Automatic equipment for artificial wetland aquatic plant planting

Abstract

The invention relates to automatic equipment for artificial wetland aquatic plant planting, and relates to the technical field of intelligent agricultural power mechanical equipment, and the equipment comprises a rack, a moving mechanism, an enclosing mechanism, an air bag abutting mechanism and a supplementing mechanism. A storage box is arranged on the rack, the moving mechanism drives the enclosing mechanism to move, and the enclosing mechanism can be switched between an open state and a closed state so as to clamp plants. The air bag abutting mechanism is arranged on the enclosing mechanism and is inflated in a closed state to form a plurality of abutting points, so that the plant stems stably abut against the inner wall of the enclosing mechanism. The supplementing mechanism penetrates into the plant through the needle body, and a growth promoting nutrient solution is injected into the plant. The equipment can realize automatic clamping and fixed-point liquid application of aquatic plants, and is beneficial to improving the planting efficiency and the survival rate. Meanwhile, the system also has the following functions: precise navigation, positioning and identification of the operation condition of a target planting area are realized; the seedlings can be gently taken and accurately planted according to the preset density and planting requirements.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent agricultural power machinery transplanting equipment, and in particular to an automated equipment for planting aquatic plants in artificial wetlands. Background Art

[0002] Currently, with the ongoing advancement of ecological civilization, improving the water quality of rivers and lakes has become a key task. Constructed wetland water purification technology, due to its favorable ecological benefits and cost advantages, is widely used in water environment management. Automated equipment for transplanting plants (such as reeds) in constructed wetlands has been developed and put into use, effectively improving transplanting efficiency.

[0003] However, the applicant has found in practice that the existing automated planting equipment often causes plants to be clamped during the plant transplanting process due to unreasonable structural design, especially the plant stems are easily damaged. Although the transplanting action can be completed, the aquatic purification plants suffer mechanical damage during the clamping process, and the survival rate after transplantation is significantly reduced, which in turn affects the overall function and ecological stability of the wetland purification system. Summary of the Invention

[0004] The embodiment of the present application provides an automated device for planting aquatic plants in artificial wetlands, which can improve the survival rate of aquatic purification plants after planting, so as to at least partially solve the above-mentioned technical problems.

[0005] In order to achieve the above-mentioned object, according to a first aspect of the present application, there is provided an automated device for planting aquatic plants in artificial wetlands, comprising: A frame, wherein a rolling wheel is provided at the lower end of the frame, and a storage box is provided on the surface of the frame; A moving mechanism, movably arranged on the frame; an enclosure mechanism, disposed on the moving mechanism, the enclosure mechanism having a switchable open state and a closed state, wherein the enclosure mechanism allows plants to enter when in the open state, and circumferentially encloses the stem of the plant when in the closed state; an airbag abutment mechanism, provided on the enclosure mechanism, the airbag abutment mechanism being configured to inflate when the enclosure mechanism is in a closed state to form a plurality of abutment points for abutting the plant against the inner wall of the enclosure mechanism; The supplement mechanism is installed on the enclosure mechanism, and is configured to inject growth-promoting nutrient solution into the plant when the airbag abutment mechanism abuts the plant against the inner wall of the enclosure mechanism.

[0006] Optionally, the enclosing mechanism includes a driving assembly, an arc-shaped cylinder and an arc-shaped baffle, the arc-shaped cylinder is vertically arranged on the moving mechanism, the arc-shaped cylinder has an arc-shaped cavity, the arc-shaped baffle is slidably fitted in the arc-shaped cavity, the driving assembly is arranged on the outer wall of the arc-shaped cylinder, the driving assembly is configured to cooperate with the arc-shaped baffle to drive the arc-shaped baffle to move out of or into the arc-shaped cavity, and when part of the arc-shaped baffle moves out from one side opening of the arc-shaped cavity, it can move in from the other side opening of the arc-shaped cavity, so that the arc-shaped cylinder and the arc-shaped baffle enclose to form a accommodating cavity for accommodating plants.

[0007] Optionally, the driving assembly includes a driving cover, a motor and a gear, wherein the driving cover is provided on the outer wall of the arc-shaped cylinder, the motor is installed in the driving cover, and the gear is coaxially provided on the output shaft of the motor; An arc-shaped bar hole communicating with the arc-shaped cavity is provided on the surface of the arc-shaped cylinder away from the accommodating cavity, and an arc-shaped rack is provided on the surface of the arc-shaped baffle away from the accommodating cavity. The extension direction of the arc-shaped rack is consistent with the bending direction of the arc-shaped baffle, and the arc-shaped rack meshes with the gear after passing through the arc-shaped bar hole.

[0008] Optionally, the airbag abutment mechanism includes an inflation and exhaust component and an airbag component, the inflation and exhaust component is arranged in the arc-shaped baffle, the airbag component is arranged on the inner wall of the arc-shaped baffle located in the accommodating cavity, and the inflation and exhaust component is connected to the airbag component to inflate or deflate the airbag component.

[0009] Optionally, the inflation and exhaust assembly includes an electric air pump, a first battery and a tube body, a placement cavity is opened in the arc-shaped baffle, the electric air pump and the first battery are both placed in the placement cavity, the electric air pump is electrically connected to the first battery, and the tube body is configured to connect the electric air pump and the airbag assembly.

[0010] Optionally, the airbag assembly includes a first bag body, a second bag body and a third bag body, and the tube body includes a first pipe, a second pipe and a third pipe; wherein, The first sac is bonded to the middle area of ​​the inner wall of the arc-shaped baffle and is used to abut against the middle of the stem of the plant. One end of the first pipe is connected to the electric air pump, and the other end is connected to the first sac; The second capsule is bonded to the top area of ​​the inner wall of the arc-shaped baffle and is used to abut against the top area of ​​the stem of the plant close to the leaves. One end of the second pipe is connected to the first capsule, and the other end is connected to the second capsule. The third capsule is bonded to the bottom area of ​​the inner wall of the arc-shaped baffle and is used to abut against the bottom area of ​​the stem of the plant close to the rhizome. One end of the third pipe is connected to the second capsule, and the other end is connected to the third capsule.

[0011] Optionally, the first, second and third sacs all have oppositely facing arcuate fitting portions and radial abutment portions, the arcuate fitting portions are bonded to the arcuate inner wall of the arcuate baffle, and the radial abutment portions are configured to radially expand or contract when the electric air pump inflates or deflates the first, second and third sacs.

[0012] Optionally, the supplementing mechanism includes a push-pull assembly and an injection assembly, the push-pull assembly is arranged on the outer wall of the arc-shaped cylinder away from the accommodating cavity, and the injection assembly is arranged on the push-pull assembly, and the push-pull assembly is configured to drive the injection assembly to move in the radial direction of the arc-shaped cylinder, so that the injection assembly passes through the arc-shaped cylinder and is inserted into the plant abutted against the inner wall of the enclosing mechanism, and drives the injection assembly to radially exit the arc-shaped cylinder.

