Soil in-situ automatic detection robot and soil in-situ detection method

Abstract

The invention provides a soil in-situ automatic detection robot and a soil in-situ detection method. The soil in-situ automatic detection robot comprises a robot chassis as well as a soil ultrasonic-assisted drilling system, a soil in-situ detection system, a transverse moving part, a positioning navigation system and an industrial personal computer which are mounted on the robot chassis. The robot chassis is provided with two pairs of front and back differential wheels with independently distributed torques; the soil ultrasonic-assisted drilling system is provided with an ultrasonic-assisted drilling mechanical arm, and the rotating drilling mechanical arm overlaps ultrasonic mechanical vibration to conduct soil ultrasonic drilling operation on soil. The soil in-situ detection system is provided with a lifter, a soil in-situ detection mechanical arm, a laser-induced breakdown spectroscopy quantitative analysis system and a plurality of soil sensors; the soil ultrasonic auxiliary drilling system and the soil in-situ detection system are both installed on the sliding block. The positioning navigation system comprises a navigation positioning system and an obstacle avoidance system. According to the robot, the laser-induced breakdown spectroscopy system and multiple soil sensors are combined, and information acquisition of soil of different depths is achieved.

Description

Technical Field

[0001] The invention relates to soil in-situ detection, and in particular to a soil in-situ automatic detection robot and a soil in-situ detection method. Background Art

[0002] At present, the farmland soil detection and analysis system has the problem of single function. It needs to be detected by multiple soil sensors separately, and the detection of soil nutrients requires taking soil and sending it to the laboratory for analysis. This process is not only time-consuming and inefficient, but also seriously hinders the work efficiency of agricultural technicians, and also has an adverse impact on the popularization and promotion of smart agriculture. Although there are many soil detection equipment on the market, such as soil moisture detectors, desktop soil analyzers, and equipment using remote sensing and drone technology, there is a lack of effective integration and application between these equipment, resulting in their potential not being fully utilized. Existing soil nutrient detection devices, such as soil breaking and soil taking devices, usually use hydraulic systems. These systems are often large and bulky, and are easy to compact the soil during field operations, and the leakage of hydraulic oil may also cause soil pollution. In addition, after taking the soil, professionals are required to analyze it in the laboratory, which not only wastes a lot of human resources, but also consumes a lot of material and financial resources. Therefore, it is extremely important to study and develop a soil in-situ automatic detection robot that is light in weight, good in practicality, highly intelligent, and can integrate multi-sensor data in the fields of soil survey and agricultural production. Summary of the invention

[0003] The present invention provides a soil in-situ automatic detection robot, which comprises a robot chassis and a soil ultrasonic assisted drilling system, a soil in-situ detection system, a traverse component, a positioning navigation system, and an industrial control computer installed on the robot chassis;

[0004] The robot chassis is provided with a frame and a drive system, and the drive system is provided with two pairs of front and rear differential wheels for separate torque distribution;

[0005] The soil ultrasonic assisted drilling system is provided with an ultrasonic assisted drilling mechanical arm, and the ultrasonic assisted drilling mechanical arm is provided with an ultrasonic transducer and a drilling mechanical arm, the ultrasonic transducer converts an electrical signal into an ultrasonic mechanical vibration and applies it to the drilling mechanical arm, and the drilling mechanical arm rotates downward and superimposes the ultrasonic mechanical vibration to perform a soil ultrasonic drilling operation on the soil to form a drilled hole;

[0006] The soil in-situ detection system is provided with an elevator, a soil in-situ detection mechanical arm, a laser induced breakdown spectroscopy quantitative analysis system and a variety of soil sensors. The soil in-situ detection mechanical arm is installed on the elevator, and the elevator drives the soil in-situ detection mechanical arm to go down into the drilled hole. A variety of soil sensors are installed on the soil in-situ detection mechanical arm. The laser induced breakdown spectroscopy quantitative analysis system includes a laser transmitter, a receiver and an analyzer. The laser transmitter irradiates a laser beam onto the surface of the soil sample in the drilled hole to form plasma and emit a characteristic spectrum curve of the element. The receiver is used to collect spectrum data and send it to the analyzer.

