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CN109565988B - Saline-alkali soil treatment system and treatment method thereof - Google Patents

Saline-alkali soil treatment system and treatment method thereof Download PDF

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Publication number
CN109565988B
CN109565988B CN201910097444.4A CN201910097444A CN109565988B CN 109565988 B CN109565988 B CN 109565988B CN 201910097444 A CN201910097444 A CN 201910097444A CN 109565988 B CN109565988 B CN 109565988B
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China
Prior art keywords
soil
test paper
test
assembly
belt
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CN201910097444.4A
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Chinese (zh)
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CN109565988A (en
Inventor
周志刚
毛世超
丁丁
李雅萍
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Salt Industry Geological Exploration Brigade Of China Salt Industry Corp
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Salt Industry Geological Exploration Brigade Of China Salt Industry Corp
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B77/00—Machines for lifting and treating soil
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B49/00—Combined machines
    • A01B49/02—Combined machines with two or more soil-working tools of different kind
    • A01B49/022—Combined machines with two or more soil-working tools of different kind at least one tool being actively driven
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B49/00—Combined machines
    • A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/02—Methods for working soil combined with other agricultural processing, e.g. fertilising, planting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/75—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated
    • G01N21/77—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated by observing the effect on a chemical indicator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/75—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated
    • G01N21/77—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated by observing the effect on a chemical indicator
    • G01N21/78—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated by observing the effect on a chemical indicator producing a change of colour
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/75—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated
    • G01N21/77—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated by observing the effect on a chemical indicator
    • G01N2021/7756—Sensor type
    • G01N2021/7759—Dipstick; Test strip

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Plasma & Fusion (AREA)
  • Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Sampling And Sample Adjustment (AREA)

Abstract

The invention relates to a saline-alkali soil treatment system and a treatment method thereof. Wherein, this saline and alkaline land soil treatment system includes: the system comprises movable transportation equipment, a soil shoveling assembly, a soil collecting assembly, a soil component fluidization assembly, a test paper analysis and test system, an adjustment liquid dispatching assembly and a soil turning assembly; the sensor channel is internally provided with a sensor assembly, and the sensor assembly comprises two states, wherein the first state is a working state of being in contact with soil to be measured, and the second state is a non-working state of being protected; the test paper analysis and test system comprises a test paper conveying mechanism which can convey, replace and retract test paper rolls; the saline-alkali soil treatment system and the saline-alkali soil treatment method can reach the soil requiring saline-alkali soil treatment at any time according to the needs, can detect and treat the soil simultaneously, have high automation degree, can be remotely operated, and enable operators and later-stage operators to work more conveniently and with less effort.

Description

Saline-alkali soil treatment system and treatment method thereof
Technical Field
The invention relates to the field of saline-alkali soil treatment, in particular to a saline-alkali soil treatment system and a treatment method thereof.
Background
The salt content in the saline-alkali soil can influence the normal growth of crops, the saline-alkali soil is about 9913 ten thousand hectares in China, and plants in the serious saline-alkali soil area can hardly survive, so that the components and the pH value of the saline-alkali soil are necessary to be analyzed; in the prior art, a few techniques have been provided to analyze saline-alkali soil, wherein CN201610736593 discloses an online saline-alkali soil analysis device based on the internet of things, which utilizes a handheld device, an inductor and a remote device signal transceiver to perform online analysis on saline-alkali soil; however, the device is portable equipment, needs to be operated on site, is greatly influenced by weather, has limited capacity, can accommodate sensing equipment with lower precision and can only be simply and remotely analyzed. In addition, CN201810509828 discloses a monitoring device and method for analysis by using satellite signal source, but it is still greatly affected by weather, and rented satellites are expensive, and only larger areas can be analyzed, so that limitation is large. CN106825031 discloses a movable soil restoration device capable of being monitored in real time, which comprises a soil breaking box, a feeding conveyor belt, a soil restoration box and a medicament blending box; however, the detection means is single, the automation degree is low, the required soil cannot be automatically extracted, the heavy metal rapid detection analyzer is only adopted, the protection measures for the detection instrument are also lacking, and the service life of the detection instrument cannot be guaranteed. In summary, the above devices basically require a large number of operations by personnel, and the automation degree of the system is not sufficient, and in addition, since the soil needs to be detected, the consumption of the related sensor and/or test paper is relatively large, and the selection of the corresponding detection item cannot be economically and advantageously performed.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a saline-alkali soil treatment system and a treatment method thereof, wherein the system mainly comprises: a movable transporting device, a power device accommodated or carried by the transporting device, an accommodating device with an accommodating device and a supporting device for supporting the system, wherein the accommodating device accommodates or carries the soil shoveling assembly, the soil collecting assembly, the soil component fluidization assembly, the data processing and transmitting assembly, the adjusting liquid distributing assembly and the soil turning assembly; the method is characterized in that: the soil shoveling assembly is used for shoveling the soil; the soil collecting assembly is used for grabbing the soil scooped up by the soil scooping assembly; the soil collecting assembly comprises an inductor channel, wherein a certain number of inductor assemblies are arranged in the inductor channel, and the inductor assemblies comprise an inductor shell, an inductor driver and an inductor shell soft cover, wherein the inductor driver drives the inductor to extend out, and the inductor shell soft cover is outwards opened and provided with a rebound force; the sensor assembly comprises two states, wherein the first state is an operating state of being in contact with soil to be measured, and the second state is an inactive state of enabling the sensor to be protected; the soil component fluidization component is used for filtering and scattering soil and forming a soil flow; the test paper test analysis system tests soil flow by using the test paper roll and performs operations of transferring, replacing and withdrawing the test paper roll; the data processing and transmitting assembly comprises an industrial personal computer, and the respective components of the soil shoveling assembly, the soil collecting assembly, the soil component fluidization assembly, the test paper analysis and test system, the adjusting liquid dispatching assembly and the corresponding control part and execution part of the soil turning assembly are correspondingly controlled by the industrial personal computer; the conditioning fluid dispensing assembly includes a soil conditioner application system and a spray nozzle for spraying the soil conditioner through the nozzle onto the soil to be treated. The whole system is flexible in operation, and can be conveniently and rapidly transported to a saline-alkali soil area to be treated by transportation equipment to carry out detection and treatment on soil. Moreover, the treatment system pays attention to the protection of sensitive elements such as the sensor, can avoid the sensor from being excessively corroded, and effectively prolongs the service life of the sensor.
Moreover, the saline-alkali soil treatment system according to the present invention is characterized in that:
The power equipment provides travelling power for the transportation equipment and controls the travelling direction and speed;
the soil shoveling assembly comprises a soil shoveling power output device and a bucket; the power output equipment comprises a hydraulic cylinder and a piston; the system can conveniently obtain the saline-alkali soil with the treatment area by utilizing the self-contained soil shoveling component, the automation degree is high, and the labor intensity of operators can be reduced.
