any more and then resetting the compacting end;
the shifting-out module is used for identifying the thickness of the compacted covering sundries, controlling the first pushing shovel end to move obliquely downwards for a calculated distance, enabling the projection of the distance of the first pushing shovel section moving obliquely downwards in the vertical direction to be the sum of the thickness of the covering sundries and part of sampling depth, and controlling the first pushing shovel end to move forwards to shift out the covering sundries and the soil layer so as to enable the sampling center to be exposed;
the first control module is used for controlling the first push shovel end to take the avoided soil layer formed by rotation of the first push shovel end out of the formed avoided soil pit;
the sampling module is used for controlling the first push shovel end to sample along the avoided soil pit to obtain a first soil layer;
the second control module is used for controlling the cutting end to cut off the part of the target soil layer, which is in contact with the first push shovel end, so as to obtain the target soil layer;
the sealing and labeling module is used for mixing and impurity removing treatment on a target soil layer, and controlling the sealing end and the labeling end to remove impurities to obtain a bagged soil sample for sealing and labeling;
and the prompt sending module is used for sending a prompt of completing sampling to the central control end.
The intelligent soil environment monitoring system and method provided by the embodiment of the invention have the advantages that the sundries on sub-sampling points are compacted by controlling the compacting end until the thickness of the compacted sundries is not changed any more and then reset, the thickness of the covered sundries is identified, the first push shovel end is controlled to move obliquely downwards for a calculated distance, so that the projection of the distance of the first push shovel section moving obliquely downwards in the vertical direction is the sum of the thickness of the covered sundries and the partial sampling depth, the first push shovel end is controlled to move forwards to move the covered sundries and a soil layer, so that a sampling center is exposed, the covered sundries are conveniently and accurately removed, the accurate and easy implementation of the sampling depth is ensured, meanwhile, the whole-process sampling is automatic, the labor intensity is greatly reduced, the sampling efficiency is ensured, and the part of the target soil layer, which is contacted with the first push shovel end, is cut off by the confirmation of an actual sampling point and the control of the cutting end, and a target soil layer is obtained, and the sampling precision can be ensured.
Drawings
Fig. 1 is a main flow chart of a soil environment intelligent monitoring method.
Fig. 2 is a schematic diagram of the structure of the operation of the sampling body.
Fig. 3 is a flowchart for controlling the sampling main body to move to the actual sampling point position after acquiring the actual sampling point position information.
FIG. 4 is a flow chart of controlling the first blade end to bring the formed evasion soil layer formed by rotation of the first blade end out of the formed evasion soil pit.
FIG. 5 is a flow chart for controlling the cut end to cut away the portion of the target soil layer in contact with the first dozing end, resulting in a target soil layer.
FIG. 6 is a flow chart of a process for mixing and decontaminating a target soil layer.
Fig. 7 is a main structure diagram of a soil environment intelligent monitoring system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
The intelligent soil environment monitoring system and method provided by the invention solve the technical problems in the background technology.