[0007] The transverse moving component is provided with a slide rail, on which a slider and a slider driver for driving the slider to slide along the slide rail are installed, and the soil ultrasonic assisted drilling system and the soil in-situ detection system are both installed on the slider;

[0008] The positioning and navigation system includes a navigation and positioning system and an obstacle avoidance system;

[0009] An industrial computer is provided with a motion control and data analysis system connected to the robot chassis, the soil ultrasonic assisted drilling system, the soil in-situ detection system, the lateral movement component, and the positioning and navigation system.

[0010] Furthermore, the navigation and positioning system includes a Beidou dual-mode antenna, and the obstacle avoidance system includes a laser radar and a binocular stereo camera;

[0011] The Beidou dual-mode antenna is used to receive positioning data of a dual-mode navigation system that combines the Beidou satellite positioning system and the GPS positioning system, and upload the positioning data to the industrial computer via a data line;

[0012] The laser radar is used to obtain surrounding point cloud information and upload it to the industrial computer via a data cable;

[0013] The binocular stereo camera is used to collect pixel depth information and upload it to the industrial computer via a data cable.

[0014] Furthermore, the frame is an aluminum frame, a protective cover is installed on the frame, and the soil ultrasonic assisted drilling system, the soil in-situ detection system, the traverse component, and the industrial computer are installed in the protective cover;

[0015] The protective cover is composed of an internal frame and an outer covering, wherein the internal frame is composed of a plurality of riveted aluminum angle steels, the internal frame is fixedly connected to the vehicle frame, an outer covering is installed outside the internal frame, the outer covering is made of a composite material, a solar panel is installed on the surface of the outer covering, and the solar panel is connected to a power module installed on the vehicle frame through a power management module.

[0016] Furthermore, a touch screen is installed on one side of the outer cover, and the touch screen is connected to the industrial computer.

[0017] Furthermore, a motor steering system is connected between each pair of differential wheels, and the motor steering system is connected to the motion control and data analysis system.

[0018] Furthermore, the power supply module is composed of an ultrasonic power supply and a robot power supply, the ultrasonic power supply is connected to the ultrasonic transducer, the robot power supply is connected to the soil in-situ detection system, the slider driver, the industrial computer, the drive system, and the motor steering system.

[0019] Furthermore, the drilling robot arm includes a rotary driver and a threaded drill bit. The rotary driver is provided with an axially movable rotary shaft. The top end of the threaded drill bit is fixedly mounted on the rotary shaft. The ultrasonic transducer is mechanically connected to the threaded drill bit.

[0020] A soil in-situ testing method based on the soil in-situ automatic detection robot, the method comprising the following steps:

[0021] S1. The soil in-situ automatic detection robot drives to the designated area;

[0022] S2, the ultrasonic transducer converts the electrical signal into ultrasonic mechanical vibration and applies it to the drilling robot arm, the drilling robot arm rotates downward and superimposes the ultrasonic mechanical vibration to perform ultrasonic drilling operation on the soil to form a drilled hole;

[0023] S3, the drilling robot arm moves upward to return to its original position, and the slider driver drives the slider to slide along the slide rail, so that the soil ultrasonic-assisted drilling system is away from the drilling hole in the vertical direction, and the soil in-situ detection system is located directly above the drilling hole;

[0024] S4, the elevator drives the soil in-situ detection mechanical arm to go down into the drilled hole, the laser transmitter irradiates the laser beam to the surface of the soil sample in the drilled hole to form plasma and emit a characteristic spectrum curve of the element, and the receiver is used to collect spectrum data and send it to the analyzer;

[0025] S5. The analyzer analyzes the spectral data and outputs soil in-situ data.

[0026] The advantages of the present invention are:

[0027] 1. Improved the efficiency and accuracy of soil detection and realized real-time monitoring of multiple soil parameters.

[0028] 2. The ultrasonic soil-assisted drilling system reduces soil compaction and contamination, while avoiding the complexity of the hydraulic system and potential hydraulic oil leakage problems.

[0029] 3. The design of the rotary drive and threaded drill bit of the drilling robot makes the drilling process more efficient and precise, and adapts to the working requirements under different soil conditions. At the same time, the ultrasonic transducer can apply ultrasonic vibration to the drilling robot, which helps to remove tiny particles on the soil surface, effectively reduce soil disturbance, maintain the stability of the soil structure, and avoid soil loosening or cracking caused by the drilling process, thereby making the soil detection surface more regular, improving the consistency and repeatability of subsequent laser induced breakdown spectroscopy data, reducing measurement errors and system deviations, and thus improving the accuracy and reliability of spectral data.