[0013] Optionally, the push-pull assembly includes a cover, a rodless electric cylinder and a second battery, the cover is provided on the outer wall of the arc-shaped cylinder away from the accommodating cavity, the rodless electric cylinder and the second battery are both installed in the cover and electrically connected, and the length direction of the rodless electric cylinder is consistent with the radial direction of the arc-shaped cylinder; The injection assembly includes a storage tank, a transfer cylinder, a needle, a transmission hose and an infusion pump. The transfer cylinder is installed on the movable piston of the rodless electric cylinder, and the length direction of the transfer cylinder is consistent with the length direction of the rodless electric cylinder. The needle is coaxially connected to one end of the transfer cylinder. A needle hole is radially opened on the arc cylinder for the needle to pass through, and the needle hole is connected to the arc cavity. The storage tank is installed in the cover body, and the infusion pump is arranged on the storage tank. The pump inlet end of the infusion pump is connected to the transfer cylinder through the transmission hose, and the pump outlet end is connected to the storage tank. The storage tank is configured to store growth-promoting nutrient solution.

[0014] Optionally, the moving mechanism includes a rotating motor, a rotating column, a first rodless cylinder and a second rodless cylinder, the rotating motor is mounted on a frame, the rotating column is vertically mounted on the output shaft of the rotating motor, the first rodless cylinder is arranged at the top of the rotating column and extends horizontally, the second rodless cylinder is arranged on the moving piston of the first rodless cylinder and extends vertically, and the enclosing mechanism is mounted on the moving piston of the second rodless cylinder.

[0015] In summary, this application includes at least one of the following beneficial technical effects: 1. The present invention provides a first bladder, a second bladder, and a third bladder in the enclosure mechanism, which correspond to the middle, upper, and lower regions of the stem of an aquatic plant, respectively. Combined with the control method of the electric air pump in the inflation and exhaust assembly, the three bladders are inflated sequentially in a specific order during the clamping process. First, the first bladder contacts the middle region of the plant, forming an initial abutment force in the middle region. Then, the second bladder flexibly abuts the upper region near the leaves. Finally, the third bladder abuts the lower region near the rhizome, so that the clamping force is gradually distributed from the middle to both ends. This can make the force applied to the plant during the clamping process tend to be symmetrical, thereby providing stable protection for the stem, especially the more fragile upper region. Compared with traditional clamping structures or single-point clamping structures, this segmented buffering abutment method can reduce the risk of bending or damage to aquatic plants due to localized force concentration to a certain extent. Therefore, it is more suitable for clamping and transporting aquatic plants in wetland environments during transplantation or initial planting, and has high adaptability and protection. 2. The present invention provides a replenishment mechanism, including a push-pull assembly and an injection assembly, so that after the equipment completes the clamping of the aquatic plants, it can also supplement the plants with nutrients in the clamped state, thereby providing growth support for the subsequent planting stage. The push-pull assembly uses a rodless electric cylinder to drive the injection assembly to move along the radial direction of the arc-shaped cylinder, so that the needle body on the injection assembly is inserted into the stem of the plant through the needle hole on the arc-shaped cylinder, and then cooperates with the infusion pump to send the growth-promoting nutrient solution in the storage tank along the transmission hose and the transfer cylinder into the needle body and inject it into the plant body, thereby achieving precise fixed-point rehydration operation. At the same time, the insertion path of the needle body is staggered with the airbag assembly in the vertical direction, and its insertion timing does not overlap with the recovery process of the arc-shaped baffle, which is beneficial to avoid mutual interference between structures and enhance the safety and stability of the overall operation. This rehydration method can effectively improve the survival probability of plants in a new environment. It is particularly suitable for aquatic plants whose root systems are not yet stable in the early stage of transplantation. It also systematically integrates the two types of operations of clamping and nutrient input, making the planting process more intelligent and integrated. 3. The automated equipment for planting aquatic plants in artificial wetlands provided by this application can accurately sense the environment, achieve precise navigation, positioning and identification of the target planting area, and can be operated with a remote control. At the same time, according to the pre-set density and planting requirements, it can gently remove seedlings, accurately dig holes, accurately plant, and effectively inject nutrient solution, which can achieve the rapid planting of purified plants and reduce the frequent bending, manual planting, and liquid application steps, which is beneficial to reducing the labor intensity of workers in actual wetland construction. At the same time, the equipment uses the enclosing mechanism and the airbag abutment mechanism to coordinate and complete the stable clamping of the plant, and then the replenishing mechanism accurately completes the injection of nutrient solution. Combined with the multi-axis control of the moving mechanism, the plant is lowered into the wetland. This not only makes the entire planting process highly continuous and standardized, but also can complete a larger number of plant colonization operations per unit time, to a certain extent improving the construction efficiency and on-site planting progress of the aquatic plant planting process, while reducing manpower and material resources. Moreover, it is not affected by weather and can replace manpower for planting in rainy or hot seasons. It is suitable for the standardized batch operation requirements in large-scale artificial wetland construction or restoration projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0017] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0018] Figure 1 This is a schematic diagram of the structure of the embodiment of the present application Figure 1 ; Figure 2 This is a partial schematic diagram for showing the enclosure mechanism in the embodiment of the present application. Figure 1 ; Figure 3 This is a partial schematic diagram for showing the enclosure mechanism in the embodiment of the present application. Figure 2 ; Figure 4 It is a partial cross-sectional view for illustrating the enclosing mechanism, the airbag abutting mechanism, and the supplementing mechanism in the embodiment of the present application; Figure 5 yes Figure 4 A magnified view of part A in FIG; Figure 6 This is a schematic diagram for illustrating the position of the airbag assembly on the arc-shaped baffle in an embodiment of the present application; Figure 7 yes Figure 4 A magnified view of part B in FIG; Figure 8 This is a schematic diagram of the structure of the embodiment of the present application Figure 2 ; Figure 9 This is a schematic diagram of the structure of the embodiment of the present application Figure 3 .

[0019] Description of reference numerals: 1. Frame; 11. Rolling wheels; 12. Storage box; 2. Moving mechanism; 21. Rotating motor; 22. Rotating column; 23. First rodless cylinder; 24. Second rodless cylinder; 3. Enclosure mechanism; 31. Drive assembly; 311. Drive cover; 312. Motor; 313. Gear; 32. Arc-shaped cylinder; 321. Arc-shaped cavity; 322. Arc-shaped bar hole; 33. Arc-shaped baffle; 331. Arc-shaped rack; 332. Placement cavity; 34. Accommodation cavity; 4. Airbag abutment mechanism; 41. Inflation and exhaust assembly; 411. Electric air pump; 412. First battery; 413. Tube; 4131. First conduit; 4132. Second conduit; 4133. Third conduit; 4134. Arc-surface fitting portion; 4135. Radial abutment portion; 42. Airbag assembly; 421. First bladder; 422. Second bladder; 423. Third bladder; 5. Supplement mechanism; 51. Push-pull assembly; 511. Cover; 512. Rodless electric cylinder; 513. Second battery; 52. Injection assembly; 521. Storage tank; 522. Transfer cylinder; 523. Needle; 524. Transfer hose; 525. Infusion pump; 6. Opening and closing mechanism; 61. Driving motor; 62. Limiting plate; 7. Card embedding part. DETAILED DESCRIPTION

[0020] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0021] As ecological civilization construction continues to advance, water environment management has become a key component of ecological restoration and sustainable development. Improving the water quality of rivers and lakes is directly related to the health and stability of regional ecosystems. Constructed wetlands, as ecosystem projects that mimic the structure and functions of natural wetlands, have been widely used in water environment management due to their excellent water purification effects, significant ecological value, and low operation and maintenance costs. They demonstrate strong comprehensive advantages in treating sewage, reducing nitrogen and phosphorus loads, and restoring aquatic ecosystem functions. During the construction and operation of constructed wetland systems, the selection and cultivation of purifying plants is a key factor in determining the wetland's purification capacity. Emergent aquatic plants such as reeds, water plantains, and cannas are widely used in constructed wetland purification projects, primarily due to their excellent adsorption and purification capabilities for pollutants such as nitrogen, phosphorus, and heavy metals. To improve the construction efficiency of constructed wetland projects, specialized equipment has been developed for the automated cultivation of purifying plants, enabling a transition from manual to automated planting.

