A device for rapid and automatic soil detection

Abstract

The present application relates to the technical field of soil detection equipment, and relates to a device for rapid and automatic soil detection, comprising: a mobile platform, the mobile platform having a mobile crawler, a first accommodating groove, and a second accommodating groove; a manipulator having a base and a connecting portion, the base being fixedly connected to the top of the mobile platform; a function switching component being detachably connected to the connecting portion; the function switching component comprising: a lifting structure, a functional module, a joint, a driving motor, and a cover plate connected to the driving motor in a transmission manner; the cover plate covering the opening of the second accommodating groove; the connecting portion comprising a rotating shaft, a clamping groove, a spring, and a guide groove provided on the inner wall of the clamping groove; the guide groove comprising a guiding section and a clamping section; the opening of the guide section is located at the notch position of the clamping groove, and the guide section is spiral; the extending direction of the clamping section is parallel to the axial direction of the rotating shaft; the joint comprising a clamping block and a limiting block; the clamping block is fixedly connected to the functional module; the problem of complex installation and removal procedures of functional equipment in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the technical field of soil detection equipment, and more particularly to a device for rapid and automatic soil detection. Background Art

[0002] Soil testing technology is an important part of obtaining soil information. In order to meet the requirements of soil testing in different environments, various soil testing equipment are produced on the market. For example, staff use handheld spectrometers to test the soil in the environment. However, when some environments are remote or dangerous, a mobile platform with a manipulator will be designed. The manipulator carries the testing equipment to the designated location for soil testing.

[0003] However, the real environment is complex, and the robot will be equipped with multiple functional modules to deal with corresponding situations so as to better detect the soil.

[0004] In the current technology, the functional module is fixedly connected to the manipulator, that is, the manipulator only carries a soil detector to test the soil. If the manipulator wants to remove weeds on site or take soil samples, the staff needs to remove the soil detector on site and then install equipment with weed removal or soil sampling functions. The removal and installation of these functional equipment are complicated, time-consuming and labor-intensive. Summary of the invention

[0005] The present application provides a deep soil sampling device, which aims to solve the problem of complicated installation and removal procedures of functional equipment in the prior art.

[0006] In one embodiment, a device for rapid and automatic soil detection is provided, comprising: a mobile platform having a mobile track, a first receiving groove for placing a sample, and a second receiving groove;

[0007] A manipulator, the manipulator comprising a base and a connecting portion, the base being fixedly connected to the top of the mobile platform;

[0008] A function switching component, wherein the function switching component is detachably connected to the connecting portion; the function switching component comprises: a lifting structure arranged in the second containing groove, a functional module placed on the lifting structure, a joint, a driving motor for driving the lifting structure to move upward and downward, and a cover plate drivingly connected to the driving motor; the cover plate covers the opening of the second containing groove;

[0009] The connecting portion includes a rotating shaft, a clamping groove provided at one end of the rotating shaft, a spring located at the bottom of the clamping groove, and a guide groove provided on the inner wall of the clamping groove; the guide groove includes a guide section and a clamping section; the opening of the guide section is located at the notch position of the clamping groove, and the guide section is spiral; the extending direction of the clamping section is parallel to the axial direction of the rotating shaft;

[0010] The connector includes a clamping block and a limiting block; the clamping block is fixedly connected to the functional module; the limiting block is fixedly connected to the clamping block; in the process of the clamping block extending into the clamping groove, the limiting block slides along the guide section to the clamping section, and the clamping block abuts against the spring.

[0011] The driving motor can drive the cover plate to leave or cover the opening of the second receiving groove. The rotating shaft of the connecting part is connected to a rotating motor for driving the rotating shaft to rotate. The manipulator is a five-axis manipulator.

[0012] The first accommodating groove and the second accommodating groove are both located on the top of the mobile platform; a plurality of grooves are provided at the bottom of the first accommodating groove for packaging soil samples from different areas.

[0013] The functional modules include a weeding module, a sampling module and a detection module, and each module is fixedly connected to the card block.

[0014] In one embodiment, the lifting structure includes: a rack and a placement rack; the rack is meshed with the output end of the drive motor; the placement rack is fixedly connected to the rack, and the functional module is placed on the placement rack.

