An autonomous field soil sampling robot and method of controlling the same

Abstract

This invention discloses an autonomous soil sampling robot for fields and its control method, relating to the fields of agricultural intelligent equipment and soil sampling technology. The robot includes a soil sampling mechanism, a tool-changing robotic arm system, a ring cutter magazine, a soil storage bin, an autonomous field-walking chassis, and a controller. The soil sampling mechanism uses a linear motor to drive the trapezoidal slider to rise and fall, and controls the opening and closing of the locking slider, achieving rapid locking and releasing of the conical slider and its ring cutter. The ring cutter magazine stores spare ring cutters. The tool-changing robotic arm system uses a dynamic gripper and fixed fingers working in tandem, automatically changing and retrieving the soil sampling ring cutter under the controller's drive. The grooved structure of the fixed fingers guides the ring cutter to precise positioning, ensuring a tight fit with the ring cutter end face after sampling, preventing soil loss and maintaining the integrity of the soil column. The soil storage bin features a liftable storage tray, enabling sample zoning and information traceability. This invention enables continuous, automated soil sampling operations at multiple points in the field, effectively improving sampling efficiency and sample quality.

Description

Technical Field

[0001] This invention relates to the field of agricultural intelligent equipment and soil sampling technology, specifically to an autonomous soil sampling robot in the field and its control method, which is suitable for multi-point, continuous, and automated soil sample collection operations in farmland scenarios. Background Technology

[0002] Soil sampling is a fundamental task in agricultural production, environmental monitoring, and soil science research, and its quality directly affects the accuracy and reliability of subsequent test results. Traditional manual sampling methods mainly rely on sampling personnel carrying soil samplers into the field to manually complete operations such as cleaning, soil collection, soil removal, and bagging. This method suffers from high labor intensity and low sampling efficiency. Especially in large-scale field sampling tasks, manual sampling struggles to balance the accuracy of sampling points with high sampling efficiency, and can no longer meet the needs of the rapid development of modern precision agriculture and digital soil information management.

[0003] With the development of robotics technology, some robotic systems for soil testing and autonomous sampling have emerged in recent years. However, most existing field soil sampling robots are equipped with only a single soil sampling mechanism, allowing for only one sampling operation per job. Manual intervention is required to change the sampling tool, making continuous multi-point sampling difficult. Furthermore, current soil sampling methods often employ segmented recovery structures, which can easily damage the original soil column structure and pose a risk of contamination.

[0004] To address the aforementioned problems, this invention aims to develop a robotic system capable of continuous, efficient, and reliable autonomous soil sampling in the field, particularly focusing on the systematic design of the automatic blade changer, soil sampling actuator, and their collaborative control methods. This invention is of great significance for improving the automation level of soil sampling and ensuring the quality of sample collection. Summary of the Invention

[0005] The main objective of this invention is to propose an autonomous soil sampling robot for fields and its control method, aiming to solve the problems of high labor intensity and low efficiency in existing field soil sampling operations, as well as the difficulty of existing sampling robots to achieve continuous multi-point operation, reliance on manual intervention for changing sampling tools, and easy damage to the original soil column structure and mixing in debris during the sampling process, so as to realize fully automatic, continuous, multi-point soil sampling operations in farmland scenarios.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0007] An autonomous soil sampling robot for fields includes a soil sampling mechanism, a tool changing manipulator system, a tool changer magazine, a soil storage bin, an autonomous walking chassis for fields, and a controller.

[0008] The soil sampling mechanism, the tool changing robot system, and the ring cutter magazine are all installed on the autonomous walking chassis in the field, while the soil storage bin and controller are fixed below the chassis;

[0009] The soil sampling mechanism includes a vertical plate, a linear slide rail module, a servo motor, an electric push rod A, a soil sampling back plate, a linear guide rail, a soil sampling support, a linear motor, a trapezoidal slider, a locking slider, a spring, a flange, a conical slider, a connecting seat, and a soil sampling ring cutter.

[0010] The soil sampling mechanism is mounted on a self-propelled chassis in the field via a vertical plate. The linear slide rail module is mounted on the vertical plate, and the servo motor is fixed to the linear slide rail module to provide lifting power for the soil sampling mechanism. The soil sampling back plate is mounted on the slider of the linear slide rail module and moves up and down with the slider. The electric push rod A and the linear guide rail are fixed to the soil sampling back plate, and the soil sampling support is fixed to the soil sampling back plate with screws.

