Soil detection robot

Abstract

The utility model relates to a soil detection robot, and belongs to the technical field of robots. The soil detection robot comprises a machine body and a soil sampling detection mechanism, the soil sampling detection mechanism comprises a soil sampling frame, a conveying belt, a detection box and a soil sampling disc, the soil sampling frame is arranged at the bottom of the machine body in a turnover mode, the conveying belt is arranged on the soil sampling frame, and the rear end of the conveying belt extends into the detection box; the soil sampling disc is rotationally arranged at the front end of the soil sampling frame and provided with a plurality of soil sampling holes, and the two sides of each soil sampling hole are provided with a soil digging head and a soil guiding plate respectively. According to the soil detection robot provided by the utility model, the soil taking frame can turn over up and down, so that the soil taking disc is lifted, in the rotating process of the soil taking disc, the soil digging head can dig soil and convey the soil to the soil guide plate through the soil taking hole, the soil guide plate rotates along with the soil taking disc, and the soil is conveyed into the detection box by the conveying belt for detection. The working mode of the soil detection robot is similar to that of a shield tunneling machine, soil taking detection can be conducted while advancing is conducted, fixed-point detection is not needed, and time and labor are saved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a soil detection robot. Background Art

[0002] The soil detection robot can detect soil parameters, etc., so as to analyze the relevant quality data of farmland that has been overused, and quantify the repair materials and supplement the relevant elements based on the acquired data, so as to maintain the farmland and improve the productivity of the land.

[0003] Please refer to the invention patent application with application number CN202311693768.7 and invention name "soil detection intelligent robot". The soil detection robot in the prior art usually uses a spiral drill to drill holes in the land, extract the soil, and then detect the extracted soil. This method requires fixed-point detection, that is, the soil detection intelligent robot is stationary at the location where the soil is to be taken, and then the soil is drilled through the spiral drill to take the soil, which takes a long time and requires too many points to be detected. Utility Model Content

[0004] In view of this, the purpose of the utility model is to provide a soil detection robot that can collect soil for detection while moving, without the need for fixed-point detection, thus saving time and effort.

[0005] The technical solution of the utility model is as follows:

[0006] The utility model provides a soil detection robot, comprising a body and a soil sampling detection mechanism; the soil sampling detection mechanism comprises a soil sampling frame, a conveyor belt, a detection box and a soil sampling tray, the soil sampling frame can be turned over and arranged at the bottom of the body, the conveyor belt is arranged on the soil sampling frame and the rear end extends into the detection box; the soil sampling tray is rotatably arranged at the front end of the soil sampling frame and is provided with a plurality of soil sampling holes, the two sides of the soil sampling holes are respectively provided with a digging head and a soil guide plate, the soil guide plates are distributed around the front end of the conveyor belt, and when the soil guide plate is rotated to above the conveyor belt, soil can slide onto the conveyor belt.

[0007] As an optional solution, the soil taking frame is cylindrical and its front end can be turned up and down, the conveyor belt is axially located above the soil taking frame, and the soil taking tray is coaxially arranged with the soil taking frame and can rotate around its own axis.

[0008] As an optional solution, a plurality of the soil borrowing holes are distributed in a ring shape around the rotation center line of the soil borrowing plate.

[0009] As an optional solution, the digging head and the soil borrowing hole are arranged at an angle and the angle between the two is an acute angle. Along the rotation direction of the soil borrowing hole, the digging head is located at the rear end of the soil borrowing hole.

[0010] As an optional solution, the soil taking tray adopts a cylindrical structure with an open rear end, and the outer end of the soil guide plate is adjacent to or connected to the side wall of the soil taking tray.

[0011] As an optional solution, a soil taking area is formed between two adjacent soil guide plates and the side wall of the soil taking tray, and the side wall of the soil taking tray is provided with a cleaning hole, and the cleaning hole is located above the soil taking area.

[0012] As an optional solution, an arc-shaped anti-spill plate is provided on the soil taking frame, and the anti-spill plate is located on the rising side of the soil taking plate and extends above the conveyor belt. One side of the anti-spill plate is adjacent to the inner end of the soil guide plate and the front end is adjacent to the soil taking plate.