As shown in fig. 1 and fig. 2, a main flow chart of a method for intelligently monitoring a soil environment and a schematic structural diagram of an operation of a sampling subject are provided, where the method for intelligently monitoring a soil environment includes:
step S10: acquiring the position information of an actual sampling point, and controlling the sampling main body to move to the position of the actual sampling point;
step S11: after a sampling agreement instruction of the central control end is obtained, the actual sampling point position center is used as a positioning reference, and sub-sampling point positions meeting a preset flatness condition are obtained according to a preset sampling number, so that subsequent sampling and removal of covering impurities are facilitated;
step S12: controlling the compaction end to compact sundries on the sub-sampling points until the thicknesses of the sundries are not changed any more and then resetting the compaction end;
step S13: identifying the thickness of the compacted covering sundries, controlling the first push shovel end to move obliquely downwards for a calculated distance, enabling the projection of the distance of the first push shovel section moving obliquely downwards in the vertical direction to be the sum of the thickness of the covering sundries and the partial sampling depth, and controlling the first push shovel end to move forwards to move the covering sundries and the soil layer out, so that the sampling center is exposed; the sampling points can be surface samples or soil profiles, surface soil is generally monitored and collected, the sampling depth is 0-20 cm, and part of the sampling points are selected to collect profile samples when special monitoring requirements (such as soil background, environmental assessment, pollution accidents and the like) need to be met. The cross section is generally 1.5m long, 0.8m wide and 1.2m deep. Excavating a soil section to enable an observation surface to face the sun, and placing surface soil and bottom soil on two sides, wherein partial sampling depth means that soil with a sampling depth of a preset percentage thickness is removed while impurities are removed according to the characteristics of an actual sampling bottom, the percentage thickness is 0-50%, the soil with the sampling depth of the preset percentage thickness can form a sampling trace, and a primary sampling template is formed without subsequent actual sampling;
step S14: controlling the first push shovel end to take out an avoidance soil layer formed by rotation of the first push shovel end from a formed avoidance soil pit;
step S15: controlling the first push shovel end to sample along the avoided soil pit to obtain a first soil layer;
step S16: controlling the cutting end to cut off the part of the target soil layer, which is in contact with the first push shovel end, so as to obtain the target soil layer;
step S17: mixing and impurity removing treatment are carried out on the target soil layer, and sealing treatment and labeling treatment are carried out on the bagged soil sample obtained after impurity removal is carried out on the sealing end and the labeling end;
step S18: and sending a sampling completion prompt to the central control end.
When the embodiment is applied, the sundries on the sub-sampling points are compacted by controlling the compacting end until the thickness of the sundries is not changed any more, then the sundries are reset, the thickness of the sundries covered after compaction is identified, and the first push shovel end is controlled to move obliquely downwards for the calculated distance, so that the projection of the distance of the first push shovel section moving obliquely downwards in the vertical direction is the sum of the thickness of the covering sundries and the partial sampling depth, the first push shovel end is controlled to move forwards to move out the covering sundries and the soil layer, so that the sampling center is exposed, the covering sundries can be removed accurately, the accurate and easy operation of the sampling depth is ensured, meanwhile, the whole sampling process is automatic, the labor intensity is greatly reduced, the sampling efficiency is ensured, and the part of the target soil layer contacting with the first push shovel end is cut off through confirmation of the actual sampling point and control of the cutting end, so that the target soil layer is obtained, and the sampling precision can be guaranteed.
As shown in fig. 2, as a preferred embodiment of the present invention, considering the actual land utilization change and the need for moving points, if there are several types of soil in the monitored area, the area can be divided into several blocks according to the collected data, the pollutants in each block are uniform, and the difference between the blocks is obvious. Taking each block as a monitoring unit, and randomly distributing points in each monitoring unit; the acquiring of the actual sampling point position information and the controlling of the sampling main body to move to the actual sampling point position specifically include:
step S101: acquiring position information of a target sampling point, and controlling a sampling main body to move to a preset region according to the position information, wherein the preset region is a region with a preset area size and containing the target sampling point;
step S102: identifying environmental information in a target area, judging whether the environmental information around a target sampling point is consistent with the environmental information of the target sampling point, otherwise, re-determining an actual sampling point, avoiding roads, civil houses, refuse landfills and the like during sampling, and shifting when an improper sampling point is met, wherein the displacement is generally not more than 50m, and the displacement is required to be confirmed to a central end when the sampling point is more than 50-100 m;
step S103: identifying whether first preset range environment information taking a distance target sampling point as a center is consistent, if so, selecting any position point in the first preset range as an actual sampling point, and if not, selecting a position point meeting a preset flatness condition in a second preset range as the actual sampling point, wherein the second preset range is larger than the first preset range; and selecting the position points meeting the preset flatness condition in the second preset range as actual sampling points, namely, when the first preset range does not meet the relevant conditions, taking the position points meeting the preset flatness condition as actual sampling points, thereby facilitating the subsequent removal of the covering sundries.
Step S104: and recording the position information of the actual sampling center and reporting the position of the actual sampling center after point shifting.