[0011] Optionally, the number of linear guides is two sets;

[0012] In the soil sampling mechanism, the flange is fixed to the middle of the soil sampling support with screws. The bottom of the locking slider is embedded in the groove of the flange. Two springs are installed between the side of each locking slider and the inner wall of the flange. The soil sampling ring cutter is fastened to the connecting seat with threads. A conical slider is installed at the other end of the connecting seat and is fixed in the groove of the locking slider. An exhaust hole is designed on the connecting seat to reduce the impact of air compression and damage to the soil column during soil sampling. The linear motor is fixed to the top of the flange with screws, and the trapezoidal slider is fastened to the shaft of the linear motor and is in contact with the surface of the locking slider. When the linear motor moves, it drives the trapezoidal slider to move up and down, thereby controlling the opening and closing action of the locking slider to loosen or tighten the conical slider, thus completing the replacement of the ring cutter.

[0013] Optionally, the number of locking sliders and springs can be two or more;

[0014] The tool changing robot system includes a motor bracket, synchronous pulley A, synchronous belt, stepper motor, synchronous pulley B, pulley fixing plate, U-shaped support, bearing A, robot arm, rotary platform, composite linear rotary motor, robot arm base, locking screw, robot wrist, nut slider, gripper, and fixing fingers.

[0015] In the tool changing robot system, the motor bracket is fixed to the top of the chassis with screws. The stepper motor is mounted on the motor bracket. The pulley fixing plate and the synchronous pulley B are mounted on the shaft of the stepper motor and can rotate with the motor shaft. The other end of the pulley fixing plate is equipped with the synchronous pulley A, which is fixed on the shaft of the U-shaped support. The synchronous pulley A and the synchronous pulley B transmit power through the synchronous belt. When the stepper motor rotates, the synchronous pulley B and the U-shaped support can be driven to rotate around the motor shaft through the belt drive, while keeping the U-shaped support horizontal.

[0016] A rotary platform is mounted at one end of the U-shaped support, and bearing A is mounted at the other end. The robotic arm is installed between the rotary platform and bearing A. A composite linear rotary motor is mounted on the robotic arm base with screws and arranged inside the robotic arm. Two concentric shafts on the motor can achieve independent rotation and linear motion. The rotating shaft of the motor is fastened to the robotic wrist with locking screws. The robotic wrist is equipped with a gripper and a fixing finger: the gripper is hinged to the robotic wrist, and the fixing finger is fastened to the robotic wrist with screws. The groove on the finger is directly below the center of the gripper and is used to guide the ring cutter to achieve precise positioning during tool changing. A nut slider is installed at the end of the telescopic shaft. The linear motion of the telescopic shaft pushes the end of the gripper, thereby realizing the gripper's grasping and releasing action.

[0017] The ring cutter magazine includes an electric push rod B, a cutter feeder, a cutter storage rack, and spare ring cutters. The electric push rod B and the cutter storage rack are fixed above the autonomous walking chassis in the field. The cutter storage rack contains spare ring cutters. The cutter feeder is installed on the rod of the electric push rod B. When the robot system changes cutters, the electric push rod B drives the cutter feeder to move linearly, so that the spare ring cutter falls into the groove of the cutter feeder and is sent to the designated gripping position of the robot arm.

[0018] The soil storage bin includes a motor, motor base, coupling, bracket, slide rail, back plate, lead screw, sliding nut, support, material tray frame, storage tray, bearing seat, bearing B, and guide bracket;

[0019] The back plate and guide bracket are fixed below the chassis. The back plate is equipped with a motor base, bearing base, and slide rail. The motor is fixed to the motor base with screws. The motor shaft is connected to the lead screw via a coupling. The other end of the lead screw mates with the hole of bearing B on the bearing base. The lead screw is threadedly engaged with the sliding nut. The storage tray is mounted on the bracket, which is fixed to the support, which in turn is fixed to the sliding nut. When the motor rotates, it can drive the lead screw, the support, the bracket, and the storage tray to rise and fall together, thereby realizing the partitioned preservation and information traceability of the ring cutter and samples after sampling.