[0013] As an optional solution, the soil taking detection mechanism also includes a vibrating hammer, which is movably arranged on the soil taking frame and is used to strike the soil guide plate located on the descending side of the soil taking tray.

[0014] As an optional solution, the vibrating hammer includes an elastic arm and a vibrating head, the elastic arm can undergo elastic deformation, the vibrating head is arranged at one end of the elastic arm and extends under the soil guide plate, when the soil taking plate rotates, the soil guide plate abuts against the vibrating head and deforms the elastic arm until the vibrating head is detached from the soil guide plate and resets to strike the next soil guide plate.

[0015] As an optional solution, the soil sampling detection mechanism also includes a telescopic cylinder and a connecting arm, the soil sampling frame is hinged to the machine body, the telescopic cylinder is fixed to the machine body, and the two ends of the connecting arm are respectively hinged to the telescopic cylinder and the soil sampling frame to control the soil sampling frame to flip up and down.

[0016] As an optional solution, the bottom end of the detection box is provided with a slope and a soil discharge plate driven by a servo engine, and the soil discharge plate is rotatably provided at the bottom end of the slope and is used to close or open the soil discharge port of the detection box.

[0017] As an optional solution, a plurality of earth retaining plates are arranged at intervals on the conveyor belt, and both ends of the earth retaining plates are bent upwards.

[0018] The beneficial effects of the utility model are:

[0019] The soil detection robot provided by the utility model has a soil-taking frame that can be turned up and down, so that the soil-taking tray can be raised and lowered. During the rotation of the soil-taking tray, the digging head can dig soil and transport it to the soil guide plate through the soil-taking hole. The soil guide plate rotates with the soil-taking tray. When the soil guide plate rotates to the top of the conveyor belt, it tilts to make the soil slide onto the conveyor belt. The conveyor belt transports the soil to the detection box, and the detection box can detect the soil. The soil detection robot is similar to the working mode of the shield machine, and can detect soil while moving, without the need for fixed-point detection, saving time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without creative work. As shown in the drawings, the above and other purposes, features and advantages of the utility model will be clearer. The same reference numerals in all the drawings indicate the same parts. The drawings are not deliberately scaled according to the actual size, and the focus is on showing the main purpose of the utility model.

[0021] Figure 1 The structure of the soil detection robot provided in the first embodiment of the utility model is shown in FIG. Figure 1 ;

[0022] Figure 2 The structure of the soil detection robot provided in the first embodiment of the utility model is shown in FIG. Figure 2 ;

[0023] Figure 3 A schematic diagram of the structure of the soil detection mechanism of the soil detection robot provided in the first embodiment of the utility model Figure 1 ;

[0024] Figure 4 A schematic diagram of the structure of the soil detection mechanism of the soil detection robot provided in the first embodiment of the utility model Figure 2 ;

[0025] Figure 5 A schematic diagram of the structure of the soil detection mechanism of the soil detection robot provided in the first embodiment of the utility model Figure 3 ;

[0026] Figure 6 A schematic diagram of the structure of the soil collecting plate of the soil detection robot provided in the first embodiment of the utility model Figure 1 ;

[0027] Figure 7 A schematic diagram of the structure of the soil collecting plate of the soil detection robot provided in the first embodiment of the utility model Figure 2 ;

[0028] Figure 8 This is a schematic structural diagram of the soil collecting pan of the soil detection robot provided in the second embodiment of the utility model.

[0029] Icons: 100- soil detection robot; 10- machine body; 20- soil detection mechanism; 21- soil rack; 22- soil tray; 23- conveyor belt; 24- detection box; 210- telescopic cylinder; 211- connecting arm; 212- anti-spill plate; 213- vibrating hammer; 220- soil hole; 221- digging head; 222- soil guide plate; 223- cleaning hole; 230- soil retaining plate; 240- soil discharge plate; 241- servo. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0033] Embodiment 1:

[0034] Please refer to Figure 1 , Figure 2 As shown, the first embodiment of the utility model provides a soil detection robot 100, which is mainly used in farmland. It can take soil by itself and detect and analyze the relevant quality data of the soil, so as to quantitatively supplement the geological elements missing in the soil and improve the productivity of the land.

[0035] The soil detection robot 100 is mainly composed of a body 10 and a soil detection mechanism 20. The soil detection mechanism 20 is arranged on the body 10. Each component is discussed in detail below.