[0015] Specifically, the cover plate is provided with a tooth groove that meshes with the output end of the drive motor; the extension directions of the rack and the tooth groove are perpendicular to each other, and the rack is slidably clamped on the inner wall of the second accommodating groove through a slide rail and can slide relative to the inner wall of the second accommodating groove.

[0016] Specifically, the placement rack has a bayonet for limiting the rotation of the functional module in the horizontal direction. When the functional module is placed on the placement rack, a part of the functional module is inserted into the bayonet, which can prevent the functional module from rotating on the horizontal plane.

[0017] In one embodiment, the number of the second containing grooves and the number of the function switching components are multiple and correspond one to one.

[0018] In one embodiment, the distances between the plurality of second containing grooves and the base are the same, and the second containing grooves are spaced apart from each other.

[0019] Specifically, the plurality of second accommodating grooves are distributed in a ring shape on the mobile platform with the base as the center.

[0020] In one embodiment, the functional module includes a cutting blade; the center position of the cutting blade is fixedly connected to the clamping block.

[0021] Specifically, the cutting blade is a weeding blade used in a weeder.

[0022] In one embodiment, the functional module further includes a soil analyzer; the soil analyzer is fixedly connected to the card block.

[0023] Specifically, the soil analyzer is a spectrometer.

[0024] In one embodiment, the functional module also includes a clamp; the clamp includes a plurality of clamping parts, and the plurality of clamping parts can enclose a clamping space with each other; the clamping part includes a clamping plate, an insert block, a connecting block, and a connecting rod; the connecting part also includes a shell, and a socket for inserting the insert block is provided on the shell; the insert block is hinged to the clamping plate, one end of the connecting rod is hinged to the clamping plate, and the other end is hinged to the rotating shaft, and the hinge point between the connecting rod and the rotating shaft and the axis of the rotating shaft are spaced apart.

[0025] Specifically, the two ends of the connecting rod are respectively hinged with a first hinge block and a second hinge block, and the first hinge block is rotatably connected to the rotating shaft, and the second hinge block is hinged to the clamping piece.

[0026] Specifically, a slot is provided on the clamping piece, the insert is hinged to the inner wall of the slot, and a limiting structure is provided in the slot; the limiting structure includes a first protrusion and a second protrusion spaced apart on the insert, and a limiting rod between the first protrusion and the second protrusion; the limiting rod is fixedly connected to the slot, and a tension spring is connected to the second protrusion. In the absence of external force, the tension of the tension spring pulls the second protrusion to abut against the limiting rod. When the second protrusion abuts against the limiting rod, the extension direction of the insertion part of the insert is perpendicular to the bottom surface of the slot, which facilitates better insertion of the insertion part into the jack.

[0027] In one embodiment, a groove for accommodating the sample is provided in the clamping sheet.

[0028] In one embodiment, the number of the clamping portions is three, and the three clamping portions are spaced apart around the circumference of the rotating shaft.

[0029] Specifically, the three clamping parts are surrounded to form a cone shape.

[0030] Specifically, the clamping piece is made of elastic material, that is, it has a certain elasticity. When the clamping piece is in a closed state, when the rotating shaft is connected to the joint, it may drive the joint to rotate to a certain extent. The rotation of the joint will drive the clamping pieces to move toward each other, causing the clamping pieces to be squeezed and deformed against each other. After using elastic materials, the deformation that occurs is within the elastic deformation and can be restored after the external force is removed, ensuring that the structure of the clamping piece will not change.

[0031] In one embodiment, the mobile platform has a visual module and a signal transmission module; the visual module and the signal transmission module are both electrically connected to the controller.

[0032] Specifically, a battery is provided on the mobile platform for enabling the mobile platform to move and for supplying power to the vision module, the signal transmission module, the controller and the manipulator.

[0033] Beneficial effects of this application:

[0034] By arranging the function switching assembly and the connecting part to be detachably connected, quick disassembly and installation can be achieved, thereby reducing the labor intensity of the staff.