[0020] Compared with the prior art, the beneficial effects of the present invention are: (1) By setting up a ring cutter magazine and a tool changing robot, the present invention realizes the automatic replacement of soil sampling ring cutters, enabling the robot to complete continuous operations at multiple sampling points in a single deployment without human intervention, significantly improving sampling efficiency. At the same time, it works in conjunction with the soil storage bin to store samples from different sampling points in separate zones, ensuring the integrity of the soil column structure and the traceability of the samples. (2) The tool changing robot arm system designed in this invention adopts dynamic gripper and static fixed finger working together. Through the groove structure on the fixed finger, the ring cutter can be guided to achieve accurate positioning and stable installation during the tool changing process, effectively solving the problem of low tool changing docking accuracy. In addition, after a single sampling is completed, the fixed finger and the end face of the ring cutter are closely attached, which can prevent soil loss and ensure the integrity of the soil column structure. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0022] Figure 1 This is a schematic diagram of the entire autonomous soil sampling robot in the field;

[0023] Figure 2 This is a schematic diagram of the soil extraction mechanism;

[0024] Figure 3 This is a schematic diagram of the tool changing robot system.

[0025] Figure 4 This is a schematic diagram of the ring tool magazine structure;

[0026] Figure 5 This is a schematic diagram of a soil storage silo;

[0027] In the diagram: 1. Soil-taking mechanism; 2. Tool-changing robotic arm system; 3. Tool changer; 4. Soil storage bin; 5. Autonomous field walking chassis; 6. Controller; 1-1 Vertical plate; 1-2 Linear guide rail module; 1-3 Servo motor; 1-4 Electric push rod A; 1-5 Soil-taking back plate; 1-6 Linear guide rail; 1-7 Soil-taking support; 1-8 Linear motor; 1-9 Trapezoidal slider; 1-10 Locking slider; 1-11 Spring; 1-12 Flange; 1-13 Conical slider; 1-14 Connecting seat; 1-15 Soil-taking ring cutter; 2-1 Motor bracket; 2-2 Synchronous pulley A; 2-3 Synchronous belt; 2-4 Stepper motor; 2-5 Synchronous pulley B; 2-6 Pulley fixing plate; 2-7 U-shaped support, 2-8 Bearing A, 2-9 Robotic arm, 2-10 Rotary platform, 2-11 Composite linear rotary motor, 2-12 Robotic arm base, 2-13 Locking screw, 2-14 Robotic wrist, 2-15 Nut slider, 2-16 Gripper, 2-17 Fixed finger; 3-1 Electric push rod B, 3-2 Tool feed holder, 3-3 Tool storage holder, 3-4 Spare ring knife; 4-1 Motor, 4-2 Motor base, 4-3 Coupling, 4-4 Back plate, 4-5 Slide rail, 4-6 Bracket, 4-7 Lead screw, 4-8 Sliding nut, 4-9 Support, 4-10 Material tray rack, 4-11 Material storage tray, 4-12 Bearing seat, 4-13 Bearing B, 4-14 Guide bracket. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without creative effort are within the scope of protection of the present invention.

[0029] This invention provides an autonomous soil sampling robot for fields and its control method. See [link to relevant documentation]. Figures 1 to 5 . Figure 1 The diagram shows the overall structure of the autonomous soil sampling robot in the field, including a soil sampling mechanism (1), a tool changing robot system (2), a tool changing magazine (3), a soil storage bin (4), an autonomous walking chassis in the field (5), and a controller (6). The autonomous walking chassis 1 adopts a wheel structure. The soil sampling mechanism (1), the tool changing robot system (2), and the tool changing magazine (3) are installed on the upper surface of the chassis. The soil sampling mechanism (1) is arranged in the center in front of the chassis (5), the tool changing robot system (2) is arranged in the center on the chassis (5), and the tool changing magazine (3) can be arranged on both sides of the tool changing robot system (2) to facilitate the tool changing robot system (2) to grab spare ring blades (3-4). The soil storage bin (4) and the controller (6) are installed below the chassis (5). The inlet of the guide bracket (4-14) of the soil storage bin (4) is aligned with the groove on the chassis (5).