[0022] However, the applicant found in the long-term engineering application and test process that the existing automated planting equipment often uses a rigid structure to directly clamp the root and stem parts of the plant when performing the clamping action. Due to the lack of flexibility in the structural design of the clamping mechanism, the clamping force cannot be accurately controlled, which can easily cause mechanical damage to the plants, especially hollow stem plants such as reeds, water plantains, and cattails, during the clamping process. This damage usually manifests as extrusion deformation, local lacerations, or even breakage of the stems, which is more serious when the contact area of ​​the clamping point is small and the clamping force is unevenly distributed. Although these devices can complete the transportation and planting of plants from the nursery area to the wetland planting site, the physiological activity of the damaged plants decreases after transplanting, and the root system is difficult to recover quickly, resulting in a significant decrease in survival rate, which ultimately affects the vegetation coverage, biodiversity, and water purification capacity of the entire wetland purification system. Therefore, this type of equipment has obvious limitations in actual use, and there is an urgent need to optimize and improve the clamping mechanism structure to achieve effective reduction of mechanical damage such as crushing and tearing to the plants while ensuring clamping stability.

[0023] Based on the above problems, the applicants realized that improving the flexibility and adaptability of the clamping mechanism in automated planting equipment is a key technical link in improving plant survival rates and ensuring the operational effectiveness of artificial wetland systems. In particular, for purification plants such as reeds, which have thick stems and are hollow and fragile, traditional rigid clamps should be avoided, and instead a structural design that can achieve both gentle clamping and firm fixation should be studied. In this way, not only can the tissue damage of plants during transplantation and the survival rate after planting be significantly reduced, but the efficiency of wetland plant colonization and the functional stability of the overall ecosystem can also be improved, which has important engineering application value and promotion prospects.

[0024] Based on this, this application provides an automated device for planting aquatic plants in artificial wetlands. Figures 1 to 4 The automated equipment includes a frame 1, a moving mechanism 2, an enclosure mechanism 3, an airbag abutment mechanism 4, and a supplementary mechanism 5. A rolling wheel 11 is provided at the lower end of the frame 1 so that the entire device can be moved in the artificial wetland operation area. The upper part of the frame 1 is provided with a storage box 12 for temporarily placing aquatic plants. The storage box 12 is used to vertically place plants such as reeds to be planted. The moving mechanism 2 can be movably arranged on the frame 1, and its function is to drive the enclosure mechanism 3 to move on the frame 1 so that the enclosure mechanism 3 can approach any target plant in the storage box 12. The enclosure mechanism 3 has a switchable open state and a closed state. When in the open state, the size of its opening area is sufficient to accommodate the rhizomes and part of the stems of aquatic plants. When the enclosure mechanism 3 is in the closed state, the enclosure structure will surround the rhizomes of the plants to form a circumferentially closed space, so that the clamping part forms an annular covering contact with the plants. In order to reduce the compressive stress on the plants during the enclosing process, the enclosing mechanism 3 does not rely on structural rigidity to achieve clamping, but an airbag abutment mechanism 4 is provided inside the enclosing mechanism 3 .

[0025] For example, the airbag abutment mechanism 4 is arranged on the enclosure mechanism 3. After the enclosure mechanism 3 is closed, the airbag abutment mechanism 4 can be inflated and gradually expanded toward the center, so that multiple points of flexible contact are formed between the enclosed plant root and the inner wall of the enclosure mechanism 3. Since the airbag abutment mechanism 4 is abutted by the airbag body, and the material of the airbag body is elastic and its inflation degree can be controlled by air pressure, the contact between the outer wall of the plant stem and the airbag abutment mechanism 4 is flexible and can alleviate the local compressive stress concentration phenomenon caused by point contact to a certain extent, thereby providing stable support for the plant stem and reducing the probability of mechanical damage. Especially on hollow rod-shaped plants such as reeds, this flexible contact structure is more beneficial to the intact maintenance of plant tissues, thereby providing guarantee conditions for subsequent plant survival. In addition, the space restriction after the enclosure mechanism 3 is closed helps to maintain the stability of the plant posture, so that it remains vertical during the subsequent vertical lowering to the wetland planting area, further improving the accuracy and survival expectation of mechanical planting.

[0026] For example, the replenishing mechanism 5 is mounted on the enclosing mechanism 3. It will be appreciated that, after the airbag abutment mechanism 4 has flexibly abutted the plant, the replenishing mechanism 5 can approach the plant stem and penetrate the outer wall or internode region of the stem to inject growth-promoting nutrient solution. This injection process is typically performed while the plant is stably supported, ensuring relatively accurate injection positioning and avoiding mechanical damage caused by misalignment or slippage.

[0027] Furthermore, to accommodate the injection needs of plants of varying diameters, the replenishment mechanism 5 can be designed with adjustable injection pressure and volume, and combined with injection position sensor feedback to ensure the liquid injection point is within the plant's absorbable area. The injection point of the replenishment mechanism 5 can be coated with a plant-friendly glue or antibacterial coating to facilitate physiological adaptation and subsequent sealing at the injection point, preventing nutrient solution loss or infection.

[0028] After the liquid injection is completed, the mobile mechanism 2 drives the enclosing mechanism 3 to move as a whole, and lowers the clamped aquatic plants to a predetermined position in the artificial wetland in the vertical direction. Since the plants have been stably clamped by the airbag abutment mechanism 4, their posture remains relatively stable during the entire movement process, which is beneficial to improving the neatness and density consistency of mechanical planting. When the enclosing mechanism 3 reaches the target lowering position, the airbag abutment mechanism 4 gradually shrinks the airbag body through gas discharge, and the contact force between the outer wall of the plant and the airbag body gradually decreases, and finally the airbag body is completely released and separated from the plant. Immediately afterwards, the enclosing mechanism 3 switches to an open state, which can release the target plant and complete the planting process of a plant. Subsequently, the mobile mechanism 2 drives the enclosing mechanism 3 to return to the initial position or move to the next target position, and repeats the clamping and planting operations of the next plant.

[0029] It should be noted that the "open state" of the enclosure mechanism 3 means that the enclosure structure has an opening that is sufficient for the plant to be inserted from the outside, and the opening is expanded to at least cover the diameter of the plant stem, while the "closed state" means that the enclosure structure surrounds the plant to form a nearly closed clamping cavity, and the airbag abutment mechanism 4 is wrapped around the plant to form multiple points of contact. The "abutment points" of the airbag abutment mechanism 4 are not limited to a fixed number, but vary according to the number of airbags arranged and the inflation state. A more stable clamping effect can be achieved by forming at least three or more evenly distributed contact points. The injection structure of the replenishment mechanism 5 may also include an injection pump, a control module, and a programmable injection parameter setting component to adapt to the nutrient absorption characteristics of different types of plants.