[0030] 4. The soil in-situ detection system can analyze the soil directly in the field, eliminating the steps of soil collection and laboratory analysis, thus saving resources.

[0031] 5. Using the laser induced breakdown spectroscopy quantitative analysis system, the elemental composition information of soil samples can be quickly obtained, providing strong technical support for precision agriculture.

[0032] 6. The integration of positioning navigation system and obstacle avoidance system ensures the stable operation and safe operation of the robot in complex field environments.

[0033] 7. Using solar panels as auxiliary energy reduces the operating cost of the robot and reflects the environmental protection design concept.

[0034] 8. The setting of the touch display screen allows the operator to intuitively monitor the robot's working status and data, improving the convenience of operation.

[0035] 9. The application of this soil in-situ automatic detection robot can not only provide a scientific basis for agricultural production, but also provide strong technical support for soil environmental monitoring and protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0037] Figure 1 This is an appearance diagram of a soil in-situ automatic detection robot according to the present invention;

[0038] Figure 2This is a diagram showing the internal structure of the soil in-situ automatic detection robot of the present invention;

[0039] Figure 3 It is a module composition diagram of the present invention.

[0040] Description of reference numerals:

[0041] 1- robot chassis; 2- robot cover; 3- touch screen; 4- Beidou dual-mode antenna; 5- laser radar; 6- solar panel; 7- binocular stereo camera; 8- industrial computer 8; 9- analyzer; 10- soil in-situ detection system; 11- soil ultrasonic assisted drilling system; 111- threaded drill bit; 12- integrated control box; 13- ultrasonic power supply; 14- robot power supply; 15- transverse movement component; 151- slider. DETAILED DESCRIPTION

[0042] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0043] In order to fully understand the present invention, detailed steps and detailed structures will be proposed in the following description to illustrate the technical solution of the present invention. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0044] Reference Figure 1-3 As shown, the present invention provides a soil in-situ automatic detection robot, which includes a robot chassis 1 and a soil ultrasonic assisted drilling system 11, a soil in-situ detection system 10, a transverse movement component 15, a positioning and navigation system, and an industrial control computer 8 installed on the robot chassis 1.

[0045] Robot chassis 1

[0046] The robot chassis 1 is provided with a frame and a drive system, and the drive system is provided with two pairs of front and rear differential wheels with separate torque distribution. The four-wheel drive differential chassis automatically adjusts the torque distribution of each wheel according to the road conditions and vehicle power requirements through the torque distribution system to provide the best traction and handling performance.

[0047] In an optional embodiment, a motor steering system is connected between each pair of differential wheels, and the motor steering system is connected to the motion control and data analysis system. The motor steering system consists of a motor, a reducer and a steering controller, which can accurately control the speed and direction of the differential wheels, thereby achieving flexible steering and stable driving of the vehicle.

[0048] In an optional embodiment, the vehicle frame is an aluminum frame, on which a robot housing 2 is installed, and a soil ultrasonic assisted drilling system 11, a soil in-situ detection system 10, a traverse component 15, and an industrial control computer 8 are installed in the robot housing 2. The robot housing 2 is composed of an inner frame and an outer cover, the inner frame is composed of a plurality of riveted aluminum angle steels, the inner frame is fixedly connected to the vehicle frame, an outer cover is installed outside the inner frame, the outer cover is made of a composite material, and a solar panel 6 is installed on the surface of the outer cover, and the solar panel 6 is connected to a power module installed on the vehicle frame through a power management module.

[0049] In an optional embodiment, a touch screen 3 is installed on one side of the outer cover, and the touch screen 3 is connected to the industrial computer 8. The touch screen 3 uses a high-resolution liquid crystal panel to ensure good visual effects and operational sensitivity. It can display the vehicle's operating status, navigation information, and soil detection data in real time, providing an intuitive interface for operators. In addition, the touch screen is also waterproof and dustproof, adapting to complex outdoor working environments. Through the touch screen, operators can easily perform system settings, data queries, and fault diagnosis, greatly improving operating efficiency and system usability.

[0050] Soil ultrasonic assisted drilling system11

[0051] The soil ultrasonic assisted drilling system 11 is provided with an ultrasonic assisted drilling mechanical arm, which is provided with an ultrasonic transducer and a drilling mechanical arm, and the drilling mechanical arm includes a rotary driver and a threaded drill bit 111, and the rotary driver is provided with an axially movable rotating shaft, and the top end of the threaded drill bit 111 is fixedly mounted on the rotating shaft, and the ultrasonic transducer is mechanically connected to the threaded drill bit 111. The ultrasonic transducer converts an electrical signal into an ultrasonic mechanical vibration and applies it to the drilling mechanical arm, and the drilling mechanical arm rotating downward superimposes the ultrasonic mechanical vibration to perform a soil ultrasonic drilling operation on the soil to form a drill hole.