[0030] Figure 2 The diagram shows the soil sampling mechanism, which includes a vertical plate (1-1), a linear slide rail module (1-2), a servo motor (1-3), an electric push rod A (1-4), a soil sampling back plate (1-5), a linear guide rail (1-6), a soil sampling support (1-7), a linear motor (1-8), a trapezoidal slider (1-9), a locking slider (1-10), a spring (1-11), a flange (1-12), a conical slider (1-13), a connecting seat (1-14), and a soil sampling ring cutter (1-15). The soil sampling mechanism (1) is installed through the vertical plate (1-1). Mounted at the front end of the chassis (5), the linear slide rail module (1-2) is mounted on the upright plate (1-1) with screws. The servo motor (1-3) is fixed above the linear slide rail module (1-2) with screws and is fastened to its upper coupling. It is used to drive the slider on the linear slide rail module (1-2) to move up and down. The soil sampling back plate (1-5) is fixed on the slider of the linear slide rail module (1-2) with screws. The electric push rod A (1-4) and the linear guide rail (1-6) are fixed on the soil sampling back plate (1-5). The soil sampling support (1-7) is connected to the rod of the electric push rod A (1-4) with bolts. The soil sampling support (1-7) is fixed on the slider of the linear guide rail (1-6) with screws.

[0031] Furthermore, the linear motor (1-8) is fixed to the flange (1-12) with screws. The flange (1-12) is installed in the middle of the soil sampling support (1-7). The trapezoidal slider (1-9) is fixed to the shaft of the linear motor (1-8) by threads. The bottom of the locking slider (1-10) is embedded in the groove of the flange (1-2). A spring (1-11) is fixed between the side of the locking slider (1-10) and the inner wall of the flange (1-2). The connecting seat (1-14) is connected to the soil sampling ring cutter (1-15) by threads. (1-14) The side is designed with an exhaust hole, the top of which is fastened to the conical slider (1-13) by a thread; at the same time, the conical slider (1-13) is stuck in the middle of the locking slider (1-10), and the trapezoidal slider (1-9) is tangent to the surface of the locking slider (1-10). When the linear motor (1-8) drives the trapezoidal slider (1-9) to move up and down, it pushes the locking slider (1-10) to move horizontally, thereby realizing the locking slider (1-10) to release and lock the conical slider (1-13) and the soil sampling ring cutter (1-15) on it;

[0032] Figure 3 The diagram shows the structure of the tool-changing robotic arm system, including a motor bracket (2-1), synchronous pulley A (2-2), synchronous belt (2-3), stepper motor (2-4), synchronous pulley B (2-5), pulley fixing plate (2-6), U-shaped support (2-7), bearing A (2-8), robotic arm (2-9), rotary platform (2-10), composite linear rotary motor (2-11), robotic arm base (2-12), locking screw (2-13), robotic wrist (2-14), nut slider (2-15), gripper (2-16), and fixed finger (2-17). The motor bracket (2-1) is mounted on the chassis (5) at the middle position above it with screws, and the stepper motor (2-4) is mounted on the motor bracket (2-1) with screws. Synchronous pulley B (2-5) and pulley fixing plate (2-6) are fixed to the shaft of stepper motor (2-4) by screws and keyways. Synchronous pulley A (2-2) is installed at the other end of pulley fixing plate (2-6). Synchronous pulley A is fixed to the shaft of U-shaped support (2-7) by screws and keyways. Synchronous pulley A (2-2) and synchronous pulley B (2-5) are connected by synchronous belt (2-3). A rotary platform (2-10) is installed on one side of the side plate of U-shaped support (2-7) by screws, and bearing A (2-8) is installed on the other side by interference fit. The robotic arm (2-9) is installed between the rotary platform (2-10) and bearing A (2-8). The rotary platform (2-10) drives the robotic arm (2-9) to rotate around U-shaped support (2-7).

[0033] Furthermore, the composite linear rotary motor (2-11) is fixed to the robot arm base (2-12) with screws and arranged inside the robot arm (2-9). The robot arm base (2-12) connects the robot arm (2-9) to the robot wrist (2-14) with screws. The rotation shaft of the composite linear rotary motor (2-11) is fastened to the robot wrist (2-14) with locking screws (2-13), which can drive the various components on the robot wrist (2-14) to rotate. The end of the telescopic shaft is fixed to the nut slider (2-15) by thread engagement. The gripper (2-16) is installed on the robot wrist (2-14) in a hinged manner, and the fingers (2-17) are fixed by screws. The linear motion of the telescopic shaft in the composite linear rotary motor (2-11) pushes the end of the gripper (2-16), thereby realizing the gripper (2-16) grasping and releasing action.