[0030] Furthermore, when the various mechanisms of the automated equipment for planting aquatic plants in artificial wetlands of the present application cooperate with each other, a closed-loop control system can be formed by combining sensors, electronic control units and signal transmission devices, which can realize a series of automated operation processes. Specifically, a central control module (not shown in the figure) is provided on the frame 1, which is used to receive and analyze the sensor signals fed back by each mechanism, and send control instructions to the corresponding actuators. The mobile mechanism 2 is integrated with a displacement sensor and a limit switch to detect the current moving position and operating status, and combined with the moving path data output by the control module, guides the mobile mechanism 2 to accurately move the enclosing mechanism 3 to the top or side of the plant in the storage box 12. An angle detection device or a Hall sensor is installed inside the enclosing mechanism 3 to monitor the opening and closing state of the enclosing structure in real time, so as to locate the entry point of the plant when it is in the open state, and output a closing signal to the central control module after entering, so as to control the enclosing mechanism 3 to switch to the closed state.

[0031] After the enclosure mechanism 3 is closed, the airbag abutment mechanism 4 begins to inflate. The airbag abutment mechanism 4 is attached to the inner wall of the enclosure mechanism 3, and a pressure sensor and an electrically controlled valve are connected inside the airbag abutment mechanism 4. The inflation rate and the final air pressure are controlled by the control module. The airbag structure can gradually make flexible contact with the stem of the plant during the inflation process. The multiple airbag units of the airbag abutment mechanism 4 can independently control the inflation time and intensity, and are used to achieve regional fitting according to the shape of the plant stem. The multi-point contact between the inner wall of the enclosure mechanism 3 and the plant stem is formed into a wrapping support through the airbag body, which is beneficial to relieve concentrated compressive stress and makes the clamping process gentle and stable. After the replenishment mechanism 5 receives the signal that the airbag body is inflated through the central control module, it begins to inject growth-promoting nutrient solution into the plant.

[0032] Then, after the replenishing mechanism 5 completes the injection, the central control module issues a descending command, and the moving mechanism 2 drives the enclosing mechanism 3 to lower the plant vertically to a predetermined position in the artificial wetland. During this process, the displacement detection device continuously feeds back the current position to the central control module, and the control module determines whether the preset planting depth has been reached based on the height parameter. When the lowering action is completed, the control module instructs the airbag to exhaust, and the airbag slowly retracts. Its flexible contraction process allows the plant to be gradually released from its original support state, reducing the risk of tipping or collision due to sudden loss of support. After confirming that the airbag has shrunk to a predetermined state, the enclosing mechanism 3 switches back to an open state, thereby completing a process of capturing, injecting liquid, and planting the plant at a fixed point.

[0033] In summary, by integrating the enclosing mechanism 3, the airbag abutting mechanism 4 and the supplementing mechanism 5, the device has a certain degree of flexible adjustment ability when clamping plants, which can help reduce the risk of mechanical damage to plants, improve the stable clamping effect of plants, and inject growth-promoting nutrient solution into plants in the clamping state, thereby improving the initial nutritional conditions required for plant survival, thereby helping to improve the automation efficiency of artificial wetland planting and the overall ecological function performance. At the same time, it is worth noting that the aquatic plants referenced in this application are reeds, and this application is applicable to emergent plants of reeds.

[0034] In some embodiments, combined Figure 2 、 Figure 3 and Figure 4 The enclosure mechanism 3 includes a drive assembly 31, an arc-shaped cylinder 32, and an arc-shaped baffle 33. The arc-shaped cylinder 32 is mounted on the moving mechanism 2 in a vertical direction, and an arc-shaped cavity 321 is formed inside the arc-shaped cylinder 32. The arc-shaped baffle 33 is arranged in the arc-shaped cavity 321 in a sliding manner and can be moved out of or re-entered into the arc-shaped cavity 321 under the action of the drive assembly 31. The drive assembly 31 includes a drive cover 311, a motor 312, and a gear 313. The drive cover 311 is detachably mounted on the outer wall of the arc-shaped cylinder 32 by means of bolts, which is convenient for later maintenance or replacement of components. A cooling fan can be installed inside the drive cover 311, and the motor 312 is also mounted inside the drive cover 311 by bolts. The installed cooling fan can be used to dissipate heat from the motor 312, thereby delaying the operating temperature rise of the motor 312 to a certain extent. The output shaft of the motor 312 is coaxially connected to a gear 313. When the motor 312 is activated, the gear 313 rotates accordingly, thereby meshing with the arcuate rack 331 on the arcuate baffle 33. The arcuate rack 331 is disposed on the side of the arcuate baffle 33 facing away from the accommodating cavity 34. Its extension direction aligns with the curvature of the arcuate baffle 33. It passes through the outer wall of the arcuate cylinder 32 via the arcuate bar hole 322 and then meshes with the gear 313. When the gear 313 rotates, it drives the arcuate rack 331 to slide relative to the arcuate bar hole 322, thereby causing the arcuate baffle 33 to perform a guided arcuate rotation within the arcuate cavity 321.

[0035] It can be understood that in terms of structural coordination, the curvature of the arc-shaped cylinder 32 and the arc-shaped baffle 33 together constitute the partial arc length of the circle, and the cross-sectional circumference is designed to be greater than two-thirds of the complete circumference. Therefore, when the arc-shaped baffle 33 moves out from the outlet of the arc-shaped cavity 321 on one side in one direction, its other end can re-enter the interior of the arc-shaped cavity 321 from the opposite opening, forming a nearly closed-loop enclosure structure. At this time, a surrounding accommodating cavity 34 is formed between the arc-shaped cylinder 32 and the arc-shaped baffle 33. The accommodating cavity 34 is used to enclose the plant stem portion, and its structural form realizes an embracing surrounding of the plant stem. To limit the maximum movement stroke of the arc-shaped baffle 33, a limiting component, such as a limiting boss, a limiting block, etc., can be provided at the end of the arc-shaped rack 331 or in the arc-shaped cavity 321 to limit its further movement through structural contact, thereby preventing excessive rotation from causing structural interference or failure.

[0036] Furthermore, during the sliding process, the length and curvature of the arc-shaped bar hole 322 match the arc-shaped rack 331, and the arc-shaped bar hole 322 forms a sliding guide function for the arc-shaped rack 331, so that the gear 313 maintains a smooth and consistent driving process on the arc-shaped baffle 33, reducing the risk of jamming due to deflection or interference. The above structure enables the arc-shaped baffle 33 to maintain morphological consistency with the arc-shaped cylinder 32 during rotation, which is conducive to forming a structurally continuous covering form. By controlling the arc-shaped baffle 33 to move in or out of the arc-shaped cavity 321, and combining the start and stop control of the motor 312 by the central control module, the enclosure mechanism 3 can automatically switch between the open state and the closed state as needed, achieving flexible adaptation to the stems of aquatic plants of different sizes or shapes, which is beneficial to reducing the probability of damage to the plant during the clamping process and enhancing the adaptability and stability of the overall structure to the plant. The above-mentioned "accommodation cavity 34" is a spatial area in the closed structure used to accommodate the stem of the plant. It does not specifically refer to being completely sealed, but only needs to have a complete enclosing function. During use, the coordinated action of the enclosing mechanism 3 in conjunction with the moving mechanism 2 and the airbag abutting mechanism 4 has a positive effect on improving the stability of the flexible clamping during the planting process and the reliability of the automated operation.