[0036] The main function of the body 10 is to move. The structure of the body 10 can refer to the existing technology. For example, the body 10 can adopt a wheeled robot or a tracked robot. In this embodiment, the body 10 includes a main body and two track assemblies. The two track assemblies are located on both sides of the main body. The track assemblies can be supported on the ground and walk. The main body can also be equipped with a camera, a GPS module, an ultrasonic module, etc., which can divide the area according to the size of the land and plan the repair path, and can automatically identify and avoid obstacles to prevent collisions.

[0037] The soil sampling and testing mechanism 20 is used to collect soil from the ground and test the soil, collect and analyze soil data in real time, and the soil data includes but is not limited to element content, water content, etc.

[0038] For details, please combine Figure 3-Figure 5 As shown, the soil sampling detection mechanism 20 includes a soil sampling frame 21, a soil sampling tray 22, a conveyor belt 23 and a detection box 24.

[0039] The soil-taking frame 21 is arranged at the bottom of the machine body 10. The structure of the soil-taking frame 21 is not limited. For example, the soil-taking frame 21 is a frame structure, a solid structure, a hollow structure, etc. In the present embodiment, the soil-taking frame 21 is cylindrical. The rear end of the soil-taking frame 21 is hinged to the machine body 10 so that the front end of the soil-taking frame 21 can be turned up and down. When the soil-taking frame 21 turns downward, the soil-taking frame 21 tilts downward from the back to the front, and the front end of the soil-taking frame 21 is close to the ground. The maximum tilt angle of the soil-taking frame 21 is not limited, for example, 30°, 50°, etc.; when the soil-taking frame 21 turns upward, the front end of the soil-taking frame 21 gradually moves away from the ground to avoid causing obstacles when the machine body 10 is walking normally.

[0040] The rotation control method between the soil-taking frame 21 and the machine body 10 is not limited. In this embodiment, the following schemes can be adopted but are not limited to: the soil-taking detection mechanism 20 also includes a telescopic cylinder 210 and a connecting arm 211. The telescopic cylinder 210 and the connecting arm 211 correspond to each other one by one, and the number can be set as needed. The telescopic cylinder 210 is fixed to the machine body 10, and the two ends of the connecting arm 211 are respectively hinged to the telescopic cylinder 210 and the soil-taking frame 21. When the telescopic cylinder 210 is extended, the soil-taking frame 21 can be driven to flip downward; when the telescopic cylinder 210 is shortened, the soil-taking frame 21 can be controlled to flip downward.

[0041] The structure and shape of the soil collecting pan 22 are not limited, for example, a circular plate-like structure. In the present embodiment, the soil collecting pan 22 adopts a cylindrical structure, the rear end of the soil collecting pan 22 is open, and the front end thereof is a soil collecting surface. The soil collecting pan 22 is rotatably arranged at the front end of the soil collecting frame 21, and the soil collecting pan 22 and the soil collecting frame 21 can be arranged coaxially, and the soil collecting pan 22 can rotate around its own center line, and the soil collecting pan 22 can be driven by a motor, and the motor can be arranged in the soil collecting frame 21. Of course, in some embodiments, the soil collecting pan 22 and the soil collecting frame 21 can also be coaxial.

[0042] Please combine Figure 6 , Figure 7 As shown, the soil collecting pan 22 is provided with a plurality of soil collecting holes 220 , the number and distribution of the soil collecting holes 220 can be set as required. In the present embodiment, the plurality of soil collecting holes 220 are distributed in a ring shape around the rotation center line of the soil collecting pan 22 .

[0043] A digging head 221 and a soil guide plate 222 are respectively arranged on both sides of the soil borrowing hole 220, that is, the digging head 221 is located at the front side of the soil borrowing plate 22, and the soil guide plate 222 is located at the rear side of the soil borrowing plate 22. The digging head 221 is used to grab soil and transport it to the soil guide plate 222 through the soil borrowing hole 220.