[0034] In detail, the fixing finger (2-17) is designed with a groove structure, which is directly below the center of the gripper (2-16) to guide the ring cutter to achieve precise positioning during the tool changing process;

[0035] Figure 4 The diagram shows the structure of the ring cutter magazine, which includes an electric push rod B (3-1), a cutter supply frame (3-2), a cutter storage frame (3-3), and spare ring cutters (3-4). The electric push rod B (3-1) and the cutter storage frame (3-3) are mounted on the side of the cutter changing robot system (2) on the field autonomous walking chassis (5) by screws. The cutter storage frame (3-3) contains multiple sets of spare ring cutters (3-4). Each set of spare ring cutters (3-4) consists of a conical slider (1-13), a connecting seat (1-14), and a soil-collecting ring cutter (1-15) to facilitate the replacement of the ring cutters. The rod of the electric push rod B (3-1) is connected to the cutter supply frame (3-2) and can drive the cutter supply frame (3-2) to move in a straight line, so that the spare ring cutters (3-4) fall into the groove in front of the cutter supply frame (3-2) and are sent to the designated gripping position of the cutter changing robot system (2).

[0036] Figure 5The diagram shown is of a soil storage bin, including a motor (4-1), motor base (4-2), coupling (4-3), back plate (4-4), slide rail (4-5), bracket (4-6), lead screw (4-7), sliding nut (4-8), support (4-9), material tray frame (4-10), storage tray (4-11), bearing seat (4-12), bearing B (4-13), and guide bracket (4-14). The soil storage bin (4) is fixed to the bottom of the chassis (5) by the back plate (4-4) and guide bracket. The motor base (4-2), bearing base (4-12) and slide rail (4-5) are fixed to the back plate (4-4) by screws. The motor (4-1) is fixed to the motor base (4-2). The motor (4-1) and the lead screw (4-7) are connected by a coupling (4-3). The other end of the lead screw (4-7) is connected to the bearing B (4-13) on the bearing base (4-12). The sliding nut ( 4-8) The screw (4-7) is installed on the lead screw (4-7) by threaded connection; the bracket (4-6) is fixed on the support (4-9) by screws, and the support (4-9) is installed on the sliding nut (4-8) by interference fit; each set of storage trays (4-11) is placed on each cantilever of the bracket (4-6); the drive motor can drive the lead screw (4-7) and its support (4-9), bracket (4-6) and storage tray (4-11) to rise and fall, thereby realizing the zoning and preservation of soil samples from different areas;

[0037] A field soil autonomous sampling robot and its control method are implemented as follows: First, the field autonomous walking chassis (5) carries the sampling components on it to the planned sampling position. The controller (6) drives the servo motor (1-3) to lower the soil sampling mechanism (1) to the preset sampling point so that the soil sampling ring (1-15) contacts the ground. At the same time, the controller (6) drives the electric push rod A (1-4) to press the soil sampling ring (1-15) into the soil to perform soil sampling operation.

[0038] After sampling is completed, the controller (6) drives the electric push rod A (1-4) and the servo motor (1-3) to lift the soil sampling mechanism (1) and controls the tool changing robot system (2) to perform soil sample collection and storage. The fixed finger (2-17) of the tool changing robot system (2) is tightly attached to the end face of the ring cutter (1-15) to prevent soil loss and maintain the integrity of the soil column structure. At the same time, the telescopic shaft of the composite linear rotary motor (2-11) and the linear motion of the nut slider (2-15) make the gripper (2-16) grip the ring cutter; and drive the linear motor (1-8) to lower the trapezoidal slider, so that the locking slider (1-10) releases the conical slider (1-13), and the... The tool-changing robot system (2) drives the sampled ring cutter (1-15) into the guide bracket (4-14). Under the action of gravity, the sampled ring cutter (1-15) rolls down into the storage tray (4-11) using the ramp of the guide bracket (4-14), and records the sampling point information corresponding to the ring cutter stored in each area. When a region is collected or the storage tray (4-11) is full, the drive motor (4-1) and the lead screw (4-7) rotate, thereby driving the sliding nut (4-8) and its support (4-9), bracket (4-6) and storage tray (4-11) to rise and fall together, so as to realize the partitioned storage and information traceability of the sampled ring cutter (1-15) and the sample.