[0037] In some embodiments, combined Figure 4 、 Figure 5 and Figure 6 The airbag abutment mechanism 4 includes an inflation and exhaust component 41 and an airbag component 42. The inflation and exhaust component 41 is arranged in the internal space of the arc-shaped baffle 33, and the airbag component 42 is fixed to the inner wall surface of the arc-shaped baffle 33 close to the accommodating cavity 34. The airbag component 42 and the inflation and exhaust component 41 are gas-connected through a pipeline or a ventilation channel, so that the inflation and exhaust component 41 can inflate or exhaust the interior of the airbag component 42, thereby controlling the volume change of the airbag component 42.

[0038] In the structural coordination, the airbag assembly 42 is attached to the inner surface of the arc-shaped baffle 33. When the enclosure mechanism 3 is in a closed state and forms a covering around the plant stem, an inflation command can be issued through the control system to drive the inflation and exhaust assembly 41 to deliver gas to the airbag assembly 42. The airbag assembly 42 gradually expands under pressure, and its expansion direction is toward the interior of the accommodating cavity 34, thereby forming multiple flexible contact points with the surface of the plant stem. Since the airbag assembly 42 can control its expansion and contraction by setting the inflation volume, the contact force can be flexibly adjusted according to the thickness of the plant stem. It has a certain degree of flexibility and adaptability, which is beneficial to reducing the concentration of compressive stress on the plant stem caused by the mechanical clamping process, thereby helping to reduce the risk of plant survival caused by clamping.

[0039] In some optional embodiments, the airbag assembly 42 can be constructed of a flexible rubber material, and its inner wall can be further provided with a microporous structure to release a trace amount of airflow when the airbag is inflated, forming a buffer air film area, which helps to further weaken the point pressure and improve the flexibility of the contact interface. The local controllable flexible airbag contact between the arc-shaped baffle 33 and the plant not only enhances the clamping stability of the plant, but also helps to improve the reliability of the overall planting process. However, it should be noted that if a microporous structure is used on the airbag assembly 42, the inflation and exhaust assembly 41 must be kept continuously inflated to prevent the airbag assembly 42 from losing its abutment effect due to excessive deflation.

[0040] It is worth noting that the inflation / exhaust assembly 41 can be constructed using pneumatic components such as micropumps and solenoid valves. Its on / off state and the inflation / deflation process of the airbag assembly 42 can be regulated by control signals sent by the central control module, thereby achieving orderly opening and closing of the airbag assembly 42, and thus maintaining linkage with the state switching of the enclosure mechanism 3. The "inner wall of the arcuate baffle 33" refers to the wall of the arcuate baffle 33 facing the accommodating cavity 34, specifically the surface on which the airbag assembly 42 is mounted. This overall structure is beneficial for improving the device's adaptability to automated clamping of aquatic plants and its operational flexibility.

[0041] In some embodiments, combined Figure 4 、 Figure 5The inflation and exhaust assembly 41 includes an electric air pump 411, a first battery 412, and a tube body 413. The electric air pump 411 and the first battery 412 are jointly arranged in a placement cavity 332 inside the arc-shaped baffle 33. The placement cavity 332 is a storage space pre-opened inside the arc-shaped baffle 33 for integrating multiple functional components of the assembly. The first battery 412 establishes an electrical connection with the electric air pump 411 through a wire, and is used to provide continuous power for the start and stop of the electric air pump 411 and the working process. An air guide path is formed between the electric air pump 411 and the airbag assembly 42 through the tube body 413. The tube body 413 can be made of a flexible silicone tube or a thermoplastic material with elastic recovery properties. Its two ends are fixedly connected to the air outlet of the electric air pump 411 and the air inlet of the airbag assembly 42, respectively, to facilitate sealing and conduction.

[0042] It can be understood that the electric air pump 411 adopts a two-way airflow structure, integrating two functional channels of inflation and exhaust in one device. Its internal structure can switch the air outlet direction through the solenoid valve assembly. When the electric air pump 411 is working in the forward direction, it can pressurize the external air into the airbag assembly 42 to inflate the airbag. In the reverse working state, the air in the airbag assembly 42 can be drawn back to the exhaust port of the electric air pump 411 through the tube body 413 for release, thereby causing the airbag body to shrink.

[0043] It is worth noting that the placement cavity 332 is also structurally provided with a corresponding exhaust port, which is usually located at the edge of a side away from the plant contact area, and is used to guide the exhausted air to the outside space to prevent the airflow from forming a turbulent accumulation in the arc-shaped baffle 33; at the same time, the presence of the exhaust port can also release heat in time to avoid overheating in the placement cavity 332 and damage to the mechanism. This structural setting is beneficial for clearly zoning the gas circulation path and helps to improve the inflation and exhaust efficiency of the system. Since all pneumatic-related components are integrated in the arc-shaped baffle 33, the pipeline path between the airbag assembly 42 and the inflation and exhaust assembly 41 can be shortened, thereby reducing the pressure loss during the gas transmission process, which is conducive to achieving a faster airbag expansion and compression reaction. The first battery 412 provides an independent power source for the entire pneumatic structure. Its capacity can be matched and designed according to the continuous working time of the equipment and the power of the air pump, and it has functional flexibility. The "tube 413" mentioned above refers to the airway connecting the air pump and the airbag assembly 42; the "housing cavity 332" refers to the structural cavity within the curved baffle 33, which is used to embed electronic components and pneumatic elements. This structural layout helps maintain the overall smoothness of the curved baffle 33 and avoids external interference, contributing to the stability of the device and the maintainability of the components. The overall structure makes the inflation and deflation of the airbag assembly 42 more efficient and sensitive during the plant clamping process.

[0044] In some embodiments, combined Figure 4 、 Figure 5 and Figure 6 The airbag assembly 42 includes a first sac 421, a second sac 422 and a third sac 423, and the tube body 413 includes a first pipe 4131, a second pipe 4132 and a third pipe 4133. Specifically, the first sac 421 is arranged in the middle area of ​​the inner wall of the arc-shaped baffle 33 facing the accommodating cavity 34, and is fixed to this position by bonding with a flexible polymer material. The first sac 421 is mainly used to form an abutment relationship with the middle part of the stem of the plant. Through the air flow transmission channel between the first pipe 4131 and the electric air pump 411, it can apply a stable and gentle abutment force to the middle part of the plant in the inflated state, thereby helping to clamp the plant without obvious pressure stress concentration. The second bladder 422 is located at the top of the inner wall of the curved baffle 33, corresponding to the upper portion of the plant stem near the leaves. It is connected to the first bladder 421 via the second conduit 4132, allowing the inflation and deflation process to extend from the first bladder 421 to the second bladder 422. While maintaining the compact structure of the tube 413, the second bladder 422 can also be inflated sequentially, providing additional support to the top of the stem. The third bladder 423 is fixed to the bottom of the inner wall of the curved baffle 33, primarily used to abut the lower portion of the plant stem near the rhizome. It is connected to the second bladder 422 via the third conduit 4133, forming a series distributed connection throughout the gas circulation path, allowing each bladder to receive pressure transmission in sequence.