The soil collecting assembly comprises a supporting frame and a soil collecting robot supported by the supporting frame, and is used for grabbing soil scooped up by the soil scooping assembly;
The soil component fluidization assembly comprises a transmission device, a stirring and scattering device, a primary filtering device, a collecting dish, a jetting pump and a jetting nozzle; the transmission device transmits the soil to the stirring and scattering device for full stirring and scattering, the fully scattered soil is transmitted to the collecting vessel through the primary filter device and the blocking valve and is provided with the secondary filter device;
The sensor channel is positioned between the stirring and scattering device and the collecting dish, and a certain number of sensor assemblies are arranged in the sensor channel;
In the collecting dish, the soil filtered by the secondary filtering device forms a certain amount of soil raw material, the flushing pump pumps out the soil raw material from the collecting dish and pumps the soil raw material to the flushing nozzle, the soil raw material forms soil flow through the emission of the flushing nozzle, the emitted soil flow enters the measuring pipeline, and the soil raw material which is fully stirred and scattered, primary filtered and secondary filtered forms soil flow. In this way, in the subsequent process, the formed soil flow can be utilized to better react with the test paper roll, so that more accurate detection precision is obtained. In addition, during the formation of the soil flow, a small amount of atomized distilled water or other atomized solution which does not affect the detection result can be added if necessary to facilitate the formation of the soil flow.
Moreover, the saline-alkali soil treatment system according to the present invention is characterized in that:
The soil collection robot comprises data analysis processing equipment, a mechanical arm and a soil collection mechanical arm; the data analysis processing equipment is communicated with the industrial personal computer, receives an instruction of the industrial personal computer, transmits the instruction to the mechanical arm, wherein the mechanical arm comprises three arm sections, a universal joint is arranged between the ends of each arm end, and a soil collection mechanical arm capable of grabbing objects is arranged at the universal joint part of the third arm end; the conveying device comprises a supporting frame, a rotating wheel and a conveying belt, soil grabbed by the soil collecting mechanical arm is placed on the conveying belt, and the conveying belt conveys the soil into the stirring and scattering device; the stirring and scattering device comprises an inlet, a containing cavity, a cover plate of the containing cavity which can be sealed, a plurality of sections of stirring blades and a slag discharging port, and the stirring and scattering device can be used for sufficiently stirring and scattering the input soil so as to be beneficial to the formation of soil flow.
The inductor of the inductor assembly is placed in the inductor shell, and the soft cover of the inductor shell with resilience closes the inductor shell under the action of resilience force under normal conditions, so that the inductor is in a non-working state; the sensor driver is controlled by a control part of the system, the control part is controlled by the industrial personal computer, when the corresponding sensor is required to work, an operator can operate on the control terminal and send a control instruction, the industrial personal computer sends an instruction to the corresponding controller, the controller sends the instruction to the sensor driver, the sensor driver acts, the sensor is pushed to push the sensor to jack the soft cover of the sensor shell, the sensor is extended out of the sensor shell and is exposed in the sensor channel, and therefore the sensor is in a working state.
Moreover, the saline-alkali soil treatment system according to the present invention, wherein
The test paper comprises test paper tapes, wherein the test paper tapes are provided with rectangular test papers for testing at equal intervals along the length direction of the test paper tapes, a plurality of placement holes are formed in two sides of the test paper tapes, and a small strip-shaped metal sheet is arranged in the middle of the interval distance of each test paper tape;
The test paper test analysis system comprises a hard pipe which moves back and forth, an adjustable feeding door, a soil test paper configuration system and a stroke sensing device; the soil test paper configuration system comprises a soil test paper extraction robot, a test paper bin, a test paper placement wheel positioned in a hard pipe, a test paper pressing-in roller, a test paper pressing-in piece, a test paper guide wheel, a test paper collection wheel and a test paper driving motor; and placing the extracted test paper roll on a test paper placement wheel; a test paper transmission mechanism is arranged below the test paper placement wheel, and the test paper transmission mechanism performs the operation of transmitting, replacing and withdrawing test paper rolls; the soil test paper extraction robot comprises a robot control part and a test paper extraction mechanical arm, wherein the test paper extraction mechanical arm comprises three arm sections, a universal joint is arranged between the ends of each arm end, a test paper extraction mechanical arm capable of grabbing test paper is arranged at the universal joint part of the third arm end, and according to a set program, the test paper extraction mechanical arm can extract required test paper rolls from different grids of a test paper bin;
the data processing and transmission assembly further comprises: the camera, the illuminant, the control terminal and the communication equipment;
The staff can program and control the industrial personal computer in later period through the corresponding control terminal; meanwhile, the control terminal is utilized to refer to the corresponding analysis result, and the adjustment liquid distribution component is controlled according to the obtained result;
the soil turning assembly turns and loosens soil; the device comprises a hydraulic cylinder, a piston and a plough, wherein the plough can be controlled by an industrial control computer so as to turn and loosen soil behind the transportation equipment.
Moreover, according to the saline-alkali soil treatment system of the present invention, wherein the test paper transporting mechanism includes a driving wheel at both ends and a test paper transporting belt wound around the driving wheel, both sides of an outer surface of the test paper transporting belt are provided with protrusions at equal intervals in a length direction, the protrusions correspond to the mounting holes of the test paper transporting belt, when the test paper is placed on the test paper mounting wheel, an end portion thereof naturally drops onto the transporting belt, a magnet material is provided at an inner side of the transporting belt, the magnet material attracts a metal sheet located on the test paper transporting belt, thereby distributing the test paper along the transporting belt, at a position near the naturally dropping position of the test paper transporting belt, in an advancing direction of the test paper transporting belt, a pair of test paper pressing rollers are provided, which can press the test paper transporting belt attracted by the magnet material down, so that the protrusions are projected onto the mounting holes at both sides of the test paper transporting belt, after one week of the test paper transporting belt is moved away from the mounting wheel, a test paper stripping device is provided, a pair of stripping rollers are provided, a tape stripper is provided at a rear of the rollers, a tape stripper is provided at a rear of the rollers, the tape stripper is provided at a lower side of the tape stripper is separated from the side of the tape, a cutter is provided at a lower side of the tape cutter, and a cutter is provided at a position of the tape stripper is closely opposite to the tape, and a tape stripper is provided at a cutter, and is closely opposite to a cutter, and a tape stripper is provided at a cutter, and a cutter is closely opposite cutter.
Moreover, according to the saline-alkali soil treatment system disclosed by the invention, a first cutting device is arranged below the test paper arranging wheel and between the test paper arranging wheel and the test paper driving belt, when a test paper roll needs to be replaced, the action of the test paper driving wheel is stopped firstly, the first cutting device acts to cut off the dropped test paper belt, and the test paper roll is extracted by a mechanical arm and placed into a corresponding grid of a test paper bin; then the test paper driving wheel continues to act, the test paper belt left on the test paper conveying belt is rotated to the position of the test paper belt stripper, and the test paper belt stripper strips off the conveying belt;
the stroke sensing device is arranged on the opposite side of the test paper placement wheel.
Furthermore, according to the saline-alkali soil treatment system of the present invention, the soil conditioner applying system includes a plurality of soil conditioner canning devices, an electronically controlled metering valve, a soil mixed nutrient solution tank body, and an infusion pump which delivers the outputted conditioner to a nozzle, and the nozzle sprays the conditioner to the soil while or after the plow turns the soil.
