Power conversion patrol inspection soil detection robot

Abstract

The invention relates to the field of soil monitoring equipment, and discloses a battery replacement patrol soil detection robot which comprises a walking mechanism, a soil sensor, a patrol camera, a battery replacement mechanism, a signal radar and a shell cover, an unmanned control assembly is arranged in the shell cover, and the battery replacement mechanism comprises a mounting bottom plate. First sliding rails are symmetrically and fixedly connected to the top face of the mounting bottom plate, a plurality of sliding blocks are slidably clamped into the first sliding rails, and a battery pack frame is fixedly connected to the top ends of the sliding blocks. According to the invention, the battery pack framework 44 is drawn out from the interior of the mounting inner bin 11, the energy supply storage battery 45 is replaced, the battery pack of the inspection robot is only replaced without being charged, the battery replacement time is shortened to 1-5 min, the waiting time of the battery replacement inspection robot in the charging process is effectively shortened, and the working time of the battery replacement inspection robot is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of soil monitoring equipment, and in particular to a battery-swapping patrol soil monitoring robot. Background Art

[0002] In order to quickly and efficiently monitor the soil quality in large fields and reduce labor costs, surveyors use intelligent robots to conduct comprehensive unmanned inspections of the fields, thereby improving the efficiency of field soil monitoring and reducing the workload of field surveyors.

[0003] For example, the Chinese patent number is CN211278425U, which is an intelligent weeding soil monitoring robot, including a driver body, a controller body, a grinder, an arm, a swivel seat, a servo, an upper electric push rod, a support plate, a linear rail, a slider, a detection hole, a soil monitor, a lower electric push rod and a probe. The controller body is fixedly installed on the top surface of the driver body, grinders are symmetrically arranged on both sides of the controller body, support plates are fixed on the surface of the grinder, linear rails are symmetrically fixed on the sides of the controller body, and the support plates are slidably connected to the linear rails through sliders, and upper electric push rods are symmetrically fixed on both sides of the controller body on the top surface of the driver body.

[0004] The batteries of existing soil monitoring robots are all installed inside the cavity of the inspection robot, and the batteries are fixed inside the robot and cannot be replaced freely. If the battery capacity decays and must be replaced by professional technicians, when the robot needs to be charged, it must return to the charging area and stop the inspection and soil testing work at the same time, and switch to the "standby" charging state, resulting in the existing inspection and soil testing robots having a long standby time and a short working time. Summary of the invention

[0005] The purpose of the present invention is to provide a battery-swap patrol and soil inspection robot to solve the problem of the existing soil monitoring robots proposed in the above background technology that the batteries are all installed inside the cavity of the patrol robot. When the robot needs to be charged, it must return to the charging area and stop the patrol and soil inspection work at the same time, and switch to the "standby" charging state, which causes the existing patrol and soil inspection robots to have a long standby time.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a battery-swapping patrol soil inspection robot, comprising a walking mechanism, a soil sensor, a patrol camera, a battery replacement mechanism, a signal radar and a shell cover, wherein an unmanned control component is arranged inside the shell cover, the battery replacement mechanism comprises a mounting base plate, the top surface of the mounting base plate is symmetrically fixedly connected with a No. 1 slide rail, the inner sliding card of the No. 1 slide rail is connected with a plurality of sliders, the top ends of the plurality of sliders are fixedly connected with a battery pack frame, the inner movable card of the battery pack frame is connected with a power supply battery, the upper end of the power supply battery is symmetrically provided with a locking mechanism, and the two locking mechanisms are respectively fixedly mounted at the two ends of the inner side of the battery pack frame, the locking mechanism comprises a positioning cover plate, the top surface of the positioning cover plate is symmetrically threaded with a locker, the locker comprises a threaded shaft, the top end of the threaded shaft is fixedly connected with a knob, the other end of the threaded shaft is fixedly connected with a pressure plate, one side of the battery pack frame is fixedly connected with a pull rod, one side of the mounting base plate is fixedly connected with a protective side plate, and one side of the protective side plate is provided with a battery outlet.