[0045] Three groups of capsules are arranged around the plant stem at different heights, achieving multi-point support and embracing positioning in space. This provides a distributed and more compliant flexible wrapping effect during the clamping process. This structure can reduce the risk of localized pressure concentration in a specific contact area, which helps maintain the integrity of plant tissue cells and improve survival rate after planting. During the sequential inflation of the first capsule 421, the second capsule 422, and the third capsule 423, internal pressure is gradually transmitted to various locations through the tube 413. Because the capsule structural material has certain elastic properties, it can adapt to stems of different diameters within a limited space, thereby enhancing the applicability of the device. The series connection of the capsules through the tube 413 reduces the number of output ports of the electric air pump 411 and simplifies the pneumatic path, which benefits the compactness of the overall structure and the reliability of the control system. In addition, the bonding between the capsules and the inner wall of the curved baffle 33 can be achieved using silicone or a two-component elastic adhesive. This structural combination has certain waterproof and peeling resistance properties, facilitating the use of the device in wetland environments. The aforementioned "first bladder 421," "second bladder 422," and "third bladder 423" respectively represent multiple independent flexible airbag structures for contacting the middle, top, and bottom of the plant stem. Each of these airbags is connected to the electric air pump 411 via a tube 413, enabling a flexible clamping method with segmented wrapping and zoned contact. This overall structure enhances plant support stability and improves the success rate of planting.

[0046] It is worth noting that due to the connection characteristics of the first pipe 4131, the second pipe 4132 and the third pipe 4133, during the operation of the electric air pump 411, the electric air pump 411 will preferentially ventilate the first tube body 413, causing the first capsule 421 to inflate first and form a preliminary contact relationship with the middle area of ​​the plant stem. The middle area is a relatively stable position where the plant stem is subjected to force, and its structure is usually relatively solid. Therefore, it can be used as the initial support point for clamping stability. First establishing a contact relationship at this location is beneficial to maintaining the overall posture of the plant stable during the subsequent inflation process. Subsequently, by controlling the ventilation path of the second tube body 413 in the tube body 413 system, the second capsule 422 begins to inflate. The clamping area corresponding to the second capsule 422 is the upper area of ​​the plant stem close to the leaves. Due to its thin structure and relatively fragile tissue, this area is a part of the plant that is more sensitive to clamping requirements. At this time, under the pre-stabilizing effect of the middle abutment force formed by the first capsule 421, the additional contact force generated by the second capsule 422 on the upper area of ​​the plant can be kept relatively balanced with the middle abutment force, which is beneficial to improving the force stability of this part, thereby reducing the risk of bending in the fragile area of ​​the structure due to sudden concentrated loads.

[0047] Then, the third tube body 413 is controlled to connect the air path, so that the third sac 423 is finally inflated and abuts the lower area of ​​the plant stem near the rhizome. Since the bottom area of ​​the plant is often close to the rhizome connection, its strength is higher than that of the middle and top areas, and it has a strong load-bearing capacity. Therefore, the abutment of this part is completed at the end of the clamping process, which can form a staged clamping path starting from the middle, gradually expanding to the upper part, and finally extending to the lower part. The setting order of this path combines the structural mechanical characteristics of different parts of the plant, which can not only improve the stability of the clamping as a whole, but also help to improve the structural adaptability of the plant during the clamping and transportation process.

[0048] Through the above-mentioned three-stage sequential inflation control, the first bladder 421, the second bladder 422, and the third bladder 423 of the airbag assembly 42 form a sequentially contacted partitioned covering effect, thereby achieving a soft segmented contact with the plant, making the clamping process have higher precision and flexibility, which is beneficial to reducing the potential risk of damage to the stems of aquatic plants during the clamping operation, thereby improving the overall adaptability and survival probability of the plant transplanting operation. At the same time, this embodiment achieves a coordinated covering and clamping of multiple parts of the plant stem by reasonably controlling the inflation timing and contact rhythm of each bladder, and can to a certain extent match the pressure-bearing capacity of each part according to the structural characteristics of the plant itself, which has the technical effect of improving the plant adaptability and clamping stability of the automated equipment.

[0049] In some embodiments, combined Figure 4 、 Figure 5 The first, second, and third airbag bodies 421, 422, and 423 are each configured with two functional portions having opposing structures, including a curved surface contact portion 4134 and a radial abutment portion 4135. The curved surface contact portion 4134 is an arc-shaped structure that matches the curved inner wall of the curved baffle 33 in terms of spatial curvature. They are fixedly bonded together through an adhesive process, forming a stable, non-deformable contact area. This contact relationship remains unchanged during inflation or deflation. That is, even when the gas state within the airbag assembly 42 changes, the curved surface contact portion 4134 does not significantly deform. Its function is primarily to define and guide the overall inflation direction and contraction of the airbag.

[0050] Furthermore, a radial abutment portion 4135 is provided on the opposite side of the cambered fitting portion 4134. The outer wall of the radial abutment portion 4135 faces the center of the accommodating cavity 34. When gas enters the first capsule 421, the second capsule 422, or the third capsule 423, this portion of the capsule wall bulges outward in the radial direction under the action of internal pressure, thereby forming an active contact push toward the stem of the plant. By designing only a portion of the capsule structure in each capsule as the inflation deformation portion, the inflation process can be made directional. The expansion trend of the airbag surface is mainly concentrated in the radial abutment portion 4135, achieving flexible fitting to a specific part of the plant. On the contrary, in the exhaust state, the pressure in the airbag decreases, and the radial abutment portion 4135 collapses toward the cambered fitting portion 4134 due to lack of support force, and shrinks and overlaps on the surface of the cambered fitting portion 4134, thereby restoring the overall capsule structure to a thinner state.

[0051] This structural design ensures that when the airbag assembly 42 enters the accommodating cavity 34 of the curved baffle 33, its overall volume change is primarily limited to a radial path, which helps improve clamping precision and spatial adaptability. When the curved baffle 33 is closed and slides to the clamping position, the first, second, and third bladders 421, 422, and 423, in their contracted states, are all in contact with the wall, occupying a relatively small space and not significantly interfering with the normal movement of the curved baffle 33. As a result, during operation, the airbag assembly 42, with its thin structure, can smoothly fit onto the inner wall of the curved baffle 33. When the plant needs to be clamped, it is sequentially inflated to the set pressure. This flexible contact is achieved at multiple points by the bladders in different positions, which helps reduce the risk of mechanical damage caused by concentrated clamping force. This embodiment, through the rational division of structural components and functional zoning, not only enhances the softness of the clamping action but also provides spatial redundancy for subsequent contraction, thereby improving the overall operational reliability and plant compatibility of the automated equipment.

[0052] In some examples, combined Figure 3 、 Figure 4 and Figure 7The replenishment mechanism 5 is arranged on the outer wall of the side of the arc-shaped cylinder 32 away from the accommodating chamber 34, and is mainly composed of a push-pull component 51 and an injection component 52. The entire structure is based on not interfering with the clamping and releasing actions of the plant, so as to achieve the purpose of replenishing nutrients inside the plant. Specifically, the push-pull component 51 includes a cover body 511, a rodless electric cylinder 512 and a second battery 513, wherein the cover body 511 is arranged on the outer wall of the arc-shaped cylinder 32 as a structural installation base, and has a covering structure to provide protection for the internal functional components. The rodless electric cylinder 512 and the second battery 513 are installed together inside the cover body 511, and form a drive system through electrical connection. The length direction of the rodless electric cylinder 512 is consistent with the radial direction of the arc-shaped cylinder 32, and is used to push the external components back and forth in a straight line. The injection assembly 52 is arranged on the movable piston of the rodless electric cylinder 512, and includes a transfer tube 522, a needle body 523, a storage tank 521, a transmission hose 524 and an infusion pump 525. The transfer tube 522 is fixedly connected to the end of the piston of the rodless electric cylinder 512 and moves radially therewith. The needle body 523 is a slender hollow structure and is coaxially arranged with the transfer tube 522 in the axial direction.