The invention also discloses a method for treating the saline-alkali soil by the saline-alkali soil treatment system, which comprises the following steps:
step one: transporting the whole system to a region to be treated by using movable transportation equipment;
Step two: placing the supporting device on the ground of the saline-alkali soil to support the vehicle body and keep the vehicle body stable;
Step three: the control terminal is utilized to send out a corresponding soil shoveling instruction to the soil shoveling assembly so as to adjust the angle of the bucket for shoveling soil, and shoveling corresponding soil and lifting the shoveled soil to a preset height;
Step four: according to a preset program, the soil collection robot enables the soil collection robot to move at a position slightly higher than the preset height, then grabs soil blocks of the saline-alkali soil from the bucket, conveys the soil blocks to the conveying device, places the soil blocks on the conveying belt at the preset height, drives the conveying belt to move according to the instruction, and carries the soil blocks to reach an inlet of the stirring and scattering device and enter the accommodating cavity from the inlet;
step five: when a certain amount of soil blocks enter the accommodating cavity, the cover plate of the accommodating cavity is closed, then a plurality of sections of stirring blades are started, the plurality of sections of stirring blades comprise a plurality of stirring rotation modes, a certain amount of soil blocks can be sufficiently stirred and scattered, then the sufficiently scattered soil is filtered by the primary filtering device, then the blocking valve is opened, and the scattered soil enters the sensor channel under the action of driving force;
step six: opening a corresponding sensor assembly or assemblies, performing corresponding detection, and keeping other unused sensor assemblies in an unused protected state;
step seven: the sensors in the sensor assembly that are already on will detect the soil that is broken up through;
Step eight: when further detection is needed, the scattered soil is driven to enter a collecting dish and is further filtered by a secondary filtering device to form a certain amount of soil raw material, then the soil raw material can be pumped out of the collecting dish by a jet pump and is pumped to a jet nozzle, the soil raw material is emitted by the jet nozzle to form soil flow, and the emitted soil flow enters a measuring pipeline;
Step nine: the soil test paper extraction robot is used for driving the test paper extraction mechanical arm to extract required test paper from different grids of the test paper bin, the extracted test paper roll is placed on the test paper placement wheel, and after the test paper roll is placed, the transmission wheel is started, so that the test paper belt on the test paper roll is flattened and smoothed on the test paper pressing roller and the test paper pressing piece;
Step ten: when the emitted soil flow enters the measuring pipeline, the hard pipe is driven to enter the measuring pipeline, and the adjustable feeding door is opened, so that the soil flow in the measuring pipeline can enter the hard pipe through the adjustable feeding door to react with the test paper of the test paper tape.
Step eleven: the test paper moves along with the test paper belt and the test paper driving belt, when the test paper belt moves to a preset position X, the luminous body emits light, meanwhile, the camera shoots the result obtained by the corresponding test paper, then the shot result is transmitted to the industrial personal computer, and the industrial personal computer keeps the shot result at the preset storage position;
The method according to the invention further comprises the step of stripping the test strip, wherein after the test strip has been run for one revolution along the test strip conveyor belt, on the side of the conveyor belt remote from the test strip placement wheel, a test strip stripping device is provided, which comprises a pair of stripping rollers, behind which a test strip stripper is provided, on the stripping side of the test strip stripping roller located on the underside, a strong magnet device is provided which can provide a magnetic force to the metal sheet on the test strip, which magnetic force causes the test strip to tilt slightly relative to the test strip conveyor belt, and, immediately behind the stripping roller outlet, a test strip stripper is provided, which, due to the previous slight tilting, is brought into close contact with the test strip conveyor belt, whereby, when the test strip is run to the location of the test strip stripper, the test strip will drop off the test strip conveyor belt so as to be directly below the test strip stripper, a second cutting device is provided, which cuts off the falling test strip, which will drop into the waste drum.
The method according to the invention further comprises the step of replacing the test paper roll: firstly stopping the action of a test paper driving wheel, enabling the first cutting device to act, cutting off the dropped test paper belt, extracting test paper rolls by a mechanical arm, and placing the test paper rolls into corresponding shelves of a test paper bin; and then the test paper driving wheel continues to act, the test paper belt left on the test paper conveying belt is rotated to the position of the test paper belt stripper, and the test paper belt stripper strips off the conveying belt, so that the test paper belt is not placed on the test paper conveying belt, and then the required test paper rolls can be extracted from different grids of the test paper storage bin again by the mechanical arm to carry out the next detection process.
With the above system and method, the present invention can obtain the following advantages over the prior art:
1. Compared with the prior art, the integrated complete saline-alkali soil treatment system is formed, the soil to be treated can be reached at any time according to the needs, the soil can be detected and treated at the same time, and the system has high automation degree, so that the work of operators and later-stage operators is more convenient and labor-saving;
2. compared with the prior art, the system provided by the invention focuses on the protection of key equipment, can effectively protect the inductor and other related equipment, and avoids the excessive consumption of the inductor;
3. compared with the prior art, the test paper testing and analyzing system can effectively protect the test paper testing and analyzing system and prevent the test paper testing and analyzing system from being excessively corroded by corrosive soil, and particularly, the test paper testing and analyzing system can automatically replace test paper rolls, so that more high-precision detection processes are facilitated. The labor intensity of operators is reduced.
4. The invention adopts modularized design for each part, has small maintenance amount and simple operation, can rapidly move to each soil treatment place, and improves the service efficiency of the equipment.
5. The invention can conveniently store the measured result, and can use the communication equipment to cooperatively detect and control with the outside, thereby realizing remote operation, ensuring that the detection result is more accurate, selecting a soil conditioner which is more suitable for soil treatment, and being more beneficial to the soil treatment of saline-alkali soil.
Drawings
FIG. 1 is an overall schematic of the saline-alkali soil remediation system of the present invention, with the support device in a retracted state;
FIG. 2 is an overall schematic of the saline-alkali soil remediation system of the present invention, with the support device in an extended state;
FIG. 3 is a schematic flow chart of a soil composition test of the saline-alkali soil remediation system of the present invention;
FIG. 4 is an enlarged schematic view of a portion of the test paper test analysis system of the saline-alkali soil remediation system of the present invention;
FIG. 5 is a schematic diagram of the test strip structure of the present invention.
Detailed Description
For a better explanation of the present invention, for the sake of understanding, embodiments of the invention are described below in connection with the accompanying figures 1-5, which are only exemplary and do not limit the scope of protection of the invention. The drawings are not drawn to scale nor do they show and detail some components which are not necessary for the true realisation of the technical solution of the invention, but which are irrelevant for the understanding of the invention, such as power plants, directional control plants, all control lines connected to an industrial control computer, etc.
In order to overcome the defects in the prior art, the invention provides a saline-alkali soil treatment system and a treatment method thereof. Wherein, this saline and alkaline land soil treatment system includes: a movable transporting apparatus 100, a power apparatus, a housing device 101, a soil shoveling assembly 104, a soil collecting assembly 200, a soil component fluidization assembly 300, a test paper analysis test system 400, a conditioning liquid distribution assembly 500, and a soil turning assembly 600, which are housed or carried by the movable transporting apparatus 100;
The power device may provide motive power for travel of the mobile device 100 and may be capable of controlling the direction and speed of travel; the accommodating device 101 comprises an accommodating device 102 and a supporting device 103, wherein the accommodating device 102 can accommodate or carry the soil shoveling assembly 104, the soil collecting assembly 200, the soil component fluidization assembly 300, the data processing and transmission assembly 400, the adjustment liquid dispatching assembly 500 and the soil turning assembly 600; as shown in fig. 1, in which the supporting means 103 is in a retracted state, the entire system is supported by the wheels; as shown in fig. 2, in which the supporting means 103 is in a state of being extended and supported, the entire system is supported on the ground by the supporting means 103.