Considering that the target sampling point may be changed in environmental information due to respective reasons, so that the difference between the target sampling point and the surrounding environment is large, judging whether the environmental information around the target sampling point is consistent with the environmental information of the target sampling point, re-determining the actual sampling point, ensuring the confirmation of the sampling point under the actual condition, and ensuring the practicability of operation.
As a preferred embodiment of the present invention, the method further comprises:
step S201: and (identification end) identifying whether the sub-sampling points are covered with sundries or not, if so, controlling the sampling main body to move to one side of the sub-sampling points, controlling the compaction end to press down, and determining the structural arrangement of the compaction end and other equipment ends without limitation according to the actual situation.
As a preferred embodiment of the present invention, the step of identifying the thickness of the covering impurities after compacting specifically comprises:
step S111: controlling the sensing detection end to extend downwards, and detecting the time point when the pressure detected at the bottom end of the sensing detection end changes;
step S112: when the pressure detected at the bottom end of the sensing detection end changes, recording the extension distance of the sensing detection end, and calculating the thickness of the covering sundries according to the extension distance; this can be done by the control terminal.
When the embodiment is used, the density between the covering impurities and the surface layer of the soil is generally different, so that the pressure detected at the bottom end of the interface between the covering impurities and the surface layer of the soil can be changed, the thickness of the covering impurities can be calculated according to the extending distance, the covering impurities can be conveniently and accurately removed, and the accuracy and easiness in sampling depth are guaranteed.
As shown in fig. 3, as a preferred embodiment of the present invention, the controlling the first blade end to bring the formed avoided soil layer from the formed avoided soil pit includes:
step S121: acquiring a soil sample acquisition instruction of the planned area size and the planned depth on the exposed sampling center, and controlling a marking end to mark the soil surface which meets the planned area according to the soil sample acquisition instruction to form a marking pattern; for example, a rectangular cursor pattern is formed;
step S122: controlling the first shovel pushing end to extend into a first depth along the edge of the marking pattern in an inclined mode towards the soil depth direction, wherein the first depth is not smaller than the planned depth; that is to say that the depth of the first depth at which the inclined penetration can be achieved in the vertical direction is at least the planned depth, i.e. the sampling depth; the first push shovel end in the figure can be a combination of a push shovel component and a power telescopic component, the push shovel component can push forwards according to the related power component, the push shovel component can be a shovel-type structure with a friction part, the descending, the inclination and the rotation of the push shovel component can be realized, and the forward pushing and descending can be realized by arranging the power component, such as an electric push rod; and the inclination can be realized by hinging the power piece; the rotation can be realized by rotating a stepping motor;
step S123: and controlling the first shovel end to rotate for at least one circle by taking one point away from the marked pattern as a circle center and taking the preset distance as a radius, and controlling the first shovel end to take the avoided soil layer formed by rotation out of the formed avoided soil pit.
This embodiment is when using, through dodging the setting in soil pit, is convenient for easily take out the first soil horizon under the sampling degree of depth.
As a preferred embodiment of the present invention, the controlling the first dozing blade end to sample along the avoided pit to obtain the first soil layer specifically includes:
step S131: controlling the first shovel pushing end to move to a preset depth along the edge of the marked pattern in the depth direction in sequence to obtain a first preset depth groove, and controlling the first shovel pushing end to vertically reset;
step S132: and controlling the first push shovel end to move to the depth of the first preset depth groove from the longest edge of the first preset depth groove in the depth direction, controlling the first push shovel end to obliquely move in the direction of avoiding the pit, and taking out the first soil layer.
This embodiment is when using, and the first shovel end that pushes away of control is from the longest limit of first predetermined degree of depth groove toward the degree of depth direction and is removed the degree of depth in first predetermined degree of depth groove and mainly be to guarantee to remove and be lighter and do not carry soil horizon all around, and the first soil horizon of guaranteeing to take out is the soil horizon under the marking pattern.
