Group 2 – Scoop Squad

Soil sampling is a labor-intensive and error-prone process when performed manually, often leading to variability in measurements due to operator fatigue and inconsistent handling. To address these limitations, TurboTerra was developed—a semi-automated soil sampling system designed to enhance speed, accuracy, and usability in soil analysis workflows. At the core of the design is a precision scooping mechanism mounted on an XY gantry system driven by timing belts and motors, enabling accurate and repeatable motion. The scooper assembly features a servo-actuated three-piece scoop, an internal divider for fine quantity control, and a linear actuator for vertical motion. Integrated components such as a barcode-scanning camera and a soil-agitating corkscrew further ensure consistency and traceability. The entire system is controlled via a Raspberry Pi housed in a protective enclosure and interfaces with users through ROS middleware over wired or wireless connections. Once parameters are defined, the system executes scooping routines and outputs a detailed .csv file summarizing each sample’s metadata, including weight accuracy within 5%, sample classification, and traceability information. The gantry system in TurboTerra offers a significant advantage over other soil scooping designs due to its precision, repeatability, and scalability. Unlike fixed-arm or handheld mechanisms, the XY gantry allows for highly accurate and programmable motion across a defined workspace, ensuring consistent sample collection and minimizing the impact of human variability.