The shovel assembly 104 comprises a shovel power output device and a bucket, wherein the power output device comprises a hydraulic cylinder and a piston and is used for providing power for the bucket; the bucket is used for scooping up the soil of the saline-alkali soil to be detected, the angle of the bucket for scooping up the soil can be adjusted so as to selectively scoop up the soil with different depths, and the depth range can be 0.1-1 meter, preferably 0.2-0.8 meter, more preferably 0.3-0.5 meter; the soil needing to be treated can be conveniently obtained by utilizing the shovel soil component of the system, and the system is used for detecting and implementing corresponding treatment, so that the labor intensity of operators is reduced, and the working efficiency is improved.
The soil collecting assembly 200 comprises a supporting frame 201, and a soil collecting robot 202 supported by the supporting frame 201, wherein the soil collecting robot 202 comprises data analysis processing equipment, a mechanical arm 203 and a soil collecting mechanical arm 204; the data analysis processing device is in communication with the industrial personal computer 603, receives an instruction of the industrial personal computer 603, transmits the instruction to the mechanical arm 203, comprises three arm sections, and comprises a universal joint 205 between ends of all arm ends, so that the mechanical arm has high flexibility, a soil collecting manipulator 204 capable of grabbing objects is arranged on the universal joint part of the third arm end, and according to a set program, the soil collecting manipulator 204 can grab soil of saline-alkali soil scooped up by a bucket at a preset height, and then the soil collecting manipulator can be conveyed to the soil component fluidization assembly 300.
As shown in fig. 3, the soil component fluidization assembly includes a conveying device 301, a stirring and scattering device 302, a primary filtering device 303, a collection vessel 304, a jet pump 305, and a jet nozzle 306; the conveying device 301 comprises a supporting frame 3011, a rotating wheel 3012 and a conveying belt 3013, soil grabbed by the soil collecting manipulator 204 is placed on the conveying belt 3013, and the conveying belt 3013 conveys the soil into the stirring and scattering device 302; the stirring and scattering device comprises an inlet (not shown), a containing cavity, a cover plate (not shown) of the closable containing cavity, a plurality of sections of stirring blades and a slag discharging port (not shown), and can be used for sufficiently stirring and scattering the input soil, and then the sufficiently scattered soil is conveyed into the collecting vessel 304 through the primary filtering device 303 and the blocking valve 308 and passes through the sensor channel 309, the collecting vessel 304 is provided with the secondary filtering device 315, and the soil is further filtered by the secondary filtering device 315 before being pumped. By selecting the size of the filter screens of the primary and secondary filter devices, small stones, large gravel, and other foreign matter mixed in the soil can be effectively intercepted.
As shown in fig. 3, in the sensor channel 309 between the stirring and scattering device and the collecting dish, a number of sensor assemblies 310 are provided, and the sensor assemblies 310, referring to an enlarged schematic view shown by ellipses and arrows, include a sensor housing 314, a sensor 311, a sensor driver 312 that drives the sensor 311 to protrude, and a sensor housing soft cover 313 with a resilient force that can be opened outward. The inductor 311 is placed in the inductor housing 314, and the inductor housing soft cover 313 with resilience normally closes the inductor housing 314 under the resilience thereof, so that the inductor 311 is in a non-operating state, thereby avoiding excessive erosion of the inductor 311 by soil. The sensor driver 312 may be driven in a variety of ways including, but not limited to, electromagnetic, piezoelectric, hydraulic, pneumatic. The sensor driver 312 is controlled by a control component of the system, the control component is controlled by the industrial personal computer 603, when a corresponding sensor is required to work, an operator can operate on the control terminal 604 to send a control instruction, so that the industrial personal computer 603 sends an instruction to the corresponding controller, the controller sends an instruction to the sensor driver 312, the sensor driver 312 acts to push the sensor housing soft cover 313 open and extend out of the sensor housing 314 and expose in the sensor channel 309, the sensor 311 starts to work normally, the soil components passing through the sensor channel 309 are detected, and a corresponding monitoring result is fed back to a corresponding storage position in the industrial personal computer 603, so that the operator can check and process the corresponding detection result.
As shown in fig. 3, the inductor assembly shown includes an inductor 311 including, but not limited to:
The salt content sensor, the water content sensor and various organic or inorganic matter sensors can sense various components of the soil with certain precision; wherein the salt content sensor, the water content sensor and the various organic or inorganic sensors. Because the inductor assembly 310 of the present application can be used to place the inductor in a protected, non-operational state as desired, excessive exposure of the inductor to corrosive soil can be effectively avoided, thereby saving the corresponding costs and avoiding excessive loss of the inductor. Meanwhile, by utilizing the sensor assembly disclosed by the application, a required monitoring result can be effectively obtained, and when certain detection is not needed, the corresponding sensor can be in a protected non-working state, so that the corresponding soil detection is more targeted, and the corresponding sensor can have a longer working life.
As shown in fig. 3, in the soil collecting vessel 304, the soil filtered by the secondary filtering device 315 forms a certain amount of soil raw material, the injection pump 305 pumps out the soil raw material from the collecting vessel 304 and pumps to the injection nozzle 306, the soil raw material forms a soil flow through the emission of the injection nozzle 306, and the emitted soil flow enters the measuring pipe 307, and the emitted soil flow is shown by an arrow in the figure; the soil raw materials subjected to full stirring and scattering, primary filtering and secondary filtering form soil flow, so that the formed soil flow and a corresponding test paper roll can be utilized to fully and better react in the subsequent process, and more accurate detection precision is obtained. In addition, during the formation of the soil flow, a small amount of atomized distilled water or other atomized solution which does not affect the detection result can be added if necessary to facilitate the formation of the soil flow.
In the system of the present invention, as shown in fig. 3, the resulting soil flow may be tested using a test strip test analysis system 400, wherein the test strip test analysis system 400 includes a hard tube 401 that can be moved back and forth, an adjustable feed gate 402, a soil test strip deployment system 403, and a travel sensing device 404. The soil test paper configuration system 403 comprises a soil test paper extraction robot 405, a test paper bin 406, a test paper placement wheel 407, a test paper pressing roller 408, a test paper pressing piece 409, a test paper guide wheel, a test paper collection wheel and a test paper driving motor, wherein the test paper placement wheel 407 is positioned in the hard pipe 401. The hard tube 401 is also provided to protect the soil test paper configuration system 403, the stroke sensing device 404, and other devices therein. Hard tube 401 is made of a highly corrosion resistant material that effectively prevents damage to hard tube 401 and equipment located therein from the corrosive soil.
Soil test paper draws robot 405 includes robot control part and test paper and draws the arm, and the test paper draws the arm and includes three arm sections, including by the universal joint between the end of each arm end to make this test paper draw the arm have high flexibility, the universal joint part at the third arm end has the test paper that can snatch the test paper and draws the manipulator, according to the procedure that sets for, this test paper draws the manipulator can draw required test paper package from the different shelves of test paper feed bin 406, and places the test paper package of drawing on the test paper settling wheel 407.
As shown in fig. 5, the test strip includes a strip 410, rectangular test strips 4101 for testing are arranged at equal intervals in the longitudinal direction of the strip 410, and a plurality of mounting holes 4102 are provided on both sides of the strip 410. At the middle of the interval distance of each test paper tape 410, a small elongated metal piece 4103 is provided.
