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In order to obtain the information of field environment and soil in a quicker and more convenient way, a type of information collection vehicle based on TCP was designed. The overall design of the vehicle system included power system, motion control system, power supply system, wireless image transmission system and sensor detection system. The corresponding data can be obtained by sensor detection system, which included DHT11 temperature and humidity sensor, photoresistor sensor, DS-CO2-20 carbon dioxide sensor and hot wire wind speed sensor. It was proposed to use the 5DOF manipulator and the selfmade soil sensor bit to obtain the soil temperature and humidity information. The composition and operation of the manipulator were analyzed and simulated by Matlab simulation. According to the results of the performance tests carried out on the collection vehicle in the wheat field, it can be seen that the overall design of the collection vehicle was reasonable. The vehicle had strong passability. The maximum tilt angle was up to 30° and the maximum remote control distance was 45m. Precise pictures can be secured as well. Compared with those measured by common highprecision instruments, the data collected by the sensor integrated in the vehicle met the needs of experiment, as the correlation coefficient between the temperature, humidity, light intensity, CO2 concentration, wind speed, soil temperature and soil moisture measured by the agricultural information collection vehicle and the highprecision instruments was greater than 0.90. The collection vehicle can realize the function of obtaining field data in a large range at a fixed time, and replace and supplement the traditional Internet of things system.