[0035] When the rotating shaft of the manipulator is connected to the joint, the clamping block extends into the clamping groove, the rotating shaft limit block slides along the guide section to the clamping section, and the clamping block abuts against the spring, and the elastic force direction of the spring is opposite to the force direction of the clamping section on the limit block to form a pair of balancing forces, so that the joint is fixed on the connection part. When the joint and the connection part are to be separated, the rotating shaft moves to squeeze the spring, and the clamping block moves in the opposite direction to slide out of the clamping section. Then, as the rotating shaft rotates in the opposite direction, the clamping block slides out of the guide section to achieve the separation of the joint and the connection part. This connection method has a simple structure, can achieve rapid connection and separation, and reduces the labor intensity of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0037] Figure 1 It is a schematic diagram of the main structure of the detection device in one embodiment of the present application;

[0038] Figure 2 is a schematic top view of the structure of a detection device in one embodiment of the present application;

[0039] Figure 3 This application Figure 1 The enlarged view of A in (the first structure);

[0040] Figure 4 This application Figure 1 The enlarged view of A in (the second structure);

[0041] Figure 5 This application Figure 1 The enlarged view of A in (the third structure);

[0042] Figure 6 This is a schematic diagram of the connecting portion structure and the cutting blade structure in one embodiment of the present application;

[0043] Figure 7 It is a schematic diagram of the connection structure and the soil analyzer structure in one embodiment of the present application;

[0044] Figure 8 This is a schematic diagram of the connection structure in one embodiment of the present application;

[0045] Fig. 9 This is a schematic diagram of the connecting portion structure and the clamping device structure in one embodiment of the present application;

[0046] Fig.10 This application Fig. 9 The enlarged view of point C in the figure;

[0047] Fig.11 This application Fig. 9 BB section structure schematic diagram;

[0048] Fig.12 This application Fig. 9 The enlarged view of point D in the figure;

[0049] Fig.13 This application Figure 5 A schematic diagram of the lifting structure and the cover plate viewed from above;

[0050] Fig.14 This is a control flow chart in an embodiment of the present application;

[0051] Reference numerals in the figures:

[0052] 1. Mobile platform; 11. Mobile crawler; 12. First receiving groove; 13. Second receiving groove;

[0053] 2. Manipulator; 21. Base; 22. Connecting part; 221. Rotating shaft; 222. Clamping groove; 223. Housing; 224. Insertion hole; 225. Spring; 226. Guide groove; 227. Guide section; 228. Clamping section;

[0054] 3. Function switching assembly; 31. Lifting structure; 311. Rack; 312. Placement rack; 313. Bayonet; 314. Elastic rubber pad; 32. Function module; 321. Cutting blade; 322. Soil analyzer;

[0055] 323, clamp; 3231, clamping piece; 3232, plug block; 3233, connecting block; 3234, connecting rod; 3235, first hinge block; 3236, second hinge block; 3237, groove;

[0056] 33. Connector; 331. Block; 332. Limit block; 34. Drive motor; 35. Cover plate; 36. Limit structure; 361. First protrusion; 362. Second protrusion; 363. Limit rod; 364. Tension spring; 4. Visual module; 5. Signal transmission module; 6. Controller; 7. Battery. DETAILED DESCRIPTION

[0057] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0058] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0059] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0060] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0062] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0063] The present application makes improvements and innovations and proposes the following embodiments.

[0064] In some embodiments, see Figures 1 to 14 , a device for rapid and automatic soil detection is provided, comprising: a mobile platform 1, the mobile platform 1 having a mobile crawler 11, a first containing groove 12 for placing a sample, and a second containing groove 13;

[0065] The manipulator 2 comprises a base 21 and a connecting portion 22, wherein the base 21 is fixedly connected to the top of the mobile platform 1;

[0066] The function switching assembly 3 is detachably connected to the connecting portion 22; the function switching assembly 3 includes: a lifting structure 31 disposed in the second receiving groove 13, a functional module 32 placed on the lifting structure 31, a joint 33, a driving motor 34 for driving the lifting structure 31 to move up and down, and a cover plate 35 connected to the driving motor 34; the cover plate 35 covers the opening of the second receiving groove 13;

[0067] The connecting portion 22 includes a rotating shaft 221, a clamping groove 222 provided at one end of the rotating shaft 221, a spring 225 located at the bottom of the clamping groove 222, and a guide groove 226 provided on the inner wall of the clamping groove 222; the guide groove 226 includes a guide section 227 and a clamping section 228; the opening of the guide section 227 is located at the notch position of the clamping groove 222, and the guide section 227 is spiral; the extending direction of the clamping section 228 is parallel to the axial direction of the rotating shaft 221;

[0068] The connector 33 includes a clamping block 331 and a limiting block 332; the clamping block 331 is fixedly connected to the functional module 32; the limiting block 332 is fixedly connected to the clamping block 331; when the clamping block 331 extends into the clamping groove 222, the limiting block 332 slides along the guide section 227 to the clamping section 228, and the clamping block 331 abuts against the spring 225.