[0007] Preferably, the unmanned control component includes an industrial computer, a CAN box, a router and a signal radar adapter, a laser radar, a laser radar adapter, a router and a GPS receiver, the output end of the GPS receiver is electrically connected to the input end of the signal radar, the output end of the signal radar is electrically connected to the input end of the signal radar adapter, the output end of the signal radar adapter is electrically connected to the input end of the industrial computer, the output end of the laser radar is electrically connected to the input end of the laser radar adapter, the output end of the laser radar adapter is electrically connected to the input end of the router, the output end of the router is electrically connected to the input end of the industrial computer, the output end of the CAN box is electrically connected to the input end of the industrial computer, and the CAN box is used for the underlying communication of the patrol and soil inspection robot.

[0008] Preferably, the output end of the soil sensor is electrically connected to the input end of the industrial computer, and the soil sensor is used to obtain soil data information and transmit the obtained data to the inside of the industrial computer.

[0009] Preferably, the output end of the patrol camera is electrically connected to the input end of the industrial computer, and the patrol camera inputs the acquired environmental information into the industrial computer for environmental data analysis.

[0010] Preferably, the walking mechanism includes an inner warehouse installation, a top cover installation and a crawler chassis, the inner warehouse installation is fixedly installed on the top surface of the crawler chassis, the top cover installation is fixedly installed on the top surface of the inner warehouse installation, and the base plate installation is fixedly installed inside the inner warehouse installation.

[0011] Preferably, a bumper is fixedly mounted on one end of the crawler chassis.

[0012] Preferably, a No. 2 slide rail is fixedly mounted on one side of the protective side plate, a mounting bracket is slidably engaged on the outer side of the No. 2 slide rail, and one side of the mounting bracket is fixedly connected to the soil sensor.

[0013] Preferably, one side of a plurality of the sliding blocks is symmetrically rotatably clamped with rollers, and two of the rollers are rotatably clamped inside the first slide rail.

[0014] Preferably, a limit strip is symmetrically fixedly connected to the top surface of the No. 1 slide rail, and the limit strip is arranged on the top surface of the slide block.

[0015] Preferably, a partition bar is fixedly connected to the interior of the No. 1 slide rail, and the partition bar is arranged on two rollers.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, the battery pack frame 44 is pulled out from the interior of the installation compartment 11, and the energy supply battery 45 is replaced. The battery pack of the inspection robot is only replaced but not charged, and the battery replacement time is shortened to 1 to 5 minutes, which effectively shortens the waiting time of the battery replacement inspection robot due to the charging process and increases its working time.

[0017] 2. In the present invention, the surrounding point cloud information is obtained by the industrial computer, the current grid map is updated in real time, and the obstacle avoidance information is obtained. The A* algorithm can be further used for global path planning based on the grid map. The industrial computer interpolates between turning points according to the data of the signal radar to complete the path planning to reach the collection block. After arriving at the collection point, the collection density is adaptively adjusted according to the block size, the path is planned, and the collection point information is uploaded.

[0018] 3. In the present invention, when the slider slides inside the No. 1 slide rail, the roller slides inside the No. 1 slide rail, reducing the friction force on the slider. At the same time, the partition bar cooperates with the No. 1 slide rail to clamp the slider inside the No. 1 slide rail to prevent the slider from falling off from the inside of the No. 1 slide rail. The main function of the partition bar is to separate the two rollers and limit the rollers. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of a battery-swapping patrol soil inspection robot according to the present invention; Figure 2 It is a three-dimensional structural schematic diagram of a walking mechanism in a battery-swapping patrol soil inspection robot of the present invention; Figure 3 This is a schematic diagram of the internal structure of a walking mechanism in a battery-swapping patrol soil inspection robot of the present invention; Figure 4 This is a schematic diagram of the structure of a battery replacement mechanism in a battery replacement patrol soil inspection robot of the present invention; Figure 5 This is a schematic diagram of the three-dimensional structure of a base plate installed in a battery-swapping patrol soil inspection robot of the present invention; Figure 6 for Figure 5 A local enlarged schematic diagram of the middle A; Figure 7 A schematic diagram of the three-dimensional structure of a battery pack frame in a battery-swapping patrol soil inspection robot according to the present invention; Figure 8 The present invention is a schematic diagram of the three-dimensional structure of a slider in a battery-swapping soil inspection robot.