[0044] The digging head 221 and the soil-taking hole 220 can be arranged at an angle, that is, the digging head 221 can be arranged tilted, and the angle between the digging head 221 and the soil-taking hole 220 can be set as needed, and the angle between the digging head 221 and the soil-taking hole 220 can be an acute angle. In the rotation direction of the soil-taking hole 220, the digging head 221 is located at the rear end of the soil-taking hole 220, that is, when the soil-taking disc 22 rotates, the digging head 221 can grab the soil, and under the squeezing effect, the soil can enter the soil-taking hole 220.

[0045] The soil can reach the rear side of the soil collecting plate 22 through the soil collecting hole 220 and be received by the soil guide plate 222. The soil guide plate 222 can be a plate-shaped structure. A plurality of soil guide plates 222 are distributed in a ring shape around the center line of the soil collecting plate 22. The soil guide plates 222 can extend along the radial direction of the soil collecting plate 22, or the plane where the soil guide plates 222 are located does not pass through the rotation center line of the soil collecting plate 22. When the soil collecting plate 22 rotates, the soil guide plates 222 can follow the rotation, and the inclination direction of the soil guide plates 222 changes. For the convenience of description, one side of the soil collecting plate is divided into an ascending side and a descending side. The soil guide plates 222 gradually rise on the ascending side and gradually fall on the descending side.

[0046] The soil guide plate 222 has an inner end and an outer end, the inner end is closer to the rotation center line of the soil plate 22 than the outer end, and the outer end of the soil guide plate 222 can be adjacent to or connected to the side wall of the soil plate 22. When the soil guide plate 222 moves on the ascending side, first, the soil guide plate 222 tilts upward from the outer end to the inner end, but the rear end of the soil guide plate 222 is blocked by the soil plate 22, and the soil on the soil guide plate 222 will not fall off; when the soil guide plate 222 continues to rise to a certain position, the soil guide plate 222 tilts downward from the outer end to the inner end, and the soil on the soil guide plate 222 can slide downward and fall off under the action of its own gravity.

[0047] The conveyor belt 23 is arranged on the soil frame 21. Preferably, the conveyor belt 23 is located above the soil frame 21, and the conveyor belt 23 extends axially along the soil frame 21. The front end of the conveyor belt 23 extends into the middle of multiple soil guide plates 222, that is, the soil guide plates 222 are distributed around the front end of the conveyor belt 23, and when the soil guide plates 222 reach above the conveyor belt 23, the conveyor belt 23 can receive the soil sliding down from the soil guide plates 222.

[0048] The rear end of the conveyor belt 23 extends into the detection box 24, and the conveyor belt 23 can rotate to transport the soil into the detection box 24. In order to prevent the soil from slipping, falling, etc., a plurality of retaining plates 230 are arranged at intervals on the conveyor belt 23, and the two ends of the retaining plates 230 are bent upward. The upward bending mentioned here means that the two ends of the retaining plates 230 are bent forward along the moving direction of the conveyor belt 23, so that the soil cannot fall from the two ends of the retaining plates 230.

[0049] The detection box 24 is provided with a detection cavity, and a detection element is provided in the detection cavity. The detection element is used to detect the soil. The detection element can refer to the existing technology. The detection element can be a sensor, such as a humidity sensor, an element sensor, etc.

[0050] The shape and structure of the detection box 24 can refer to the prior art. The bottom end of the detection box 24 is provided with a soil discharge port, a slope surface and a soil discharge plate 240. The soil discharge port is located at the bottom end of the slope surface, and the soil can slide down the slope surface to the soil discharge port. The soil discharge plate 240 is rotatably arranged at the bottom end of the slope surface. The soil discharge plate 240 is driven by a steering gear 241 so that the soil discharge plate 240 can open or close the soil discharge port. When the detection is required, the soil discharge plate 240 can be closed by the steering gear 241, that is, the soil discharge port is closed, and the soil can stay in the detection box 24; when the detection is completed, the soil discharge plate 240 can be opened by the steering gear 241 so that the soil in the detection box 24 falls from the soil discharge port to the ground, and the slope surface can make the soil discharge more complete.

[0051] The method of using the soil detection robot 100 provided in this embodiment is as follows:

[0052] Delineate the scope of the land to be inspected and plan the walking path;

[0053] The machine body 10 is made to move along the walking path by means of manual control or automatic control through a built-in program;

[0054] When the soil detection robot 100 reaches the position to be detected, the telescopic cylinder 210 is controlled to extend, so that the front end of the soil-picking frame 21 is turned downward, until the soil-picking plate 22 contacts the ground or a part of the soil-picking plate 22 is inserted into the ground. The ground can be soft or hard. At this time, the center line of the soil-picking plate 22 is set at an angle to the ground.