As shown in fig. 3 and 4, below the test paper setting wheel 407, a test paper transmission mechanism is provided, the test paper transmission mechanism includes a driving wheel 411 at both ends and a test paper conveyor belt 412 wound around the driving wheel, two sides of the outer surface of the test paper conveyor belt 412 are provided with protrusions 413 at equal intervals along the length direction, and the protrusions 413 correspond to the setting holes 4102 of the test paper tape. When the test paper roll is placed on the test paper placement wheel 407, the end of the test paper roll naturally drops onto the conveyor belt, a magnet material 414 is arranged on the inner side of the conveyor belt, the magnet material 414 attracts a metal sheet 4103 positioned on the test paper belt, so that the test paper belt is distributed along the conveyor belt 412, a pair of test paper pressing rollers 408 are arranged near the position where the test paper belt naturally drops and positioned in the advancing direction of the test paper conveyor belt, the pressing rollers 408 can press the test paper belt attracted by the magnet material smoothly, the protruding parts 413 extend into the placement holes 4102 on the two sides of the test paper belt, and the subsequent test paper pressing pieces 409 further press and smooth the test paper belt 410, so that the test paper belt 412 can drive the test paper belt to move, so that detection can be implemented when needed. After the test paper tape 410 has been run for one week along with the test paper conveyor belt 412, a test paper peeling device is provided on the side of the conveyor belt away from the test paper setting wheel 407, the test paper peeling device including peeling rollers 415 provided in pairs, and a test paper tape stripper 416 is provided behind the peeling rollers. On the release side of the strip stripper roller 416 on the underside, it is provided with a strong magnet arrangement (not shown) which can provide a magnetic force to the metal strip 4103 on the strip to tilt the strip 410 slightly with respect to the strip conveyor 412, and immediately behind the stripper roller exit, a strip stripper 416 is provided, which strip stripper 416 is in close proximity to the strip conveyor 412, due to the previous strip slight tilting, whereby when the strip 410 is run into position of the strip stripper 416, the strip 410 will be released from the strip conveyor 412 to drop directly under the strip stripper 416, and a second cutting means 417 is provided to cut the dropped strip. The falling test paper falls into the waste bin for subsequent steps to be cleared.
A first cutting device 418 is provided below the test strip placement wheel 407, between the test strip placement wheel 407 and the test strip drive belt. When the test paper roll needs to be replaced, firstly stopping the action of the test paper driving wheel 411, and enabling the first cutting device 418 to act to cut off the dropped test paper tape, wherein the test paper roll is extracted by a mechanical arm and placed into a corresponding grid of a test paper bin; the test paper driving wheel 411 then continues to act, and the test paper tape 410 left on the test paper conveying belt 412 is rotated to the position of the test paper tape stripper 416, and is stripped from the conveying belt 412 by the test paper tape stripper 416, so that the test paper tape is not placed on the test paper conveying belt. Then, the manipulator can again extract the needed test paper from the different grids of the test paper bin 406 to perform the next detection process.
Thus, with the test paper test analysis system 400, not only can the soil flow to be measured be conveniently and accurately measured, but also automatic replacement of test paper rolls and automatic loading and unloading of test paper rolls can be realized by operating on the control terminal 604, thus greatly reducing the labor intensity of operators, and the soil flow can be reintroduced when needed by arranging the adjustable feeding door 402, thereby also helping to include the parts therein by means of hard pipes and preventing the other parts from being excessively exposed to corrosive soil flow to affect the service life.
The stroke sensing device 404 is provided at the opposite side of the test strip setting wheel 407, and the amount of test strip tested is recorded by sensing the metal piece 4103 on the test strip by the stroke sensing device 404.
The data processing and transmission assembly 600 may perform transmission and real-time analysis of data, the data processing and transmission assembly 600 comprising: camera 601, illuminant 602, industrial personal computer 603, control terminal 604, communication equipment 605.
When data analysis is needed, the hard pipe 401 can extend into the measurement pipeline 307 under the drive of external force and is perpendicular to the direction of soil flow propagation, an adjustable feeding door 402 is arranged in the direction opposite to the soil flow, and the industrial personal computer 603 controls the adjustable feeding door 402 to be opened or closed according to a preset program, so that the passing soil flow is collected; the collected soil flow will enter the hard tube 401 through the adjustable feed gate 402 and react with the test strip 4101 of the test strip belt 410 arranged on the test strip belt 412, the generated reaction result will be generated by the test strip, the test strip 4101 follows the test strip belt 412, when moving to the predetermined position X, the illuminant 602 will emit light, while the camera 601 shoots the result obtained by the corresponding test strip, and then transmits the shot result to the industrial personal computer 603, the industrial personal computer 603 keeps the shot result at the predetermined storage position for the staff to see and process the corresponding detection result. And the corresponding test results may be sent to a required test workstation for further analysis using the communication device 605. Therefore, the invention can conveniently store the measured result, and can send the detection result to a detection workstation with higher level and requirement by using the communication equipment 605, thereby enabling the detection result to be more accurate; meanwhile, an external or higher-level detection workstation can also utilize the communication device 605 to directly send instructions to the industrial personal computer 603, so that remote operation is realized, the selection of a soil conditioner more suitable for soil treatment is facilitated, and the soil treatment of saline-alkali soil is facilitated.
Types of test strips included on the test strip include, but are not limited to: high-precision test paper such as soil pH value test paper, ferric oxide test paper, cobalt chloride test paper, nitrate nitrogen test paper and the like.
The industrial personal computer 603 is a control core of the whole finishing system, and the respective components of the soil shoveling assembly 104, the soil collecting assembly 200, the soil component fluidization assembly 300, the test paper analysis and test system 400, the adjustment liquid dispatching assembly 500 and the soil turning assembly 600 are respectively controlled by the industrial personal computer 603, so that staff can program and control the industrial personal computer 603 at a later period through a corresponding control terminal 604 or remotely. Meanwhile, the control terminal 604 may also be used to refer to the corresponding analysis result and control the adjustment liquid distribution assembly 500 according to the obtained result, so as to select a proper modifier for treating the soil of the saline-alkali soil.
The soil turning assembly 700 includes a hydraulic cylinder, a piston and a plow 701, wherein the plow 701 can be controlled by the industrial personal computer 603 to turn and loosen the soil after the transportation device to facilitate the conditioning effect of the soil conditioner on the soil.
The conditioning fluid dispensing assembly 500 includes a soil conditioner application system including a plurality of soil conditioner canisters 501, an electronically controlled metering valve 502, a soil mixed nutrient fluid tank 505, and an infusion pump 503, and a spray nozzle, the infusion pump 503 delivering the output conditioner to a nozzle 504 for spraying by the nozzle 504 onto the soil while or after the plow is turning the soil. When the system is required to provide the modifier for the saline-alkali soil, an operator can send a command to the industrial personal computer 603 through the control terminal 604, and the industrial personal computer 603 controls the corresponding electronically controlled metering valve 502 to be opened, so that the soil modifier stored in the soil modifier canning device 501 can be mixed into the soil mixed nutrient solution box 505 through the electronically controlled metering valve 502, and then conventional soil additives, and sometimes moisture and the like are added when required, so that the soil mixed nutrient solution is formed together with the soil modifier. The soil mixed nutrient solution in the soil mixed nutrient solution box 505 is then pumped to the nozzle 504 by the infusion pump 503, and then the soil mixed nutrient solution is sprayed onto the saline-alkali soil to be treated by the nozzle 504.
The modifier comprises one or more of sulfur reagent, ferrous sulfate reagent, superphosphate reagent, humic acid ammonium, urea, citric acid, biochar, phosphogypsum, ammonium chloride, activated sludge, desulfurized gypsum, bentonite, ammonium nitrate, monopotassium phosphate, disodium hydrogen phosphate and magnesium sulfate or a mixture thereof.