[0020] In the figure: 1. walking mechanism; 11. installing inner compartment; 12. installing top cover; 13. crawler chassis; 131. bumper; 2. soil sensor; 3. patrol camera; 4. battery replacement mechanism; 41. installing bottom plate; 42. No. 1 slide rail; 421. limit strip; 422. partition strip; 43. slider; 431. roller; 44. battery pack frame; 45. energy supply battery; 46. pull rod; 47. protective side panel; 471. battery outlet; 472. No. 2 slide rail; 473. mounting frame; 5. signal radar; 6. shell cover; 7. locking mechanism; 71. positioning cover plate; 72. locker; 721. threaded shaft; 722. knob; 723. pressure plate. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Embodiment 1 Reference Figure 1-7As shown: a battery-swapping patrol soil inspection robot, including a walking mechanism 1, a soil sensor 2, a patrol camera 3, a battery replacement mechanism 4, a signal radar 5 and a shell cover 6, the shell cover 6 is provided with an unmanned control component, the battery replacement mechanism 4 includes a mounting base plate 41, the top surface of the mounting base plate 41 is symmetrically fixedly connected with a No. 1 slide rail 42, the interior of the No. 1 slide rail 42 is slidably connected with a plurality of sliders 43, the tops of the plurality of sliders 43 are fixedly connected with a battery pack frame 44, the interior of the battery pack frame 44 is movably connected with an energy supply battery 45, the upper end of the energy supply battery 45 is symmetrically provided with a locking mechanism 7, and the two locking mechanisms 7 are respectively fixed The locking mechanism 7 is fixedly installed at both ends of the inner side of the battery pack frame 44, and includes a positioning cover plate 71. The top surface of the positioning cover plate 71 is symmetrically threaded with a locker 72. The locker 72 includes a threaded shaft 721. The top of the threaded shaft 721 is fixedly connected with a knob 722. The other end of the threaded shaft 721 is fixedly connected with a pressure plate 723. One side of the battery pack frame 44 is fixedly connected with a pull rod 46. One side of the mounting base plate 41 is fixedly connected with a protective side plate 47. One side of the protective side plate 47 is provided with a battery outlet 471. The unmanned control components include an industrial computer, a CAN box, a router and a signal radar adapter, a laser radar, a laser radar adapter, The router and the GPS receiver, the output end of the GPS receiver is electrically connected to the input end of the signal radar 5, the output end of the signal radar 5 is electrically connected to the input end of the signal radar adapter, the output end of the signal radar adapter is electrically connected to the input end of the industrial computer, the output end of the laser radar is electrically connected to the input end of the laser radar adapter, the output end of the laser radar adapter is electrically connected to the input end of the router, the output end of the router is electrically connected to the input end of the industrial computer, the output end of the CAN box is electrically connected to the input end of the industrial computer, the CAN box is used for the underlying communication of the patrol and detection soil robot, the output end of the soil sensor 2 is electrically connected to the input end of the industrial computer The end is electrically connected, the soil sensor 2 is used to obtain soil data information and transmit the obtained data to the inside of the industrial computer, the output end of the patrol camera 3 is electrically connected to the input end of the industrial computer, the patrol camera 3 inputs the obtained environmental information into the inside of the industrial computer for environmental data analysis, the walking mechanism 1 includes an inner warehouse 11, a top cover 12 and a crawler chassis 13, the inner warehouse 11 is fixedly installed on the top surface of the crawler chassis 13, the top cover 12 is fixedly installed on the top surface of the inner warehouse 11, the bottom plate 41 is fixedly installed inside the inner warehouse 11, and a bumper 131 is fixedly installed at one end of the crawler chassis 13.