[0039] Furthermore, after the soil sample collection is completed, a spare ring cutter (3-4) needs to be supplied to the tool changing robot system (2) and the soil sampling mechanism (1). At this time, the electric push rod B (3-1) drives the tool supply frame (3-2) to move linearly, so that the spare ring cutter (3-4) falls into the groove of the tool supply frame (3-2) and is sent to the designated gripping position of the tool changing robot system (2). Then, the stepper motor (2-4), rotary platform (2-10), and composite linear actuator on the tool changing robot system (2) are driven. The rotary motor (2-11) moves, coordinating with the pulley fixing plate (2-6), the robotic arm (2-9), and the gripper (2-16) to grab the spare ring cutter (3-4), transport it, and install it onto the locking slider (1-10) of the soil sampling mechanism (1). The linear motor (1-8) drives the trapezoidal slider (1-9) to rise, so that the locking slider (1-10) locks the conical slider (1-13) on the spare ring cutter (3-4). The above steps are repeated until the soil sampling operation at all preset points is completed.

[0040] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A field soil autonomous sampling robot and its control method, characterized in that: It includes a soil sampling mechanism, a tool changing robot system, a ring cutter magazine, a soil storage bin, a field autonomous walking chassis, and a controller; the soil sampling mechanism, the tool changing robot system, and the ring cutter magazine are all installed on the field autonomous walking chassis, while the soil storage bin and the controller are fixed below the chassis.

2. The autonomous field soil sampling robot and its control method according to claim 1, characterized in that: The soil sampling mechanism comprises a vertical plate, a linear slide rail module, a servo motor, an electric push rod A, a soil sampling back plate, a linear guide rail, a soil sampling support, a linear motor, a trapezoidal slider, a locking slider, a spring, a flange, a conical slider, a connecting seat, and a soil sampling ring cutter. The soil sampling mechanism is mounted on a field-walking chassis via the vertical plate. The vertical plate is equipped with the linear slide rail module, the servo motor is mounted on the linear slide rail module, the soil sampling back plate is mounted on the slider of the linear slide rail module, the electric push rod A and the linear guide rail are mounted on the soil sampling back plate, and the soil sampling support is mounted on the slider of the linear guide rail.

3. The soil-boring mechanism according to claim 2, characterized in that: The flange is installed in the middle of the soil sampling support. The flange has a groove structure, into which the bottom of the locking slider is embedded. Springs are installed between the side of each locking slider and the inner wall of the flange. The soil sampling ring cutter is fastened to the connecting seat by threads. A conical slider is installed at the other end of the connecting seat. The connecting seat is designed with vent holes to reduce the impact of air compression and damage to the soil column during soil sampling. The conical slider is fixed in the groove of the locking slider. The linear motor is installed on the flange, and the trapezoidal slider is installed on the linear motor shaft, with the trapezoidal slider in contact with the surface of the locking slider. When the linear motor moves, it drives the trapezoidal slider to move up and down, thereby controlling the opening and closing of the locking slider, realizing the loosening or tightening of the conical slider, thus completing the replacement of the soil sampling ring cutter.

4. The autonomous field soil sampling robot and its control method according to claim 1, characterized in that: The aforementioned tool-changing robotic arm system comprises a motor bracket, synchronous pulley A, a synchronous belt, a stepper motor, synchronous pulley B, a pulley fixing plate, a U-shaped support, bearing A, a robotic arm, a rotary platform, a composite linear rotary motor, a robotic arm base, locking screws, a robotic wrist, a nut slider, grippers, and fixed fingers. The motor bracket is mounted on a chassis, the stepper motor is mounted on the motor bracket, the pulley fixing plate and synchronous pulley B are mounted on the stepper motor shaft, and synchronous pulley A is mounted on the other end of the pulley fixing plate. Synchronous pulley A is fixed to the shaft of the U-shaped support, and power is transmitted between synchronous pulley A and synchronous pulley B via the synchronous belt. The U-shaped support has bearings on both sides... A rotary platform and bearing A are installed separately. The robotic arm is installed between the rotary platform and bearing A. The composite linear rotary motor is installed on the robotic arm base and arranged inside the robotic arm. Its rotation axis is connected to the robotic wrist via locking screws, and the end of the telescopic shaft is connected to a nut slider. The gripper is hinged to the robotic wrist. The linear motion of the telescopic shaft pushes the end of the gripper, thereby realizing the gripper's grasping and releasing action. The fixed finger is fixed to the robotic wrist, and the end of the fixed finger is designed with a groove structure. The groove is positioned directly below the center of the gripper, which can guide the ring cutter to achieve precise positioning and stable installation during tool changing.