As shown in fig. 4, as a preferred embodiment of the present invention, the cutting-off control end cuts off a portion of the target soil layer, which is in contact with the first blade end, and the obtaining of the target soil layer specifically includes:
step S141: controlling the first pushing shovel end to keep an inclined state after moving, controlling the containing disc to move to one side of the first pushing shovel end, and controlling the first pushing shovel end to turn over by a preset angle, such as 45-90 degrees, so that the first soil layer slides onto the containing disc, wherein an angle recognition sensor can also be mounted at the first pushing shovel end;
step S142: the containing disc is controlled to reset, the vertical cutter at the top of the containing disc is controlled to cut the periphery of the first soil layer, and each shoveling and cutting plane is matched with the control blowing equipment to blow off the shoveled and cut soil blocks when reaching the bottom, and the vertical cutter and the transverse cutter can independently realize feeding action;
step S143: controlling the containing disc to be close to the vertical cutter, enabling the remaining second soil layer after blowing to be in contact with the vertical cutter, controlling the transverse cutter to cut the top and the bottom of the second soil layer respectively, and simultaneously matching with control blowing equipment to blow off the soil blocks cut off by shoveling to obtain a target soil layer;
step S144: controlling a cleaning end to clean all equipment ends in a single soil monitoring and sampling process, and controlling a drying end piece to dry after cleaning, wherein the drying end and the cleaning end are not shown in the figure;
step S145: and obtaining the target soil layer according with the number and the weight of the sampling points according to the steps.
This embodiment is when using, can be with the partial excision of second soil horizon and first shovel end contact through erecting cutter and cross-cutter (its material sets up to nonmetal, like wooden cutter), obtains target soil horizon, and the purpose is in order to make the partial excision of metal and soil contact, for example obtains the cuboid shape, because the first shovel end that pushes away all is formed by all being the metal material preparation under the general condition, because guarantee the precision of follow-up monitoring.
As shown in fig. 5, as a preferred embodiment of the present invention, the mixing and impurity removing process performed on the target soil layer specifically includes:
step S151: transferring all target soil layers from a containing disc to a rotating mixing disc with an isolating layer, and controlling a breaking hammer to press downwards to break the soil layers, wherein the breaking part of the breaking hammer is coated with the isolating layer, the isolating layer is preferably a polyethylene film, the number of layers of the isolating layer is not limited, the isolating layer is mainly arranged to prevent a metal part from contacting with the soil layers as much as possible, the breaking hammer is not shown in fig. 2 and can be arranged at the top of the rotating mixing disc;
step S152: controlling lifting rings around the rotary mixing disc to rise to form a semi-closed structure surrounding a crushed target soil layer, wherein the crushed target soil layer is fully paved at the bottom of the rotary mixing disc; the bottom of the target soil layer is fully paved with the bottom of the rotary mixing disc, so that the phenomenon that impurities are easy to mix with non-impurity soil when the target soil layer is insufficient is mainly avoided;
step S153: the rotating mixing disc is driven to rotate in a reciprocating mode according to a preset rotating speed, a first preset thickness portion of a middle layer of a ground target soil layer in the rotating mixing disc is detected, and when the fact that the content of solid particles and long-strip impurities in the middle layer is not changed any more is detected, the rotating mixing disc is controlled to stop rotating; the detection can be realized by acquiring an internal image and then performing identification detection, the image which contains impurities such as stones and the like and the strip-shaped impurities is different from the image which does not contain the impurities and is displayed, the impurities such as the stones and the strip-shaped impurities can be obtained by identifying through a pre-trained training model, and various technologies such as Convolutional Neural Network (CNN) identification are designed;
step S154: the manipulator is controlled to grab and remove impurities with the second preset thickness on the top layer of the rotary mixing disc, the manipulator grabs and transfers the soil with the first preset thickness on the middle layer into the sealing bag, the manipulator can be made of nonmetal and inactive nonmetal materials, such as polyethylene, the manipulator is not shown in fig. 2, and the installation position and the separation type of the manipulator are not limited.