[0023] In this embodiment, when it is necessary to replace the power supply battery 45 inside the battery replacement mechanism 4, the user grasps the pull rod 46 to drive the battery pack frame 44 to be pulled out from the inside of the installation inner compartment 11, and the slider 43 fixedly installed at the bottom of the battery pack frame 44 slides inside the No. 1 slide rail 42. The user rotates the locker 72 to release the positioning of the power supply battery 45 by the locker 72, replaces the slower power supply battery 45, and then rotates the locker 72 to lock and position the power supply battery 45, completing the entire power replacement operation process. The battery pack of the inspection robot is only replaced but not charged, and the power replacement time is shortened to 1 to 5 minutes, which effectively shortens the waiting time of the battery replacement inspection robot due to the charging process and increases its working time. The function of the bumper 131 is that when the walking mechanism 1 is subjected to impact force, the bumper 131 can reduce the impact force of external objects on the walking mechanism 1, thereby protecting the walking mechanism 1.

[0024] Embodiment 2 Figure 1-7 As shown, a battery-swapping patrol soil inspection robot includes a walking mechanism 1, a soil sensor 2, a patrol camera 3, a battery replacement mechanism 4, a signal radar 5 and a shell cover 6. An unmanned control component is arranged inside the shell cover 6. The unmanned control component includes an industrial computer, a CAN box, a router and a signal radar adapter, a laser radar, a laser radar adapter, a router and a GPS receiver. The output end of the GPS receiver is electrically connected to the input end of the signal radar 5, the output end of the signal radar 5 is electrically connected to the input end of the signal radar adapter, the output end of the signal radar adapter is electrically connected to the input end of the industrial computer, and the output end of the laser radar is electrically connected to the laser The input end of the optical radar adapter is electrically connected, the output end of the laser radar adapter is electrically connected to the input end of the router, the output end of the router is electrically connected to the input end of the industrial computer, the output end of the CAN box is electrically connected to the input end of the industrial computer, the CAN box is used for the bottom-level communication of the patrol and soil detection robot, the output end of the soil sensor 2 is electrically connected to the input end of the industrial computer, the soil sensor 2 is used to obtain soil data information and transmit the acquired data to the inside of the industrial computer, the output end of the patrol camera 3 is electrically connected to the input end of the industrial computer, and the patrol camera 3 inputs the acquired environmental information into the inside of the industrial computer for environmental data analysis.

[0025] In this embodiment, the laser radar is used to obtain surrounding point cloud information, such as surrounding obstacle information, etc., and the information is input into the router through the laser radar adapter, and then transmitted to the industrial computer by the router. The industrial computer can update the current grid map in real time based on the acquired surrounding point cloud information, obtain obstacle avoidance information, and further use the A* algorithm to perform global path planning based on the grid map. The industrial computer interpolates between turning points according to the data of the signal radar 5 to complete the path planning to reach the collection block. After arriving at the collection point, the collection density is adaptively adjusted according to the block size, the path is planned, and the collection point information is uploaded. In addition, the battery-swapping patrol soil inspection robot can use laser radar for obstacle detection. When it is detected that there is an obstacle in front, the local obstacle avoidance path planning is performed according to the TEB algorithm through the laser radar data, and tracking is performed, and the obstacle avoidance path is adjusted in real time. The soil sensor 2 is directly connected to the industrial computer. In a specific implementation, a plurality of soil sensors 2 of different types can be arranged to obtain soil data information, such as temperature, humidity, conductivity, etc., and transmit it to the interior of the industrial computer. In addition, the shell cover 6 plays a protective role, extending the service life of the internal equipment and preventing damage caused by external environmental pollution.