[0052] Soil in-situ detection system10

[0053] The soil in-situ detection system 10 is provided with an elevator, a soil in-situ detection mechanical arm, a laser induced breakdown spectroscopy quantitative analysis system and a variety of soil sensors. The soil in-situ detection mechanical arm is installed on the elevator, and the elevator drives the soil in-situ detection mechanical arm to probe into the drilled hole. A variety of soil sensors are installed on the soil in-situ detection mechanical arm. The laser induced breakdown spectroscopy quantitative analysis system includes a laser transmitter, a receiver and an analyzer 9. The laser transmitter irradiates the laser beam onto the surface of the soil sample in the drilled hole to form plasma and emit the characteristic spectrum curve of the element. The receiver is used to collect spectrum data and send it to the analyzer 9.

[0054] Transverse component 15

[0055] The transverse moving component 15 is provided with a slide rail, on which a slider and a slider driver for driving the slider 151 to slide along the slide rail are installed. The soil ultrasonic assisted drilling system 11 and the soil in-situ detection system 10 are both installed on the slider 151.

[0056] Positioning and navigation system

[0057] The positioning and navigation system includes a navigation and positioning system and an obstacle avoidance system. In an optional embodiment, the navigation and positioning system includes a Beidou dual-mode antenna 4, and the obstacle avoidance system includes a laser radar 5 and a binocular stereo camera 7. The Beidou dual-mode antenna 4 is used to receive data from a dual-mode navigation and positioning system that is a combination of the Beidou satellite positioning system and the GPS positioning system. The dual-mode antenna simultaneously receives signals from Beidou and GPS satellites, including satellite location information, time information, and other auxiliary data, and uploads them to the industrial computer 8 via a data cable. The received signal is processed by a built-in decoder, and the location of the antenna is calculated by a triangulation method. The dual-mode positioning system integrates the positioning results of Beidou and GPS, and can provide higher positioning accuracy and reliability.

[0058] The laser radar 5 emits laser pulses at a high frequency to form a dense point cloud data, which is uploaded to the industrial computer 8 via a data line. By analyzing the point cloud data, the unmanned driving system can identify and understand various objects and obstacles in the environment.

[0059] The binocular stereo camera 7 obtains images taken from different angles through two cameras, and obtains depth information by comparing the two images. The depth information is used to map feature points in the two-dimensional image into three-dimensional space to generate a three-dimensional model of the environment, which can be used to identify and analyze objects and obstacles in the environment.

[0060] The integration of Beidou dual-mode antenna 4, laser radar 5 and binocular stereo camera 7 can make up for the shortcomings of a single technology and improve the overall performance of unmanned detection of the robot system, including the combination of positioning and environmental perception, data fusion and optimization, path planning and decision-making, and robustness.

[0061] After the robot arrives at the designated monitoring point, the industrial computer 8 controls the internal robot arm to complete the in-situ soil detection, analyze and process the soil information.

[0062] Industrial computer 8

[0063] The industrial computer 8 is provided with a motion control and data analysis system connected to the robot chassis 1, the soil ultrasonic assisted drilling system 11, the soil in-situ detection system 10, the traverse component 15, and the positioning navigation system. The motion control and data analysis system is responsible for receiving data from the laser radar 5, the binocular stereo camera 7, and the soil ultrasonic assisted drilling system 11, and performing real-time processing and analysis to guide the movement and operation of the vehicle. The system also has a self-diagnosis function, which can detect and handle abnormal situations in a timely manner to ensure the stable operation of the equipment.

[0064] In an optional embodiment, the power module is composed of an independent ultrasonic power supply 13 and a robot power supply 14. The ultrasonic power supply 13 is connected to the ultrasonic transducer, and the robot power supply 14 is connected to the soil in-situ detection system 10, the slider driver, the industrial computer 8, the drive system, and the motor steering system. The ultrasonic power supply 13 independently provides power to the ultrasonic transducer, making the ultrasonic vibration power supply more stable.