[0069] The driving motor 34 can drive the cover plate 35 to leave or cover the opening of the second receiving groove 13. The rotating shaft 221 of the connecting part 22 is connected to a rotating motor for driving the rotating shaft 221 to rotate. The manipulator 2 is a five-axis manipulator. The five-axis manipulator can be more flexible to cope with different environments.

[0070] The first accommodating groove 12 and the second accommodating groove 13 are both located on the top of the mobile platform 1; a plurality of grooves are provided at the bottom of the first accommodating groove 12 for packaging soil samples from different regions.

[0071] The functional module 32 includes a weeding module, a sampling module and a detection module, and each module is fixedly connected to the card block 331. The functional module 32 can easily realize the functions of weeding, sampling and detection. Each module is connected with a card block 331, which can facilitate the quick disassembly and assembly function with the connecting part 22.

[0072] By providing a detachable connection between the function switching component 3 and the connecting portion 22, quick disassembly and installation can be achieved, thereby reducing the labor intensity of the staff.

[0073] When the rotating shaft 221 of the manipulator 2 is connected to the joint 33, the block 331 extends into the clamping groove 222, the rotating shaft 221 is rotated, the limit block 332 slides along the guide section 227 to the clamping section 228, and the block 331 abuts against the spring 225, the elastic force direction of the spring 225 is opposite to the force direction of the clamping section 228 on the limit block 332 to form a pair of balancing forces, so that the joint 33 is fixed on the connecting portion 22, when the joint 33 and the connecting portion 22 are to be separated, the rotating shaft 221 moves so that the spring 225 is squeezed, the block 331 moves in the opposite direction and slides out of the clamping section 228, and then with the reverse rotation of the rotating shaft 221, the block 331 slides out of the guide section 227, and the joint 33 and the connecting portion 22 are separated. This connection method has a simple structure, can achieve rapid connection and separation, and reduces the labor intensity of the staff.

[0074] In some embodiments, the lifting structure 31 includes: a rack 311 and a placement frame 312; the rack 311 is meshed with the output end of the driving motor 34; the placement frame 312 is fixedly connected to the rack 311, and the functional module 32 is placed on the placement frame 312. The provision of the rack 311 and the placement frame 312 can facilitate the conversion of the rotation of the driving motor 34 into lifting motion, and the structure is simple and the design is reasonable.

[0075] Specifically, the cover plate 35 is provided with a tooth groove that meshes with the output end of the drive motor 34; the extension directions of the rack 311 and the tooth groove are perpendicular to each other, and the rack 311 is slidably mounted on the inner wall of the second receiving groove 13 through a slide rail, and can slide relative to the inner wall of the second receiving groove 13. When the drive motor 34 rotates, the cover plate 35 can be closed or opened, and the lifting function of the placement rack 312 can also be realized. The cover plate 35 can reduce the impurities in the environment from entering the second receiving groove 13, which affects the placement and removal of the functional module 32.

[0076] Specifically, the placement rack 312 has a bayonet 313 for limiting the horizontal rotation of the functional module 32. When the functional module 32 is placed on the placement rack 312, a part of the functional module 32 is inserted into the bayonet 313, which can prevent the functional module 32 from rotating on the horizontal plane.

[0077] In some embodiments, the number of the second receiving slots 13 and the number of the function switching components 3 are multiple, corresponding to each other. Providing multiple function modules 32 enables the manipulator 2 to be equipped with more function modules 32 to adapt to environmental requirements.

[0078] In some embodiments, the distances between the plurality of second receiving grooves 13 and the base 21 are the same, and the second receiving grooves 13 are spaced apart from each other. This arrangement can facilitate the manipulator 2 to better replace different functional modules 32 .