5. The autonomous field soil sampling robot and its control method according to claim 1, characterized in that: The aforementioned ring cutter magazine comprises an electric push rod B, a cutter feeder, a cutter storage rack, and spare ring cutters. The electric push rod B and the cutter storage rack are mounted on a field-adaptive chassis. The cutter storage rack contains spare ring cutters, and the cutter feeder is mounted on the rod of the electric push rod B. When a ring cutter needs to be supplied to the cutter-changing robot system, the electric push rod B pushes the cutter feeder in a linear motion, causing the spare ring cutter to fall into the groove of the cutter feeder and be delivered to the designated gripping position of the cutter-changing robot system.

6. The autonomous field soil sampling robot and its control method according to claim 1, characterized in that: The soil storage bin comprises a motor, motor base, coupling, bracket, slide rail, back plate, lead screw, sliding nut, support, material tray frame, storage tray, bearing seat, bearing B, and guide bracket. The back plate and guide bracket are installed under the self-propelled chassis in the field. The guide bracket is mainly used to guide the ring cutter after sampling to roll into the storage tray. The back plate is equipped with the motor base, bearing seat, and slide rail. The motor is fixed on the motor base, and the motor shaft is connected to the lead screw via the coupling. The other end of the lead screw is connected to the bearing seat via bearing B. The lead screw and the sliding nut are threaded together. The storage tray is installed on the bracket, and the bracket is fixed on the support. The support is connected to the sliding nut. When the motor rotates, it drives the lead screw to rotate, thereby driving the sliding nut and its support, bracket, and storage tray to rise and fall together, which is used to realize the zonal preservation and information traceability of the ring cutter and sample after sampling.

7. A field soil autonomous sampling robot and its control method according to claims 1 to 6, characterized in that, The process is as follows: S1: When the autonomous walking chassis carrying the sampling components moves to the planned sampling location, the controller drives the servo motor to lower the soil sampling mechanism to the preset sampling point, so that the soil sampling ring contacts the ground; S2: The controller drives the electric push rod A to press the soil sampling ring into the soil to perform soil sampling; S3: After sampling is completed, the controller drives the electric push rod A and the servo motor to raise the soil sampling mechanism, and controls the tool changing robot system to perform soil sample collection and storage. The fixed fingers of the tool changing robot system are tightly fitted to the end face of the ring to prevent soil loss and maintain the integrity of the soil column structure. At the same time, the extension shaft of the composite linear rotary motor and the linear motion of the nut slider make the gripper hold the ring; S4: The linear motor is driven to lower the trapezoidal slider, so that the locking slider releases the conical slider. The tool changing robot system then carries the sampled ring into the guide bracket. Through gravity, the slope of the guide bracket is used to roll the sampled ring into the storage tray, and the sampling point information corresponding to the ring stored in each area is recorded. S5: After a region is sampled or the storage tray is full, the drive motor and lead screw rotate, which in turn drives the sliding nut and its support, bracket and storage tray to rise and fall together, thereby realizing the partitioned preservation and information traceability of the ring cutter and sample after sampling; S6: After the soil sample is recovered, a spare ring cutter needs to be supplied to the cutter changing robot system and the soil sampling mechanism. At this time, the drive electric push rod B drives the cutter supply frame to move linearly, so that the spare ring cutter falls into the groove of the cutter supply frame and is sent to the designated gripping position of the cutter changing robot system; S7: Drive the stepper motor, rotary platform, compound linear rotary motor and gripper on the cutter changing robot system to grab the spare ring cutter, transport and install it to the locking slider of the soil sampling mechanism, drive the linear motor to raise the trapezoidal slider, so that the locking slider locks the conical slider on the spare ring cutter; S8: Repeat steps S1 to S7 until the soil sampling operation of all preset points is completed.

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