A pipeline robot system for monitoring soil water content distribution
A pipeline robot system for monitoring soil water content distribution
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DOI：
10.1016/j.jhydrol.2023.129526
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发表时间：
2023-04
影响因子：
6.4
通讯作者：
Xiao Yan;Xiaobo Song;Yunbo Wang;Wen Wang;Qiang Cheng;Xiaolin Yang;Taisheng Du
中科院分区：
文献类型：
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作者：
Xiao Yan;Xiaobo Song;Yunbo Wang;Wen Wang;Qiang Cheng;Xiaolin Yang;Taisheng Du
监测土壤水分分布对于更好地了解土壤水分动态和准确的水文模拟至关重要。针对现有管道水埋量监测平台测量距离不足、定位精度不高的技术问题，设计了一种监测管道水埋量分布的管道机器人系统。该系统由管道机器人、固定基站和PVC管道组成。该机器人可以安装在直径为55 mm的PVC管中，以水平、垂直或与水平方向成任何角度测量SWC分布。基站用作数据收集器，并且还分别为机器人充电和定位提供功率和距离信息。对管道机器人系统的性能进行了一系列测试。通过田间试验，研究了3个样地的土壤水分入渗和作物根区土壤含水量的水平分布。结果表明，该介电传感器的最小灵敏体积半径约为2.25cm。机器人移动的测量性能稳定，在水平和垂直方向上的介电传感器输出的响应不同的介电材料是显着的。利用激光测距传感器对编码器的位置误差进行校正，有效地将编码器的累积误差从4.3%降低到1.2%。在校准实验期间测得的SWC与通过干燥方法获得的SWC高度相关（R2= 0.990和RMSE = 0.0181 cm3cm−3）。田间试验结果表明，该系统可用于监测3个试验小区土壤水分垂直入渗和作物根区土壤含水量的水平分布，表明该系统可用于田间土壤含水量的长期监测。
Monitoring soil water content (SWC) distribution is crucial for better understanding soil water dynamics and accurate hydrological modeling. In this study, a pipeline robot system for monitoring SWC distribution is designed to improve the current technical problems of insufficient measurement distance and low positioning accuracy of the existing SWC monitoring platform. The system consists of a pipeline robot, a fixed base station and a PVC pipe. The robot could fit into a 55-mm-diameter PVC pipe to measure SWC distribution horizontally, vertically, or at any angle to the horizontal direction. The base station serves as a data collector and also supplies power and distance information for recharging and positioning the robot, respectively. A series of tests for evaluating the performance of the pipeline robot system were conducted. Field experiments were also conducted to monitor soil water infiltration and horizontal distribution of SWC of crop root zone at three plots. The results showed that the minimum radius of volume of sensitivity of the dielectric sensor is about 2.25 cm. The robot for mobile measurement performed stable both in horizontal and vertical directions and the response of the dielectric sensor output to different dielectric materials is significant. The accumulated error of the encoder is effectively decreased from 4.3% to 1.2% by correcting the position error using the laser ranging sensor. The measured SWCs during the calibration experiment were highly correlated with those obtained by the drying method (R2= 0.990 and RMSE = 0.0181 cm3cm−3). The results of the field experiments demonstrated that the system is feasible for monitoring soil water infiltration in the vertical direction and SWC distributions of crop root zone horizontally at the three plots, indicating that the potential application of the developed system for long-term monitoring of SWC distribution under field conditions in the near future.