[0055] The soil collecting pan 22 rotates, and the digging head 221 rotates around the center line of the soil collecting pan 22. The digging head 221 at the bottom can scrape the soil and transport the soil to the soil guide plate 222 through the soil collecting hole 220. As the soil collecting pan 22 rotates, the soil guide plate 222 gradually rises on the rising side of the soil collecting pan 22 until the soil guide plate 222 tilts downward and reaches above the conveyor belt 23. The soil slides onto the conveyor belt 23 under the action of its own gravity.

[0056] The conveyor belt 23 transports the soil into the detection box 24;

[0057] The detection element in the detection box 24 detects and analyzes the relevant quality data of the soil and uploads the data;

[0058] After a portion of the soil is tested, the soil discharge plate 240 is turned over by the steering gear 241 to discharge the soil from the bottom of the test box 24;

[0059] The soil detection robot 100 can detect soil while walking, and can perform soil detection on different areas to be detected;

[0060] After all the tests are completed, the telescopic cylinder 210 is controlled to be shortened, the soil taking frame 21 is turned upward, and the soil taking plate 22 is separated from the ground.

[0061] The above steps can be increased, decreased, modified, or the order can be adjusted as needed.

[0062] Embodiment 2:

[0063] Embodiment 2 of the present invention provides a soil detection robot 100, which is further improved on the basis of embodiment 1. Only the improved points are discussed below. For the parts not mentioned in this embodiment, reference can be made to embodiment 1 or the prior art.

[0064] Please combine Figure 8 As shown, two adjacent soil guide plates 222 are respectively a first plate and a second plate, and a soil taking area is formed between the front side of the first plate, the back side of the second plate and the side wall of the soil taking plate 22, and the first plate is used to receive soil.

[0065] The side wall of the soil taking tray 22 is provided with a cleaning hole 223, and the cleaning hole 223 is located above the soil taking area. It should be noted here that "the cleaning hole 223 is located above the soil taking area" means that on the rising side of the soil taking tray 22, the cleaning hole 223 is located above the working soil guide plate 222, and on the descending side of the soil taking tray 22, the cleaning hole 223 is located below the working soil guide plate 222. This arrangement makes it possible for the soil to not flow out of the cleaning hole 223 on the rising side of the soil taking tray 22, so that the soil can only slide onto the conveyor belt 23; and on the descending side of the soil taking tray 22, the residual soil on the soil guide plate 222 can flow out of the cleaning hole 223 to avoid affecting the subsequent soil detection.

[0066] The soil taking frame 21 is provided with an anti-spill plate 212 , which is mainly used to allow the soil on the soil guide plate 222 to slide smoothly onto the conveyor belt 23 .

[0067] Specifically, the anti-spill plate 212 is in an arc shape, and the anti-spill plate 212 is connected to the soil taking plate 22, and the two can be coaxially arranged.

[0068] The anti-spill plate 212 is located on the rising side of the soil taking plate 22, and the top of the anti-spill plate 212 is located above the conveyor belt 23. The position of the bottom is not limited, and can extend to the middle part of the rising side, because the soil guide plate 222 located in the lower half is inclined upward, and the soil will not slide. Of course, it is also possible for the bottom end of the anti-spill plate 212 to extend to the bottom end of the rising side.

[0069] The inner end of the soil guide plate 222 contacts the outer surface of the anti-spill plate 212. When the bottom end of the soil guide plate 222 has not reached the top of the conveyor belt 23, even if the soil guide plate 222 tilts downward, the soil above it will be blocked by the anti-spill plate 212 and will not slide off, thereby effectively ensuring that the soil on the soil guide plate 222 slides onto the conveyor belt 23.