[0026] Embodiment 3 according to Figure 1-8As shown, a battery-swapping patrol soil inspection robot includes a walking mechanism 1, a soil sensor 2, a patrol camera 3, a battery replacement mechanism 4, a signal radar 5 and a shell cover 6. The shell cover 6 is provided with an unmanned control component. The battery replacement mechanism 4 includes a mounting base plate 41. The top surface of the mounting base plate 41 is symmetrically fixedly connected to a No. 1 slide rail 42. The No. 1 slide rail 42 is internally slidably connected to a plurality of sliders 43. The top ends of the plurality of sliders 43 are fixedly connected to a battery pack frame 44. The battery pack frame 44 is internally movably connected to a power supply battery 45. The upper ends of the power supply batteries 45 are symmetrically provided with locking mechanisms 7. The two locking mechanisms 7 are respectively fixedly installed at the two ends of the inner side of the battery pack frame 44. The locking mechanism 7 includes a positioning cover plate 71. The top surface of the positioning cover plate 71 is symmetrically threadedly connected to a locker 72. The locker 72 includes a threaded shaft 721. The threaded shaft 721 A knob 722 is fixedly connected to the top of the slider 43, a pressure plate 723 is fixedly connected to the other end of the threaded shaft 721, a pull rod 46 is fixedly connected to one side of the battery pack frame 44, a protective side plate 47 is fixedly connected to one side of the mounting base 41, a battery outlet 471 is provided on one side of the protective side plate 47, a No. 2 slide rail 472 is fixedly installed on one side of the protective side plate 47, a mounting frame 473 is slidably connected to the outer side of the No. 2 slide rail 472, one side of the mounting frame 473 is fixedly connected to the soil sensor 2, a plurality of sliders 43 are symmetrically rotatably connected to rollers 431, two rollers 431 are rotatably connected to the inside of the No. 1 slide rail 42, the top surface of the No. 1 slide rail 42 is symmetrically fixedly connected to the limit strip 421, the limit strip 421 is arranged on the top surface of the slider 43, a partition strip 422 is fixedly connected to the inside of the No. 1 slide rail 42, and the partition strip 422 is arranged on two rollers 431.

[0027] In this embodiment, before removing the energy supply battery 45, the user slides the mounting bracket 473 to slide the soil sensor 2 out from one side of the battery outlet 471, and then pulls the energy supply battery 45 out from the battery outlet 471 to prevent the soil sensor 2 from blocking the energy supply battery 45 from sliding out of the battery outlet 471. When the slider 43 slides inside the No. 1 slide rail 42, the roller 431 slides inside the No. 1 slide rail 42 to reduce the friction force on the slider 43. At the same time, the partition bar 422 cooperates with the No. 1 slide rail 42 to clamp the slider 43 inside the No. 1 slide rail 42 to prevent the slider 43 from falling off from the inside of the No. 1 slide rail 42. The main function of the partition bar 422 is to separate the two rollers 431 and limit the roller 431.

[0028] The usage and working principle of this device: before removing the energy supply battery 45, the user slides the mounting bracket 473, slides the soil sensor 2 out from one side of the battery outlet 471, and then pulls the energy supply battery 45 out from the battery outlet 471 to prevent the soil sensor 2 from blocking the energy supply battery 45 from sliding out of the battery outlet 471. The user grasps the pull rod 46 to drive the battery pack frame 44 to be pulled out from the inside of the installation inner compartment 11, and the slider 43 fixed at the bottom of the battery pack frame 44 slides inside the No. 1 slide rail 42. The user rotates the lock 72 to release the positioning of the energy supply battery 45 by the lock 72, replaces the slower energy supply battery 45, and then rotates the lock 72 to lock and position the energy supply battery 45, completing the entire battery replacement operation process. When the battery replacement patrol soil inspection robot performs soil inspection, the laser radar is used to obtain the surrounding point cloud Information, such as surrounding obstacle information, etc., is input into the router through the laser radar adapter, and then transmitted to the industrial computer by the router. The industrial computer can update the current grid map in real time based on the acquired surrounding point cloud information, obtain obstacle avoidance information, and further use the A* algorithm to perform global path planning based on the grid map. The industrial computer interpolates between inflection points according to the data of the signal radar 5 to complete the path planning to reach the collection block. After arriving at the collection point, the collection density is adaptively adjusted according to the block size, the path is planned, and the collection point information is uploaded. The battery-swap patrol soil inspection robot can use laser radar for obstacle detection. When it is obtained that there is an obstacle in front, the local obstacle avoidance path planning is performed according to the TEB algorithm through the laser radar data, and the obstacle avoidance path is tracked and adjusted in real time. The soil sensor 2 is directly connected to the industrial computer. In the specific implementation, multiple different types of soil sensors 2 can be arranged to obtain soil data information, such as temperature, humidity, conductivity, etc., and transmit them to the inside of the industrial computer.