The method is characterized in that mixing and impurity removal are combined into a whole, a soil mixed sample is obtained through mixing, the soil mixed sample needs to meet the requirement of weight, and four methods are mainly used for collecting the soil mixed sample: (1) diagonal method: the device is suitable for soil of a polluted irrigation farmland, the diagonal line is divided into 5 equal parts, and the equal division point is taken as a sampling division point; (2) plum blossom dropping method: the method is suitable for plots with small area, flat terrain, relatively uniform soil composition and pollution degree, and about 5 points are set; (3) a chessboard method: the method is suitable for plots with medium areas, flat topography and uneven soil, and about 10 points are set; the number of the soil polluted by solid wastes such as sludge, garbage and the like is more than 20; (4) a snake-shaped method: the soil sample is suitable for plots with large areas, uneven soil and uneven terrain, is mostly used for agricultural pollution type soil, is mixed with soil to remove foreign matters such as gravel/plant root systems, and can be sieved to remove impurities if the final sample particles are too large.
As another preferred embodiment of the present invention, as shown in fig. 6, in another aspect, a soil environment intelligent monitoring system includes:
the actual sampling point acquisition module 100 is used for acquiring the position information of the actual sampling point and controlling the sampling main body to move to the position of the actual sampling point;
the sub-sampling point location obtaining module 200 is configured to obtain sub-sampling point locations meeting a preset flatness condition according to a preset sampling quantity by using the position center of an actual sampling point as a positioning reference after obtaining a sampling agreement instruction of the central control end;
the sundry compacting module 300 is used for controlling the compacting end to compact sundries on the sub-sampling points until the thickness of the sundries is not changed any more and then resetting;
a shifting-out module 400, configured to identify the thickness of the compacted covering sundries, control the first shovel end to move obliquely downward by the calculated distance, so that a projection of the distance of the first shovel section moving obliquely downward in the vertical direction is the sum of the thickness of the covering sundries and a partial sampling depth, and control the first shovel end to move forward to shift out the covering sundries and the soil layer, so that the sampling center is exposed;
the first control module 500 is used for controlling the first push shovel end to bring out an avoidance soil layer formed by rotation of the first push shovel end from a formed avoidance soil pit;
the sampling module 600 is used for controlling the first shovel end to sample along the avoiding soil pit to obtain a first soil layer;
the second control module is used for controlling the cutting end to cut off the part of the target soil layer, which is in contact with the first push shovel end, so as to obtain the target soil layer;
the sealing and labeling module 700 is used for mixing and impurity removing treatment on a target soil layer, and controlling the sealing end and the labeling end to carry out impurity removing treatment on the bagged soil sample to carry out sealing treatment and labeling treatment;
and a prompt sending module 800, configured to send a prompt of completing sampling to the central control end.
The intelligent soil environment monitoring system comprises a first push shovel end, a second push shovel end, a first push shovel section, a first push shovel end, a second push shovel end, a third push shovel end, a fourth push shovel end, a fifth push shovel end, a sixth push shovel end and a fourth push shovel end, wherein the fourth push shovel end is connected with the fourth push shovel end, the fourth end is connected with the fourth end, the fourth end is connected with the fourth end, the fourth end is connected with the fourth end, the fourth end is connected with the fourth end, the fourth end And partially, obtaining a target soil layer, and ensuring the sampling precision.
In order to load the above method and system to operate successfully, the system may include more or less components than those described above, or combine some components, or different components, in addition to the various modules described above, for example, input/output devices, network access devices, buses, processors, memories, and the like.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is the control center for the system and that connects the various components using various interfaces and lines.