[0065] The design of the drilling robot arm allows it to achieve precise depth control and drilling positioning during the drilling process. The rotary drive can adjust different speeds through precise motor control to adapt to soil conditions of different hardness. The tip design of the threaded drill bit 111 helps to improve drilling efficiency, and its threaded structure can effectively discharge soil particles generated during the drilling process and reduce the risk of clogging. The ultrasonic transducer is mechanically connected to the threaded drill bit 111, and the threaded drill bit 111 superimposes the ultrasonic vibration applied by the ultrasonic transducer during the downward drilling process. Under the same drilling conditions, the ultrasonic vibration-assisted drilling device is one order of magnitude lighter than the hydraulic hammer type. When drilling the same depth, the drag reduction rate of ultrasonic vibration-assisted drilling is generally 30%. In some hard soils, ultrasonic vibration-assisted drilling can make it easier for the drill to enter the soil, reduce the hardening degree of the soil, and improve the drilling performance. When conducting deep hole soil testing, ultrasonic vibration-assisted drilling can help to discharge soil more smoothly, reduce waste soil accumulation, and thus improve the stability and efficiency of deep hole drilling. In addition, the tiny impact force brought by ultrasonic vibration-assisted drilling helps to remove tiny particles on the soil surface, effectively reduce soil disturbance, maintain the stability of soil structure, and avoid soil loosening or cracking caused by the drilling process, thereby making the soil detection surface more regular, improving the consistency and repeatability of subsequent laser-induced breakdown spectroscopy data, reducing measurement errors and system deviations, and thus improving the accuracy and reliability of spectral data.

[0066] The robot of the present invention combines a laser-induced breakdown spectroscopy system with a variety of soil sensors to obtain information about soils at different depths. A hole of a specified depth is drilled in the soil by a soil ultrasonic-assisted drilling system 11, and a laser irradiates the surface of the soil sample in the hole with a laser beam to form plasma and emit characteristic spectral curves of elements. The spectral data is quantitatively analyzed using data processing software or algorithms to determine the content of various nutrients in the soil. Specifically, the soil in-situ testing method of the present invention includes the following steps:

[0067] S1. The industrial computer 8 performs deep learning fusion based on the positioning information obtained by the Beidou dual-mode antenna 4, the point cloud data of the laser radar 5 and the image depth information of the binocular stereo camera 7, reasonably avoids obstacles, and automatically plans the optimal path to reach the designated detection point.

[0068] S2. The ultrasonic transducer converts the electrical signal into ultrasonic mechanical vibration and applies it to the drilling robot arm. The drilling robot arm rotates downward and superimposes the ultrasonic mechanical vibration to perform ultrasonic drilling operation on the soil to form a drilled hole.

[0069] S3, the drilling robot arm moves upward to return to its original position, the slider driver drives the slider to slide along the slide rail, the soil ultrasonic assisted drilling system 11 is away from the drilling hole in the vertical direction, and the soil in-situ detection system 10 is located directly above the drilling hole.

[0070] S4. The elevator drives the soil in-situ detection robot arm to go down into the drilled hole. The laser transmitter irradiates the laser beam onto the surface of the soil sample in the drilled hole to form plasma and emit the characteristic spectrum curve of the element. The receiver is used to collect the spectrum data and send it to the analyzer.

[0071] S5. The analyzer analyzes the spectral data and uses data processing software or algorithms to quantitatively analyze the spectral data to determine the content of various nutrients in the soil.