[0053] As will be understood, to facilitate the insertion of the needle 523, a pinhole is pre-installed in the curved cylinder 32. This pinhole radially extends from the outer wall into the interior of the curved cavity 321, forming a connection with the accommodating cavity 34. The linear path of the needle 523 extends radially, and after passing through the pinhole, it can accurately enter the interior of the plant clamped on the inner wall of the curved cylinder 32. The storage tank 521 stores growth-promoting nutrient solution and is connected to the interior of the transfer cylinder 522 via a transfer hose 524. An infusion pump 525 is located at one end of the storage tank 521, with its inlet connected to the transfer hose 524 and its outlet connected to the outlet of the storage tank 521. Driven by control logic, it delivers a constant pressure of nutrient solution to the needle 523. The multi-point abutment of the first, second, and third bladders 421, 422, and 423 maintains a relatively stable spatial posture, providing static support for the insertion of the needle 523. It should be pointed out that the structural position of the needle hole is spatially offset from the sliding path of the arc-shaped baffle 33. The insertion and withdrawal process of the needle body 523 and the movement of the arc-shaped baffle 33 are not carried out in the same time period, ensuring that the structural actions do not interfere with each other.

[0054] Furthermore, in order to prevent the needle body 523 from touching the first capsule 421, the second capsule 422 and the third capsule 423 during the insertion process, the insertion position of the needle body 523 is staggered with the above three capsules in the vertical direction, so that when the insertion depth of the needle body 523 is greater than the diameter of the plant, it will not puncture the capsule structure and cause its function to fail. This design concept of structural staggering is beneficial to reducing the probability of physical conflicts caused by positional overlap between components and improving the stability of multi-mechanism coordinated control during equipment operation. In addition, after the injection component 52 injects the nutrient solution into the plant, the control system can reversely drive the rodless electric cylinder 512 to withdraw the needle body 523 to the inside of the cover body 511, thereby preventing it from affecting other components during subsequent clamping or transportation. The entire replenishing mechanism 5 realizes the quantitative injection of growth-promoting nutrient solution into the plant through the setting of the radial movement path and the injection path of the needle body 523, and through the planning of the structural installation position, movement trajectory and timing relationship, the injection action and the clamping action are independent in space and time but closely coordinated, which is beneficial to improving the accuracy of automated management and maintenance efficiency during the cultivation of aquatic plants in artificial wetlands.

[0055] In some examples, such as Figure 1 、 Figure 8 As shown, the moving mechanism 2 is arranged on the frame 1, and its function is to provide a multi-directional controllable motion path for the enclosing mechanism 3, so as to complete the whole process of taking plants from the artificial wetland plant storage box 12 to planting in the planting area. The moving mechanism 2 mainly includes structural units such as a rotating motor 21, a rotating column 22, a first rodless cylinder 23 and a second rodless cylinder 24. Among them, the rotating motor 21 is fixedly mounted on the frame 1, and is used to provide a rotational driving force. Its output shaft is fixedly connected to the bottom of the rotating column 22. The rotating column 22 is arranged in the vertical direction, and can drive the rotating column 22 to rotate around the vertical direction when the rotating motor 21 is working. The first rodless cylinder 23 is fixedly mounted on the top of the rotating column 22 and is extended in the horizontal direction. It can rotate with the rotating column 22 while the rotating column 22 rotates. The second rodless cylinder 24 is installed on the movable piston of the first rodless cylinder 23, and its axis extends vertically downward. The enclosing mechanism 3 is fixedly installed on the movable piston of the second rodless cylinder 24 and is used to reciprocate in the up and down directions with the second rodless cylinder 24.

[0056] When the rotating motor 21 is started, the rotating column 22 generates a rotational motion around the vertical axis, thereby driving the first rodless cylinder 23 and the second rodless cylinder 24 installed on the top thereof to rotate around the vertical direction, so that the overall spatial position of the enclosure mechanism 3 can be adjusted. Then, the first rodless cylinder 23 works, and its movable piston can perform a linear reciprocating motion in the horizontal direction, driving the second rodless cylinder 24 installed at the end of the movable piston to perform a horizontal translation, thereby expanding the coverage range of the enclosure mechanism 3 in the horizontal direction. Afterwards, the second rodless cylinder 24 performs a telescopic motion, so that the enclosure mechanism 3 completes the vertical rise or fall. The entire movement process is controlled by the linkage between the rotating motor 21, the first rodless cylinder 23 and the second rodless cylinder 24, so that the enclosure mechanism 3 has a large degree of freedom in horizontal rotation, horizontal direction and vertical direction.

[0057] This multi-degree-of-freedom structure of the mobile mechanism 2 enables the enclosure mechanism 3 to adapt to plant grasping or placement requirements in a variety of positional relationships, facilitating flexible operation in complex terrain or constructed wetland environments with unevenly distributed planting units. Furthermore, both the first and second rodless cylinders 23 and 24 are rodless structures, with their internal pistons moving synchronously with the external slider via magnetic linkage. This compact structure and lack of exposed rods facilitate high-density integration of the device within limited spaces.

[0058] It should be further explained that the speed and angle of the rotating motor 21 can be controlled via encoder feedback, allowing for more precise angle adjustment of the enclosing mechanism 3 during rotation. The stroke lengths of the first and second rodless cylinders 23 and 24 can also be precisely controlled via limit sensors or programmable settings, resulting in highly repeatable and stable clamping, movement, and placement actions, avoiding reduced clamping accuracy or positional offset due to motion errors, and providing greater practicality.

[0059] Thus, the combination of rotation, horizontal movement, and vertical motion by mobile mechanism 2 provides a flexible path for enclosure mechanism 3, adapting to various wetland planting requirements and improving operational efficiency and spatial adaptability during automated planting. The overall structural design is compact and clearly divided into functional areas, facilitating system integration and subsequent integration of intelligent control logic.

[0060] In some embodiments, combined Figure 1 and Figure 9An opening and closing mechanism 6 is also provided at the side opening of the storage box 12. The opening and closing mechanism 6 is used to block the opening of the storage box 12 to prevent the plants stored in the storage box 12 from accidentally spilling out during operation of the device. Specifically, the opening and closing mechanism 6 includes a drive motor 61 and a limit plate 62. The drive motor 61 is mounted on the side wall of the storage box 12. The limit plate 62 is rotatably mounted on the output shaft of the drive motor 61 and is configured to rotate at the side opening of the storage box 12.

[0061] Exemplarily, the limiting plate 62, driven by the drive motor 61, has at least a first state and a second state. When the limiting portion is in the first state, the limiting plate 62 blocks the side opening of the storage box 12, thereby partially blocking the side opening of the storage box 12 and preventing the plants stored therefrom from falling out. When the limiting portion is in the second state, the limiting plate 62 is located on one side of the side opening of the storage box 12, that is, the limiting plate 62 does not block the side opening of the storage box 12, thereby facilitating the removal of the plants.