The memory may be used to store computer and system programs and/or modules, and the processor may perform the various functions described above by operating or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may mainly include a program storage area and a data storage area, where the program storage area may store an operating system, an application program required by at least one function (such as an information collection template presentation function, a product information distribution function, and the like), and the like. The storage data area may store data created according to the use of the berth-state display system (e.g., product information acquisition templates corresponding to different product types, product information that needs to be issued by different product providers, etc.), and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid state storage device.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. A soil environment intelligent monitoring method is characterized by comprising the following steps:
acquiring the position information of an actual sampling point, and controlling the sampling main body to move to the position of the actual sampling point;
after a sampling agreement instruction of a central control end is obtained, acquiring sub-sampling point positions meeting a preset flatness condition according to a preset sampling quantity by taking the position center of an actual sampling point as a positioning reference;
controlling the compaction end to compact sundries on the sub-sampling points until the thicknesses of the sundries are not changed any more and then resetting the compaction end;
identifying the thickness of the compacted covering sundries, controlling the first pushing shovel end to move obliquely downwards for a calculated distance, enabling the projection of the distance of the first pushing shovel section moving obliquely downwards to be the sum of the thickness of the covering sundries and the partial sampling depth in the vertical direction, and controlling the first pushing shovel end to move forwards to move out the covering sundries and the soil layer so as to enable the sampling center to be exposed;
controlling the first push shovel end to take out an avoidance soil layer formed by rotation of the first push shovel end from a formed avoidance soil pit;
controlling the first push shovel end to sample along the avoided soil pit to obtain a first soil layer;
controlling the cutting end to cut off the part of the target soil layer, which is in contact with the first push shovel end, so as to obtain a target soil layer;
mixing and impurity removing treatment are carried out on the target soil layer, and sealing treatment and labeling treatment are carried out on the bagged soil sample obtained after impurity removal is carried out on the sealing end and the labeling end;
and sending a sampling completion prompt to the central control end.
2. The intelligent soil environment monitoring method of claim 1, wherein the step of obtaining the actual sampling point position information and controlling the sampling main body to move to the actual sampling point position specifically comprises:
acquiring position information of a target sampling point, and controlling a sampling main body to move to a preset area according to the position information, wherein the preset area is an area with a preset area size and containing the target sampling point;
identifying environmental information in the target area, judging whether the environmental information around the target sampling point is consistent with the environmental information of the target sampling point, and if not, re-determining the actual sampling point;
identifying whether first preset range environment information taking a distance target sampling point as a center is consistent, if so, selecting any position point in the first preset range as an actual sampling point, and if not, selecting a position point meeting a preset flatness condition in a second preset range as the actual sampling point, wherein the second preset range is larger than the first preset range;
and recording the position information of the actual sampling center and reporting the position of the actual sampling center after point shifting.
3. The intelligent soil environment monitoring method of claim 1, further comprising:
and identifying whether the sub-sampling points are covered with impurities or not, if so, controlling the sampling main body to move to one side of the sub-sampling point position, and controlling the compaction end to press downwards.
4. The intelligent soil environment monitoring method of claim 3, wherein the step of identifying the thickness of the compacted covering debris comprises:
controlling the sensing detection end to extend downwards, and detecting the time point when the pressure detected at the bottom end of the sensing detection end changes;
when the pressure detected at the bottom end of the sensing detection end changes, the extending distance of the sensing detection end is recorded, and the thickness of the covering sundries is calculated according to the extending distance.
5. The intelligent soil environment monitoring method of claim 1, wherein the controlling the first blade end to bring the formed evasive soil layer from the formed evasive pit comprises:
acquiring a soil sample acquisition instruction of the planned area size and the planned depth on the exposed sampling center, and controlling a marking end to mark the soil surface which meets the planned area according to the soil sample acquisition instruction to form a marking pattern;
controlling the first shovel pushing end to extend into a first depth along the edge of the marking pattern in an inclined mode towards the soil depth direction, wherein the first depth is not smaller than the planned depth;
and controlling the first shovel end to rotate for at least one circle by taking one point away from the marked pattern as a circle center and taking the preset distance as a radius, and controlling the first shovel end to take the avoided soil layer formed by rotation out of the formed avoided soil pit.
6. The intelligent soil environment monitoring method of claim 1, wherein the controlling the first dozer end to sample along the avoided pit to obtain the first soil layer specifically comprises:
controlling the first shovel pushing end to move to a preset depth along the edge of the marked pattern in the depth direction in sequence to obtain a first preset depth groove, and controlling the first shovel pushing end to vertically reset;
and controlling the first push shovel end to move to the depth of the first preset depth groove from the longest edge of the first preset depth groove in the depth direction, controlling the first push shovel end to obliquely move in the direction of avoiding the pit, and taking out the first soil layer.