[0072] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A soil in-situ automatic detection robot, characterized in that: The soil in-situ automatic detection robot comprises a robot chassis and a soil ultrasonic assisted drilling system, a soil in-situ detection system, a traverse component, a positioning and navigation system, and an industrial computer installed on the robot chassis; The robot chassis is provided with a frame and a drive system, and the drive system is provided with two pairs of front and rear differential wheels for separate torque distribution; The soil ultrasonic assisted drilling system is provided with an ultrasonic assisted drilling mechanical arm, and the ultrasonic assisted drilling mechanical arm is provided with an ultrasonic transducer and a drilling mechanical arm, the ultrasonic transducer converts an electrical signal into an ultrasonic mechanical vibration and applies it to the drilling mechanical arm, and the drilling mechanical arm rotates downward and superimposes the ultrasonic mechanical vibration to perform a soil ultrasonic drilling operation on the soil to form a drilled hole; The soil in-situ detection system is provided with an elevator, a soil in-situ detection mechanical arm, a laser induced breakdown spectroscopy quantitative analysis system and a variety of soil sensors. The soil in-situ detection mechanical arm is installed on the elevator, and the elevator drives the soil in-situ detection mechanical arm to go down into the drilled hole. A variety of soil sensors are installed on the soil in-situ detection mechanical arm. The laser induced breakdown spectroscopy quantitative analysis system includes a laser transmitter, a receiver and an analyzer. The laser transmitter irradiates a laser beam onto the surface of the soil sample in the drilled hole to form plasma and emit a characteristic spectrum curve of the element. The receiver is used to collect spectrum data and send it to the analyzer. The transverse moving component is provided with a slide rail, on which a slider and a slider driver for driving the slider to slide along the slide rail are installed, and the soil ultrasonic assisted drilling system and the soil in-situ detection system are both installed on the slider; The positioning and navigation system includes a navigation and positioning system and an obstacle avoidance system; An industrial computer is provided with a motion control and data analysis system connected to the robot chassis, the soil ultrasonic assisted drilling system, the soil in-situ detection system, the lateral movement component, and the positioning and navigation system.

2. The soil in-situ automatic detection robot according to claim 1, characterized in that: The navigation and positioning system includes Beidou dual-mode antenna, and the obstacle avoidance system includes laser radar and binocular stereo camera; The Beidou dual-mode antenna is used to receive positioning data of a dual-mode navigation system that combines the Beidou satellite positioning system and the GPS positioning system, and upload the positioning data to the industrial computer via a data line; The laser radar is used to obtain surrounding point cloud information and upload it to the industrial computer via a data cable; The binocular stereo camera is used to collect pixel depth information and upload it to the industrial computer via a data cable.

3. The soil in-situ automatic detection robot according to claim 1, characterized in that: The frame is an aluminum frame, a protective cover is installed on the frame, and the soil ultrasonic assisted drilling system, the soil in-situ detection system, the traverse component, and the industrial computer are installed in the protective cover; The protective cover is composed of an internal frame and an outer covering, wherein the internal frame is composed of a plurality of riveted aluminum angle steels, the internal frame is fixedly connected to the vehicle frame, an outer covering is installed outside the internal frame, the outer covering is made of a composite material, a solar panel is installed on the surface of the outer covering, and the solar panel is connected to a power module installed on the vehicle frame through a power management module.

4. The soil in-situ automatic detection robot according to claim 1, characterized in that: A touch screen is installed on one side of the outer cover, and the touch screen is connected to the industrial computer.

5. The soil in-situ automatic detection robot according to claim 3, characterized in that: A motor steering system is connected between each pair of differential wheels, and the motor steering system is connected to the motion control and data analysis system.

6. The soil in-situ automatic detection robot according to claim 5, characterized in that: The power supply module consists of an ultrasonic power supply and a robot power supply. The ultrasonic power supply is connected to an ultrasonic transducer. The robot power supply is connected to the soil in-situ detection system, the slider driver, the industrial computer, the drive system, and the motor steering system.

7. The soil in-situ automatic detection robot according to claim 1, characterized in that: The drilling robot arm includes a rotary driver and a threaded drill bit. The rotary driver is provided with an axially movable rotary shaft. The top end of the threaded drill bit is fixedly mounted on the rotary shaft. The ultrasonic transducer is mechanically connected to the threaded drill bit.

8. A soil in-situ testing method based on the soil in-situ automatic detection robot according to any one of claims 1 to 7, characterized in that: The method comprises the following steps: S1. The soil in-situ automatic detection robot drives to the designated area; S2, the ultrasonic transducer converts the electrical signal into ultrasonic mechanical vibration and applies it to the drilling robot arm, the drilling robot arm rotates downward and superimposes the ultrasonic mechanical vibration to perform ultrasonic drilling operation on the soil to form a drilled hole; S3, the drilling robot arm moves upward to return to its original position, and the slider driver drives the slider to slide along the slide rail, so that the soil ultrasonic-assisted drilling system is away from the drilling hole in the vertical direction, and the soil in-situ detection system is located directly above the drilling hole; S4, the elevator drives the soil in-situ detection mechanical arm to go down into the drilled hole, the laser transmitter irradiates the laser beam to the surface of the soil sample in the drilled hole to form plasma and emit a characteristic spectrum curve of the element, and the receiver is used to collect spectrum data and send it to the analyzer; S5. The analyzer analyzes the spectral data and outputs soil in-situ data.

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