[0079] Specifically, the plurality of second accommodating grooves 13 are distributed on the mobile platform 1 in a ring shape with the base 21 as the center.

[0080] In some embodiments, the functional module 32 includes a cutting blade 321; the center of the cutting blade 321 is fixedly connected to the block 331. The cutting blade 321 is configured to drive the cutting blade 321 to rotate under the rotation of the rotating shaft 221 to remove weeds in the environment, so that the soil detection work can be better carried out later. The cutting blade 321 has a simple structure and stable operation.

[0081] Specifically, the cutting blade 321 is a weeding blade used in a weeder.

[0082] In some embodiments, the functional module 32 further includes a soil analyzer 322; the soil analyzer 322 is fixedly connected to the card block 331. The soil analyzer 322 is placed on the manipulator 2, and is taken to a designated location by the manipulator 2 to detect soil conditions. The structure is simple, practical and reliable.

[0083] Specifically, the soil analyzer 322 is a spectrum analyzer, which has a wide market distribution, mature technology and stable operation.

[0084] In some embodiments, the functional module 32 further includes a clamp 323; the clamp 323 includes a plurality of clamping parts, and the plurality of clamping parts can mutually enclose a clamping space; the clamping part includes a clamping sheet 3231, an insert block 3232, a connecting block 3233, and a connecting rod 3234; the connecting part 22 further includes a housing 223, and a socket 224 for inserting the insert block 3232 is provided on the housing 223; the insert block 3232 is hinged to the clamping sheet 3231, one end of the connecting rod 3234 is hinged to the clamping sheet 3231, and the other end is hinged to the rotating shaft 221, and the hinge point of the connecting rod 3234 and the rotating shaft 221 is spaced apart from the axis of the rotating shaft 221. The clamp 323 is provided to facilitate obtaining soil samples so that the samples can be brought back for further analysis.

[0085] When the rotating shaft 221 of the connecting part 22 is connected to the clamping part, the clamping groove 222 and the joint 33 are detachably connected, and the insert block 3232 is inserted into the socket 224. As the rotating shaft 221 rotates, the connecting rod 3234 drives the clamping piece 3231 to rotate, thereby realizing the opening and closing action of the clamping piece 3231.

[0086] Specifically, the two ends of the connecting rod 3234 are respectively hinged with a first hinge block 3235 and a second hinge block 3236, and the first hinge block 3235 is rotatably connected to the rotating shaft 221, and the second hinge block 3236 is hinged to the clamping piece 3231. It can ensure that the clamping piece 3231 is better opened and closed, and the force on the connecting rod 3234 does not generate other torsional stress, thereby improving the service life of the connecting rod 3234.

[0087] Specifically, a slot is formed on the clamping piece 3231, the insert block 3232 is hinged to the inner wall of the slot, and a limiting structure 36 is also provided in the slot; the limiting structure 36 includes two first protrusions 361 and second protrusions 362 spaced apart on the insert block 3232, and a limiting rod 363 located between the first protrusion 361 and the second protrusion 362; the limiting rod 363 is fixedly connected to the slot, and a tension spring 364 is connected to the second protrusion 362. In the absence of external force, the tension of the tension spring 364 pulls the second protrusion 362 to abut against the limiting rod 363. When the second protrusion 362 is pulled to abut against the limiting rod 363, the extension direction of the insertion portion of the insert block 3232 is perpendicular to the bottom surface of the slot, so as to better insert the insertion portion into the socket 224.

[0088] In some embodiments, a groove 3237 for accommodating a sample is provided in the clamping sheet 3231. Providing the groove 3237 can increase the capacity for sampling.

[0089] In some embodiments, the number of the clamping parts is three, and the three clamping parts are distributed at intervals around the circumference of the rotating shaft 221. The number distribution and design are both reasonable.

[0090] Specifically, the three clamping parts are enclosed to form a cone shape, which can be better inserted into the soil.

[0091] Specifically, the clamping piece 3231 is made of elastic material, that is, it has a certain elasticity. When the clamping piece 3231 is in the closed state, when the rotating shaft 221 is connected to the joint 33, it may drive the joint 33 to rotate to a certain extent. The rotation of the joint 33 will drive the clamping pieces 3231 to move towards each other, causing the clamping pieces 3231 to be squeezed and deformed against each other. After using elastic material, the deformation is within the elastic deformation and can be restored after the external force is removed, ensuring that the structure of the clamping piece 3231 will not change.