According to the present invention, when it is required to treat saline-alkali soil in a certain area, the saline-alkali soil treatment system of the present invention can be operated such that, as shown in fig. 1, first, the entire system is transported to the area to be treated by using the movable transporting apparatus 100, and then, as shown in fig. 2, the supporting means 103 is placed on the ground of the saline-alkali soil to support the vehicle body, keeping the vehicle body stable. Then, a control terminal 604 is utilized to send out a corresponding soil shoveling instruction to the soil shoveling assembly 104, so that the angle of the bucket shoveling soil is adjusted, corresponding soil is shoveled, and the shoveled soil is lifted to a preset height; at this time, the soil collecting robot 202 moves the soil collecting robot 204 to a position slightly higher than the predetermined height according to a predetermined program, then grabs the soil blocks of the saline-alkali soil from the bucket, conveys the soil blocks to the conveying device 301, places the soil blocks on the conveying belt 3013 at the predetermined height, the rotating wheel 3012 operates according to the instruction to drive the conveying belt 3013 to move, carries the soil blocks to the inlet (not shown) of the stirring and scattering device 302, enters the accommodating cavity from the inlet, closes the cover plate (not shown) of the accommodating cavity when a certain number of the soil blocks enter the accommodating cavity, then starts the multi-stage stirring blades, the multi-stage stirring blades comprise various stirring rotation forms, can sufficiently stir and scatter a certain number of the soil blocks, then the sufficiently scattered soil is filtered by the primary filtering device 303, then opens the blocking valve 308, the scattered soil enters the sensor channel 309 under the action of driving force, at this time, an operator can select a proper measurement target according to a corresponding scheme, opens one or a corresponding sensor 310, and the sensor is applied to the other sensor is not applied, and the other sensor is kept in an unprotected state. The sensor 311 in the sensor assembly 310 that has been turned on will detect the soil that has been scattered, and the detection result of the sensor 311 will be more accurate since the soil is already in the scattered state. Thereafter, if no further detection is required, the excess soil material may be removed by means of a slag outlet (not shown). When further detection is required, the scattered soil can be driven to enter the collecting dish 304 and is further filtered by the secondary filtering device 315 to form a certain amount of soil raw material, then the soil raw material can be pumped out of the collecting dish 304 by the injection pump 305 and is pumped to the injection nozzle 306, the soil raw material forms a soil flow through the emission of the injection nozzle 306, and the emitted soil flow enters the measuring pipeline 307, and the emitted soil flow is shown by an arrow in the figure; when the emitted soil flow enters the measuring pipe 307, sufficient dispersion is performed in the measuring pipe 307, after which the hard pipe 401 may be driven into the measuring pipe 307; before that, according to a predetermined program, the soil test paper extraction robot 405 may be used to drive the test paper extraction robot to extract required test papers from different compartments of the test paper bin 406 according to instructions of the industrial personal computer 603, and place the extracted test paper rolls on the test paper placement wheel 407. As shown in fig. 3 and 4, after the test paper roll is set, the driving wheel 411 may be activated so that the test strip 410 on the test paper roll is flattened and smoothed by the test strip pressing roller 408 and the test strip pressing member 409, so that the test strip conveyor belt 412 may drive the test strip to move, and the adjustable feeding gate 402 may be opened as needed, so that the flow of soil in the measurement pipe 307 may enter the hard pipe 401 through the adjustable feeding gate 402 to react with the test strip 4101 of the test strip 410. The generated reaction results will be generated by the test paper, the test paper 4101 moves along with the test paper belt 410 and the test paper driving belt 412, when moving to the predetermined position X, the illuminant 602 will emit light, while the camera 601 shoots the results obtained by the corresponding test paper, and then transmits the shot results to the industrial personal computer 603, the industrial personal computer 603 keeps the shot results at the predetermined storage position so that the staff can refer to and process the corresponding detection results, and the corresponding detection results can be analyzed by using the system based on image analysis. And the corresponding test results may be sent to a required test workstation for further analysis using the communication device 605.
After the test paper tape 410 has been run for one week along with the test paper conveyor belt 412, a test paper peeling device is provided on the side of the conveyor belt away from the test paper setting wheel 407, the test paper peeling device including peeling rollers 415 provided in pairs, and a test paper tape stripper 416 is provided behind the peeling rollers. On the release side of the strip stripper roller 416 on the underside, it is provided with a strong magnet arrangement (not shown) which can provide a magnetic force to the metal strip 4103 on the strip to tilt the strip 410 slightly with respect to the strip conveyor 412, and immediately behind the stripper roller exit, a strip stripper 416 is provided, which strip stripper 416 is in close proximity to the strip conveyor 412, due to the previous strip slight tilting, whereby when the strip 410 is run into position of the strip stripper 416, the strip 410 will be released from the strip conveyor 412 to drop directly under the strip stripper 416, and a second cutting means 417 is provided to cut the dropped strip. The falling test paper falls into the waste bin for subsequent steps to be cleared.
A first cutting device 418 is provided below the test strip placement wheel 407, between the test strip placement wheel 407 and the test strip drive belt. When the test paper roll needs to be replaced, firstly stopping the action of the test paper driving wheel 411, and enabling the first cutting device 418 to act to cut off the dropped test paper tape, wherein the test paper roll is extracted by a mechanical arm and placed into a corresponding grid of a test paper bin; the test paper driving wheel 411 then continues to act, and the test paper tape 410 left on the test paper conveying belt 412 is rotated to the position of the test paper tape stripper 416, and is stripped from the conveying belt 412 by the test paper tape stripper 416, so that the test paper tape is not placed on the test paper conveying belt. Then, the manipulator can again extract the needed test paper from the different grids of the test paper bin 406 to perform the next detection process.
Thus, with the test paper test analysis system 400, not only can the soil flow to be measured be conveniently and accurately measured, but also automatic replacement of test paper rolls and automatic loading and unloading of test paper rolls can be realized by operating on the control terminal 604, thus greatly reducing the labor intensity of operators, and the soil flow can be reintroduced when needed by arranging the adjustable feeding door 402, thereby also helping to include the parts therein by means of hard pipes and preventing the other parts from being excessively exposed to corrosive soil flow to affect the service life.
The stroke sensing device 404 is provided at the opposite side of the test strip setting wheel 407, and the amount of test strip tested is recorded by sensing the metal piece 4103 on the test strip by the stroke sensing device 404.
The data processing and transmission assembly 600 may perform transmission and real-time analysis of data, the data processing and transmission assembly 600 comprising: camera 601, illuminant 602, industrial personal computer 603, control terminal 604, communication equipment 605.
When data analysis is needed, the hard pipe 401 can extend into the measurement pipeline 307 under the drive of external force and is perpendicular to the direction of soil flow propagation, an adjustable feeding door 402 is arranged in the direction opposite to the soil flow, and the industrial personal computer 603 controls the adjustable feeding door 402 to be opened or closed according to a preset program, so that the passing soil flow is collected; the collected soil flow will enter the hard tube 401 through the adjustable feed gate 402 and react with the test strip 4101 of the test strip belt 410 arranged on the test strip belt 412, the generated reaction result will be generated by the test strip, the test strip 4101 follows the test strip belt 412, when moving to the predetermined position X, the illuminant 602 will emit light, while the camera 601 shoots the result obtained by the corresponding test strip, and then transmits the shot result to the industrial personal computer 603, the industrial personal computer 603 keeps the shot result at the predetermined storage position for the staff to see and process the corresponding detection result. And the corresponding test results may be sent to a required test workstation for further analysis using the communication device 605. The invention can conveniently store the measured result, and can send the detection result to a detection workstation with higher level and requirement by using the communication equipment, thereby ensuring that the detection result is more accurate; the external or higher-level detection workstation can also utilize the communication device to send instructions to the industrial personal computer, so that remote operation is realized, more proper soil amendment can be selected, and soil treatment of saline-alkali soil is facilitated.