7. The intelligent soil environment monitoring method of claim 6, wherein the controlling the cutting end to cut off the portion of the target soil layer in contact with the first blade end to obtain the target soil layer specifically comprises:
controlling the first shovel pushing end to keep an inclined state after movement, controlling the containing disc to move to one side of the first shovel pushing end, and controlling the first shovel pushing end to turn over by a preset angle so that the first soil layer slides onto the containing disc;
controlling the containing disc to reset and controlling a vertical cutter at the top of the containing disc to cut the periphery of the first soil layer, and controlling a blowing device to blow off the soil blocks cut by shoveling when each plane is cut to the bottom;
controlling the containing disc to be close to the vertical cutter, enabling the remaining second soil layer after blowing to be in contact with the vertical cutter, controlling the transverse cutter to cut the top and the bottom of the second soil layer respectively, and simultaneously matching with control blowing equipment to blow off the soil blocks cut off by shoveling to obtain a target soil layer;
controlling a cleaning end to clean all equipment ends in a single soil monitoring and sampling process, and controlling a drying end piece to dry after cleaning;
and obtaining the target soil layer according with the number and the weight of the sampling points according to the steps.
8. The intelligent soil environment monitoring method according to claim 4, 5 or 6, wherein the mixing and decontaminating process of the target soil layer specifically comprises:
transferring all target soil layers from the containing disc to a rotating mixing disc with an isolating layer, and controlling a breaking hammer to press downwards to break the soil layers, wherein a breaking part of the breaking hammer is coated with the isolating layer;
controlling lifting rings around the rotary mixing disc to rise to form a semi-closed structure surrounding a crushed target soil layer, wherein the crushed target soil layer is fully paved at the bottom of the rotary mixing disc;
the rotating mixing disc is driven to rotate in a reciprocating mode according to a preset rotating speed, a first preset thickness portion of a middle layer of a ground target soil layer in the rotating mixing disc is detected, and when the fact that the content of solid particles and long-strip impurities in the middle layer is not changed any more is detected, the rotating mixing disc is controlled to stop rotating;
and controlling the mechanical arm to grab and remove the impurities with the second preset thickness on the top layer of the rotary mixing disc, and controlling the mechanical arm to grab the soil with the first preset thickness on the middle layer and transfer the soil into the sealing bag.
9. A soil environment wisdom monitoring system, its characterized in that, the system includes:
the actual sampling point acquisition module is used for acquiring the position information of the actual sampling point and controlling the sampling main body to move to the position of the actual sampling point;
the sub-sampling point location acquisition module is used for acquiring sub-sampling point locations meeting a preset flatness condition according to a preset sampling quantity by taking the position center of an actual sampling point as a positioning reference after acquiring a sampling agreement instruction of the central control terminal;
the sundry compacting module is used for controlling the compacting end to compact sundries on the sub-sampling points until the thickness of the sundries is not changed any more and then resetting the compacting end;
the shifting-out module is used for identifying the thickness of the compacted covering sundries, controlling the first pushing shovel end to move obliquely downwards for a calculated distance, enabling the projection of the distance of the first pushing shovel section moving obliquely downwards in the vertical direction to be the sum of the thickness of the covering sundries and part of sampling depth, and controlling the first pushing shovel end to move forwards to shift out the covering sundries and the soil layer so as to enable the sampling center to be exposed;
the first control module is used for controlling the first push shovel end to take the avoided soil layer formed by rotation of the first push shovel end out of the formed avoided soil pit;
the sampling module is used for controlling the first push shovel end to sample along the avoided soil pit to obtain a first soil layer;
the second control module is used for controlling the cutting end to cut off the part of the target soil layer, which is in contact with the first push shovel end, so as to obtain the target soil layer;
the sealing and labeling module is used for mixing and impurity removing treatment on a target soil layer, and controlling the sealing end and the labeling end to remove impurities to obtain a bagged soil sample for sealing and labeling;
and the prompt sending module is used for sending a prompt of completion of sampling to the central control end.
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