[0092] Specifically, an elastic rubber pad 314 is provided in the placement frame 312 , and the clamp 323 abuts against the elastic rubber pad 314 , so that when the rotating shaft 221 is connected to the joint 33 , the clamping piece 3231 opens and squeezes the elastic rubber pad 314 to reduce the deformation degree of the clamping piece 3231 .

[0093] In some embodiments, the mobile platform 1 has a visual module 4 and a signal transmission module 5; both the visual module 4 and the signal transmission module 5 are electrically connected to the controller 6. This arrangement improves the automation of the device, and can complete the detection and sampling functions without the need for personnel to arrive at the site.

[0094] Specifically, the soil analyzer 322 is electrically connected to the controller 6 .

[0095] Specifically, a battery 7 is provided on the mobile platform 1 for enabling the mobile platform 1 to move and for supplying power to the visual module 4 , the signal transmission module 5 , the controller 6 and the manipulator 2 .

[0096] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A device for rapid and automatic soil detection, characterized in that: include: A mobile platform, the mobile platform having a mobile track, a first containing groove for placing samples, and a second containing groove; A manipulator, the manipulator comprising a base and a connecting portion, the base being fixedly connected to the top of the mobile platform; A function switching component, wherein the function switching component is detachably connected to the connecting portion; the function switching component comprises: a lifting structure arranged in the second containing groove, a functional module placed on the lifting structure, a joint, a driving motor for driving the lifting structure to move upward and downward, and a cover plate drivingly connected to the driving motor; the cover plate covers the opening of the second containing groove; The connecting portion includes a rotating shaft, a clamping groove provided at one end of the rotating shaft, a spring located at the bottom of the clamping groove, and a guide groove provided on the inner wall of the clamping groove; the guide groove includes a guide section and a clamping section; the opening of the guide section is located at the notch position of the clamping groove, and the guide section is spiral; the extending direction of the clamping section is parallel to the axial direction of the rotating shaft; The connector includes a clamping block and a limiting block; the clamping block is fixedly connected to the functional module; the limiting block is fixedly connected to the clamping block; when the clamping block extends into the clamping groove, the limiting block slides along the guide section to the clamping section, and the clamping block abuts against the spring; The number of the second accommodating grooves and the number of the function switching components are multiple, corresponding to one another; the functional module includes a cutting blade; the center position of the cutting blade is fixedly connected to the card block; the functional module also includes a soil analyzer; the soil analyzer is fixedly connected to the card block; the functional module also includes a clamp; the clamp includes a plurality of clamping parts, and the plurality of clamping parts can enclose a clamping space with each other; the clamping part includes a clamping sheet, an insert block, a connecting block, and a connecting rod; the connecting part also includes a shell, and a socket for inserting the insert block is provided on the shell; the insert block is hinged to the clamping sheet, one end of the connecting rod is hinged to the clamping sheet, and the other end is hinged to the rotating shaft, and the hinge point of the connecting rod and the rotating shaft is spaced apart from the axis of the rotating shaft; the functional module includes a weeding module, a sampling module and a detection module, and each module is fixedly connected to the card block.

2. The device for rapid and automatic soil detection according to claim 1, characterized in that: The lifting structure comprises: a rack and a placement rack; the rack is meshed with the output end of the driving motor; the placement rack is fixedly connected to the rack, and the functional module is placed on the placement rack.

3. The device for rapid and automatic soil detection according to claim 1, characterized in that: The distances between the plurality of second containing grooves and the base are the same, and the second containing grooves are spaced apart from each other.

4. The device for rapid and automatic soil detection according to claim 1, characterized in that: The clamping sheet is provided with a groove for accommodating the sample.

5. The device for rapid and automatic soil detection according to claim 4, characterized in that: The number of the clamping parts is three, and the three clamping parts are distributed at intervals around the circumference of the rotating shaft.

6. The device for rapid and automatic soil detection according to any one of claims 1 to 5, characterized in that: The mobile platform has a visual module and a signal transmission module; the visual module and the signal transmission module are both electrically connected to the controller.

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