In summary, the invention has been described by way of non-limiting examples in connection with the accompanying drawings, with which the following advantages are obtained with respect to the prior art: the invention forms a set of integrated complete saline-alkali soil treatment system, can reach the soil which needs to treat the saline-alkali soil at any time according to the needs, can detect and treat the soil simultaneously, has high degree of automation, and ensures that operators and later-stage operators work more conveniently and more easily; the invention can effectively protect the inductor and other related equipment and avoid excessive consumption of the inductor; the test paper test analysis system can effectively protect the test paper test analysis system from excessive erosion of corrosive soil, and particularly, the test paper test analysis system can automatically replace a test paper roll, is favorable for more high-precision detection, and reduces the labor intensity of operators. The invention adopts modularized design for each part, has small maintenance amount and simple operation, can rapidly move to each soil treatment place, and improves the service efficiency of the equipment. The invention can conveniently store the measured result, and can use the communication equipment to cooperatively detect and control with the outside, thereby realizing remote operation, ensuring that the detection result is more accurate, selecting a soil conditioner which is more suitable for soil treatment, and being more beneficial to the soil treatment of saline-alkali soil.

Claims (6)

1. A saline-alkali soil remediation system, the system consisting essentially of:
A movable transport device;
A power plant housed or carried by the transport equipment;
a housing device with a housing apparatus and a support device, the support device supporting the system;
A shoveling assembly, a soil collection assembly, a soil constituent fluidization assembly, a data processing and transmission assembly, an adjustment liquid dispatching assembly, and a soil turning assembly that are housed or carried by the housing apparatus; the method is characterized in that:
The soil shoveling assembly is used for shoveling the soil;
The soil collecting assembly is used for grabbing the soil scooped up by the soil scooping assembly;
the soil collecting assembly comprises an inductor channel, wherein a certain number of inductor assemblies are arranged in the inductor channel, and the inductor assemblies comprise an inductor shell, an inductor driver and an inductor shell soft cover, wherein the inductor driver drives the inductor to extend out, and the inductor shell soft cover is outwards opened and provided with a rebound force;
the sensor assembly comprises two states, wherein the first state is an operating state of being in contact with soil to be measured, and the second state is an inactive state of enabling the sensor to be protected;
the soil component fluidization component is used for filtering and scattering soil and forming a soil flow;
the test paper test analysis system tests soil flow by using the test paper roll and performs operations of transferring, replacing and withdrawing the test paper roll;
The data processing and transmitting assembly comprises an industrial personal computer;
The soil shoveling assembly, the soil collecting assembly, the soil component fluidization assembly, the test paper analysis and test system, the adjusting liquid dispatching assembly and the corresponding control part and execution part of the soil turning assembly are controlled correspondingly by the industrial personal computer;
The adjusting liquid distribution assembly comprises a soil conditioner application system and a spraying nozzle, so that the soil conditioner is sprayed to the soil to be treated through the nozzle;
The power equipment provides travelling power for the transportation equipment and controls the travelling direction and speed;
The soil shoveling assembly comprises a soil shoveling power output device and a bucket; the power output equipment comprises a hydraulic cylinder and a piston;
The soil collecting assembly comprises a supporting frame and a soil collecting robot supported by the supporting frame, and is used for grabbing soil scooped up by the soil scooping assembly;
The soil component fluidization assembly comprises a transmission device, a stirring and scattering device, a primary filtering device, a collecting dish, a jetting pump and a jetting nozzle; the transmission device transmits the soil to the stirring and scattering device for full stirring and scattering, the fully scattered soil is transmitted to the collecting vessel through the primary filter device and the blocking valve and is provided with the secondary filter device;
The sensor channel is positioned between the stirring and scattering device and the collecting dish, and a certain number of sensor assemblies are arranged in the sensor channel;
In the collecting dish, the soil filtered by the secondary filtering device forms a certain amount of soil raw material, the flushing pump pumps the soil raw material out of the collecting dish and pumps the soil raw material to the flushing nozzle, the soil raw material forms soil flow through the emission of the flushing nozzle, the emitted soil flow enters the measuring pipeline, and the soil raw material is fully stirred and scattered, primary filtered and secondary filtered to form soil flow;
the soil collection robot comprises data analysis processing equipment, a mechanical arm and a soil collection mechanical arm;
The data analysis processing equipment is communicated with the industrial personal computer, receives an instruction of the industrial personal computer, transmits the instruction to the mechanical arm, wherein the mechanical arm comprises three arm sections, a universal joint is arranged between the ends of each arm end, and a soil collection mechanical arm capable of grabbing objects is arranged at the universal joint part of the third arm end;
The conveying device comprises a supporting frame, a rotating wheel and a conveying belt, soil grabbed by the soil collecting mechanical arm is placed on the conveying belt, and the conveying belt conveys the soil into the stirring and scattering device;
the stirring and scattering device comprises an inlet, a containing cavity, a cover plate of the containing cavity which can be closed, a plurality of sections of stirring blades and a slag discharging port, and can be used for sufficiently stirring and scattering the input soil;
the inductor of the inductor assembly is placed in the inductor shell, and the soft cover of the inductor shell with resilience closes the inductor shell under the action of resilience force under normal conditions, so that the inductor is in a non-working state;
The sensor driver is controlled by a control part of the system, the control part is controlled by the industrial personal computer, when the corresponding sensor is required to work, an operator can operate on the control terminal and send a control instruction, so that the industrial personal computer sends an instruction to the corresponding controller, the controller sends the instruction to the sensor driver, the sensor driver acts, the sensor is pushed to push the sensor to prop open the soft cover of the sensor shell, and the sensor is exposed out of the sensor shell and is in a working state;
the test paper comprises test paper tapes, wherein the test paper tapes are provided with rectangular test papers for testing at equal intervals along the length direction of the test paper tapes, a plurality of placement holes are formed in two sides of the test paper tapes, and a small strip-shaped metal sheet is arranged in the middle of the interval distance of each test paper tape;
the test paper test analysis system comprises a hard pipe which moves back and forth, an adjustable feeding door, a soil test paper configuration system and a stroke sensing device;
The soil test paper configuration system comprises a soil test paper extraction robot, a test paper bin, a test paper placement wheel positioned in a hard pipe, a test paper pressing-in roller, a test paper pressing-in piece, a test paper guide wheel, a test paper collection wheel and a test paper driving motor; and placing the extracted test paper roll on a test paper placement wheel;
A test paper transmission mechanism is arranged below the test paper placement wheel, and the test paper transmission mechanism performs the operation of transmitting, replacing and withdrawing test paper rolls;
The soil test paper extraction robot comprises a robot control part and a test paper extraction mechanical arm, wherein the test paper extraction mechanical arm comprises three arm sections, a universal joint is arranged between the ends of each arm end, a test paper extraction mechanical arm capable of grabbing test paper is arranged at the universal joint part of the third arm end, and according to a set program, the test paper extraction mechanical arm can extract required test paper rolls from different grids of a test paper bin;
the data processing and transmission assembly further comprises: the camera, the illuminant, the control terminal and the communication equipment;
The staff can program and control the industrial personal computer in later period through the corresponding control terminal; meanwhile, the control terminal is utilized to refer to the corresponding analysis result, and the adjustment liquid distribution component is controlled according to the obtained result;
the soil turning assembly turns and loosens soil; the device comprises a hydraulic cylinder, a piston and a plough, wherein the plough can be controlled by an industrial control computer so as to turn and loosen the soil behind the transportation equipment;
The soil conditioner applying system includes several kinds of soil conditioner pot, electrically controlled metering valve, soil mixed nutrient solution box and liquid feeding pump to send the output conditioner to the nozzle for spraying the conditioner to soil while or after the plough turns soil.