[0029] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A battery replacement soil inspection robot, characterized in that: The invention comprises a walking mechanism (1), a soil sensor (2), a patrol camera (3), a battery replacement mechanism (4), a signal radar (5) and a housing cover (6), wherein an unmanned control component is arranged inside the housing cover (6), and the battery replacement mechanism (4) comprises a mounting base plate (41), wherein a first slide rail (42) is symmetrically fixedly connected to the top surface of the mounting base plate (41), wherein a plurality of sliders (43) are slidably engaged inside the first slide rail (42), wherein the top ends of the plurality of sliders (43) are fixedly engaged with a battery pack frame (44), wherein a power supply battery (45) is movably engaged inside the battery pack frame (44), and a locking mechanism (45) is symmetrically arranged on the upper end of the power supply battery (45). 7), the two locking mechanisms (7) are respectively fixedly mounted at the two ends of the inner side of the battery pack frame (44), the locking mechanism (7) comprises a positioning cover plate (71), the top surface of the positioning cover plate (71) is symmetrically threadedly connected to a locking device (72), the locking device (72) comprises a threaded shaft (721), the top end of the threaded shaft (721) is fixedly connected to a knob (722), the other end of the threaded shaft (721) is fixedly connected to a pressure plate (723), one side of the battery pack frame (44) is fixedly connected to a pull rod (46), one side of the mounting base plate (41) is fixedly connected to a protective side plate (47), and one side of the protective side plate (47) is provided with a battery outlet (471).

2. A battery-swapping soil inspection robot according to claim 1, characterized in that: The unmanned control component comprises an industrial computer, a CAN box, a router and a signal radar adapter, a laser radar, a laser radar adapter, a router and a GPS receiver, wherein the output end of the GPS receiver is electrically connected to the input end of the signal radar (5), the output end of the signal radar (5) is electrically connected to the input end of the signal radar adapter, the output end of the signal radar adapter is electrically connected to the input end of the industrial computer, the output end of the laser radar is electrically connected to the input end of the laser radar adapter, the output end of the laser radar adapter is electrically connected to the input end of the router, the output end of the router is electrically connected to the input end of the industrial computer, the output end of the CAN box is electrically connected to the input end of the industrial computer, and the CAN box is used for the bottom layer communication of the patrol inspection robot.

3. A battery-swapping soil inspection robot according to claim 2, characterized in that: The output end of the soil sensor (2) is electrically connected to the input end of the industrial control computer; the soil sensor (2) is used to obtain soil data information and transmit the obtained data to the inside of the industrial control computer.

4. The battery-swapping soil inspection robot according to claim 2, characterized in that: The output end of the patrol camera (3) is electrically connected to the input end of the industrial computer, and the patrol camera (3) inputs the acquired environmental information into the industrial computer for environmental data analysis.

5. The battery-swapping soil inspection robot according to claim 1, characterized in that: The walking mechanism (1) comprises an inner mounting bin (11), an upper mounting cover (12) and a crawler chassis (13); the inner mounting bin (11) is fixedly mounted on the top surface of the crawler chassis (13); the upper mounting cover (12) is fixedly mounted on the top surface of the inner mounting bin (11); and the mounting base plate (41) is fixedly mounted inside the inner mounting bin (11).

6. A battery-swapping soil inspection robot according to claim 5, characterized in that: A bumper (131) is fixedly mounted on one end of the crawler chassis (13).

7. The battery-swapping soil inspection robot according to claim 1, characterized in that: A second slide rail (472) is fixedly mounted on one side of the protective side plate (47), a mounting frame (473) is slidably engaged on the outer side of the second slide rail (472), and one side of the mounting frame (473) is fixedly connected to the soil sensor (2).

8. The battery-swapping soil inspection robot according to claim 1, characterized in that: One side of a plurality of the slide blocks (43) is symmetrically rotatably clamped with rollers (431), and two of the rollers (431) are rotatably clamped inside the first slide rail (42).

9. The battery-swapping soil inspection robot according to claim 8, characterized in that: The top surface of the first slide rail (42) is symmetrically fixedly connected to a limit strip (421), and the limit strip (421) is arranged on the top surface of the slide block (43).

10. The battery-swapping soil inspection robot according to claim 9, characterized in that: A partition bar (422) is fixedly connected inside the first slide rail (42), and the partition bar (422) is arranged on two rollers (431).

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