[0070] In addition, since the soil may have a certain degree of viscosity and can adhere to the soil guide plate 222, on the descending side of the soil taking tray 22, it is necessary to remove the remaining soil on the soil guide plate 222 to prevent it from affecting the subsequent soil taking detection. Therefore, in this embodiment, the following scheme can also be adopted: the soil taking detection mechanism 20 also includes a vibrating hammer 213, and the vibrating hammer 213 is movably arranged on the soil taking frame 21. The vibrating hammer 213 is used to strike the soil guide plate 222 located on the descending side of the soil taking tray 22, so that the soil guide plate 222 vibrates, and the soil adhering to the soil guide plate 222 can be shaken off.

[0071] The structure of the vibrating hammer 213 is not limited. In this embodiment, the following schemes may be adopted but are not limited thereto: the vibrating hammer 213 includes an elastic arm and a vibrating head. The elastic arm can be elastically deformed. For example, the elastic arm adopts a spring or a flexible rubber rod, etc. The vibrating head is arranged at one end of the elastic arm, and the vibrating head extends under the soil guide plate 222. When the soil plate 22 rotates, the soil guide plate 222 abuts against the vibrating head, so that the elastic arm is gradually deformed until the vibrating head is separated from the soil guide plate 222; when the vibrating head is separated from the soil guide plate 222, the elastic arm quickly resets under the action of its own elastic force, so that the vibrating head strikes the next soil guide plate 222. With such a configuration, the vibrating hammer 213 has a simple structure, and is safe and reliable.

[0072] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A soil detection robot, characterized in that: It comprises a machine body and a soil taking detection mechanism; the soil taking detection mechanism comprises a soil taking frame, a conveyor belt, a detection box and a soil taking tray, the soil taking frame can be flipped and arranged at the bottom of the machine body, the conveyor belt is arranged on the soil taking frame and the rear end extends into the detection box; the soil taking tray is rotatably arranged at the front end of the soil taking frame and is provided with a plurality of soil taking holes, a digging head and a soil guide plate are respectively arranged on both sides of the soil taking hole, the soil guide plates are distributed around the front end of the conveyor belt, and when the soil guide plate is rotated to above the conveyor belt, the soil can slide onto the conveyor belt.

2. The soil detection robot according to claim 1, characterized in that: The soil taking frame is cylindrical and its front end can be turned up and down. The conveyor belt is axially located above the soil taking frame. The soil taking plate is coaxially arranged with the soil taking frame and can rotate around its own axis.

3. The soil detection robot according to claim 1, characterized in that: The digging head and the soil borrowing hole are arranged at an angle, and the angle between the two is an acute angle. Along the rotation direction of the soil borrowing hole, the digging head is located at the rear end of the soil borrowing hole.

4. The soil detection robot according to claim 1, characterized in that: The soil taking tray adopts a cylindrical structure with an open rear end, and the outer end of the soil guide plate is adjacent to or connected to the side wall of the soil taking tray.

5. The soil detection robot according to claim 1, characterized in that: A soil taking area is formed between two adjacent soil guide plates and the side wall of the soil taking tray. A cleaning hole is arranged on the side wall of the soil taking tray. The cleaning hole is located above the soil taking area.

6. The soil detection robot according to claim 1, characterized in that: The soil taking frame is provided with an arc-shaped anti-spill plate, which is located on the rising side of the soil taking plate and extends above the conveyor belt. One side of the anti-spill plate is adjacent to the inner end of the soil guide plate and the front end is adjacent to the soil taking plate.

7. The soil detection robot according to claim 1, characterized in that: The soil taking detection mechanism also includes a vibration hammer, which is movably arranged on the soil taking frame and is used to knock the soil guide plate located on the descending side of the soil taking plate.

8. The soil detection robot according to claim 1, characterized in that: The soil taking detection mechanism also includes a telescopic cylinder and a connecting arm. The soil taking frame is hinged to the machine body. The telescopic cylinder is fixed to the machine body. Both ends of the connecting arm are respectively hinged to the telescopic cylinder and the soil taking frame to control the soil taking frame to flip up and down.

9. The soil detection robot according to claim 1, characterized in that: The bottom end of the detection box is provided with a slope and a soil discharge plate driven by a steering gear. The soil discharge plate is rotatably arranged at the bottom end of the slope and is used to close or open the soil discharge port of the detection box.

10. The soil detection robot according to claim 1, characterized in that: A plurality of retaining plates are arranged at intervals on the conveyor belt, and both ends of the retaining plates are bent upwards.

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