2. The saline-alkali soil remediation system of claim 1, wherein the test paper transport mechanism includes a drive wheel at both ends and a test paper transport belt wound around the drive wheel, both sides of an outer surface of the test paper transport belt are provided with protrusions at equal intervals in a length direction, the protrusions corresponding to placement holes of the test paper transport belt, when the test paper roll is placed on the test paper placement wheel, an end portion thereof naturally drops onto the transport belt, a magnet material is provided at an inner side of the transport belt, the magnet material attracts a metal sheet located on the test paper transport belt, thereby causing the test paper transport belt to be distributed along the transport belt, at a position near the natural drop of the test paper belt, in an advancing direction of the test paper transport belt, a pair of test paper pressing rollers capable of pressing the test paper transport belt attracted by the magnet material down so that the protrusions extend onto placement holes at both sides of the test paper transport belt, after one week of the test paper transport belt, a test paper peeling device is provided at a side of the transport belt away from the placement wheel, the test paper peeling device includes a pair of tape peeling rollers provided at a rear of the transport belt, a tape peeling device is provided at a lower side of the tape lifting device, a pair of the metal sheet is detached from the paper peeling device is provided at a lower side of the tape lifting device, and a tape lifting device is provided at a side of the tape lifting device is closely opposite to the test paper transport belt, and a tape is provided at a tape lifting device is closely opposite to a tape lifting device.
3. The saline-alkali soil remediation system of claim 2, wherein a first cutting device is arranged below the test paper placement wheel and between the test paper placement wheel and the test paper transmission belt, and when the test paper roll needs to be replaced, the action of the test paper transmission wheel is stopped first, the first cutting device acts to cut off the dropped test paper belt, and the test paper roll is extracted by a mechanical arm and placed into a corresponding grid of the test paper bin; then the test paper driving wheel continues to act, the test paper belt left on the test paper conveying belt is rotated to the position of the test paper belt stripper, and the test paper belt stripper strips off the conveying belt;
the stroke sensing device is arranged on the opposite side of the test paper placement wheel.
4. A method of remediating saline-alkali soil using the saline-alkali soil remediation system of claim 3, the method comprising the steps of:
step one: transporting the whole system to a region to be treated by using movable transportation equipment;
Step two: placing the supporting device on the ground of the saline-alkali soil to support the vehicle body and keep the vehicle body stable;
Step three: the control terminal is utilized to send out a corresponding soil shoveling instruction to the soil shoveling assembly so as to adjust the angle of the bucket for shoveling soil, and shoveling corresponding soil and lifting the shoveled soil to a preset height;
Step four: according to a preset program, the soil collection robot enables the soil collection robot to move at a position slightly higher than the preset height, then grabs soil blocks of the saline-alkali soil from the bucket, conveys the soil blocks to the conveying device, places the soil blocks on the conveying belt at the preset height, drives the conveying belt to move according to the instruction, and carries the soil blocks to reach an inlet of the stirring and scattering device and enter the accommodating cavity from the inlet;
step five: when a certain amount of soil blocks enter the accommodating cavity, the cover plate of the accommodating cavity is closed, then a plurality of sections of stirring blades are started, the plurality of sections of stirring blades comprise a plurality of stirring rotation modes, a certain amount of soil blocks can be sufficiently stirred and scattered, then the sufficiently scattered soil is filtered by the primary filtering device, then the blocking valve is opened, and the scattered soil enters the sensor channel under the action of driving force;
step six: opening a corresponding sensor assembly or assemblies, performing corresponding detection, and keeping other unused sensor assemblies in an unused protected state;
step seven: the sensors in the sensor assembly that are already on will detect the soil that is broken up through;
Step eight: when further detection is needed, the scattered soil is driven to enter a collecting dish and is further filtered by a secondary filtering device to form a certain amount of soil raw material, then the soil raw material can be pumped out of the collecting dish by a jet pump and is pumped to a jet nozzle, the soil raw material is emitted by the jet nozzle to form soil flow, and the emitted soil flow enters a measuring pipeline;
Step nine: the soil test paper extraction robot is used for driving the test paper extraction mechanical arm to extract required test paper from different grids of the test paper bin, the extracted test paper roll is placed on the test paper placement wheel, and after the test paper roll is placed, the transmission wheel is started, so that the test paper belt on the test paper roll is flattened and smoothed on the test paper pressing roller and the test paper pressing piece;
Step ten: when the emitted soil flow enters the measuring pipeline, driving the hard pipe to enter the measuring pipeline, and opening the adjustable feeding door, so that the soil flow in the measuring pipeline can enter the hard pipe through the adjustable feeding door to react with test paper of the test paper belt;
Step eleven: the test paper moves along with the test paper belt and follows the test paper driving belt, when the test paper belt moves to a preset position X, the luminous body emits light, meanwhile, the camera shoots the result obtained by the corresponding test paper, then the shot result is transmitted to the industrial personal computer, and the industrial personal computer keeps the shot result at the preset storage position.
5. The method of claim 4, further comprising the step of stripping the test strip, wherein after the test strip has traveled one revolution along the test strip conveyor, on a side of the conveyor remote from the test strip placement wheel, a test strip stripping means is provided, the test strip stripping means comprising a pair of stripping rollers, a test strip stripper is provided behind the stripping rollers, on the stripping side of the lower test strip stripping rollers, a strong magnet means is provided which can provide a magnetic force to the sheet metal on the test strip to lift the test strip, so that the test strip is slightly lifted relative to the test strip conveyor, and a test strip stripper is provided immediately behind the stripping roller exit, which is in close proximity to the test strip conveyor, whereby, due to the previous slight lift, when the test strip has traveled to the location of the test strip stripper, the test strip will drop off the test strip conveyor and thus drop directly below the test strip stripper, a second cut-off means is provided to cut off the dropped test strip, which will drop into the scrap bin.
6. The method of claim 5, further comprising the step of replacing the test paper roll: firstly stopping the action of a test paper driving wheel, enabling the first cutting device to act, cutting off the dropped test paper belt, extracting test paper rolls by a mechanical arm, and placing the test paper rolls into corresponding shelves of a test paper bin; and then the test paper driving wheel continues to act, the test paper belt left on the test paper conveying belt is rotated to the position of the test paper belt stripper, and the test paper belt stripper strips off the conveying belt, so that the test paper belt is not placed on the test paper conveying belt, and then the required test paper rolls can be extracted from different grids of the test paper storage bin again by the mechanical arm to carry out the next detection process.
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