[0062] It is worth noting that the opening and closing mechanism 6 can be electrically controlled in coordination with the mobile mechanism 2, that is, the opening and closing mechanism 6 and the mobile mechanism 2 can achieve coordinated movement through an electronic control unit and a sensor unit (the electronic control unit and the sensor unit are not shown in the figure. The electronic control logic is a well-known technical means in the art, and its specific control principle will not be repeated here). When the mobile mechanism 2 drives the enclosing mechanism 3 to approach the storage box 12, the sensor unit senses the presence of the mobile mechanism 2 and sends a command to the electronic control unit. Therefore, the opening and closing mechanism 6 can be driven by the electronic control unit to operate and open the side opening of the storage box 12 to facilitate the mobile mechanism 2 and the enclosing mechanism 3 to enter the storage box 12; and when the mobile mechanism 2 and the enclosing mechanism 3 leave the storage box 12, the sensor unit senses the departure of the mobile mechanism 2 and sends a command to the electronic control unit, allowing the electronic control unit to control the opening and closing mechanism 6 to close the side opening of the storage box 12.

[0063] For example, a locking portion 7 is provided on both sides of the side opening of the storage box 12. The locking portion 7 has a caliper groove. When the limiting plate 62 is in the first state, the lower edge of the limiting plate 62 can be embedded in the locking portion 7 to maintain the stability of the limiting portion in the first state and also to support the load of the limiting plate 62. Of course, a rubber pad can be provided in the caliper groove to reduce the impact force caused by the limiting plate 62 entering the caliper groove.

[0064] In some alternative embodiments, to achieve precise environmental perception, navigation, and identification of planting areas, the frame 1 may be integrated with components including, but not limited to, a GNSS module (such as an RTK high-precision positioning device), a LiDAR (Lidar), and a visual recognition camera. The GNSS module uses differential positioning technology to provide centimeter-level real-time position data. The LiDAR detects terrain, obstacles, and boundary contours ahead. The visual recognition camera uses image recognition algorithms to identify features such as artificial planting markings, color contrast, or surface texture in the wetland. The coordinated operation of these modules enables the device to accurately navigate, avoid obstacles, and identify target areas in complex wetland terrain, facilitating autonomous operation or operator-assisted control via a remote control. The remote control can connect to the device control system via wireless communication (such as Wi-Fi or 4G / 5G) to perform path adjustments, status monitoring, and emergency operations. This structural combination enables the device to automatically navigate to the target area and locate itself for operations according to the target task path, without the need for manual inspection.

[0065] In some optional other embodiments, in order to realize the execution of flexible operation tasks according to preset density and planting requirements, a planting path control unit and an operation task scheduling unit can be further integrated into the mobile mechanism 2. The path control unit generates the planting path and operation points through algorithm logic based on the location information provided by the navigation module, combined with the input map and planting task parameters (such as plant spacing, row spacing, acupuncture point arrangement, etc.). A torque sensor or a flexible pressure sensor is installed between the enclosing mechanism 3 and the mobile mechanism 2 to dynamically detect the stress state of the plant when clamping, and cooperate with the original airbag abutment mechanism to feedback adjust the inflation pressure of each point, thereby producing a soft but stable fixing effect during the clamping process, which is beneficial to reduce damage to the roots and stems of aquatic plants.

[0066] Furthermore, an electric hole-opening assembly is installed below the enclosure mechanism 3 or in the middle of the movable mechanism 2. This assembly can be a rotating or plug-in structure, which can be controlled by a program to form a planting hole suitable for aquatic plant colonization at the planting point. The soil covering mechanism can choose a spiral backfill assembly or an oscillating soil spreading mechanism to backfill the surface wetland matrix around the plant roots. During operation, the control system, based on pre-set plant spacing information and regional maps, sequentially executes the five-step operation process of "flexible seedling removal - positioning and clamping - hole opening - seedling placement - soil covering" at each planting point, with high repeatability and flexible control capabilities.

[0067] In some alternative implementations, to coordinate the aforementioned components, a central controller (such as an industrial-grade PLC or embedded control module) can be integrated into the device. This controller establishes a bus connection with all sensors, electric actuators, solenoid valves, and remote control communication modules, centrally scheduling and executing logical judgments and control actions based on real-time data. This central controller incorporates a programmable algorithm, allowing users to pre-enter planting parameters (such as planting density, row spacing, and area boundaries) through an interface, and the device executes the task accordingly. During operation, the controller records sensor feedback and execution status, providing a basis for subsequent planting quality reviews and data analysis.

[0068] In summary, through the structural setting of the navigation and positioning module, the intelligent operation execution module and the control system module, the present invention further enhances the equipment's environmental recognition, autonomous decision-making and flexible operation capabilities on the basis of retaining the original flexible clamping and injection functions. To a certain extent, it helps to reduce the degree of dependence on manpower, improve the efficiency of aquatic plant planting and adapt to planting tasks in different terrains. It has broad application prospects in artificial wetland projects.

[0069] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0070] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0071] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0072] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. An automated device for planting aquatic plants in artificial wetlands, characterized in that: include: A frame (1), wherein a rolling wheel (11) is provided at the lower end of the frame (1), and a storage box (12) is provided on the surface of the frame (1); A moving mechanism (2) is movably arranged on the frame (1); An enclosure mechanism (3) is provided on the moving mechanism (2), and the enclosure mechanism (3) has a switchable open state and a closed state, wherein when the enclosure mechanism (3) is in the open state, plants can enter, and when the enclosure mechanism (3) is in the closed state, the stem of the plant is circumferentially covered; An airbag abutment mechanism (4) is provided on the enclosure mechanism (3), and the airbag abutment mechanism (4) is configured to be inflated when the enclosure mechanism (3) is in a closed state, so as to form a plurality of abutment points to abut the plant against the inner wall of the enclosure mechanism (3); A supplementing mechanism (5) is installed on the enclosure mechanism (3), and the supplementing mechanism (5) is configured to inject growth-promoting nutrient solution into the plant when the airbag abutting mechanism (4) abuts the plant against the inner wall of the enclosure mechanism (3).

2. The automated equipment for planting aquatic plants in artificial wetlands according to claim 1, characterized in that: The enclosing mechanism (3) comprises a driving assembly (31), an arc-shaped cylinder (32) and an arc-shaped baffle (33); the arc-shaped cylinder (32) is vertically arranged on the moving mechanism (2); an arc-shaped cavity (321) is provided in the arc-shaped cylinder (32); the arc-shaped baffle (33) is slidably fitted in the arc-shaped cavity (321); the driving assembly (31) is arranged on the outer wall of the arc-shaped cylinder (32); the driving assembly (31) is configured to cooperate with the arc-shaped baffle (33) in transmission to drive the arc-shaped baffle (33) to move out of or into the arc-shaped cavity (321); and when part of the arc-shaped baffle (33) moves out of an opening on one side of the arc-shaped cavity (321), it can move into an opening on the other side of the arc-shaped cavity (321), so that the arc-shaped cylinder (32) and the arc-shaped baffle (33) enclose and form a accommodating cavity (34) for accommodating plants.

3. The automated equipment for planting aquatic plants in artificial wetlands according to claim 2, characterized in that: The driving assembly (31) includes a driving cover (311), a motor (312) and a gear (313); the driving cover (311) is arranged on the outer wall of the arc-shaped cylinder (32); the motor (312) is installed in the driving cover (311); and the gear (313) is coaxially arranged on the output shaft of the motor (312); An arc-shaped bar hole (322) communicating with the arc-shaped cavity (321) is provided on a surface of the arc-shaped cylinder (32) facing away from the accommodating cavity (34); an arc-shaped rack (331) is provided on a surface of the arc-shaped baffle (33) facing away from the accommodating cavity (34); an extension direction of the arc-shaped rack (331) is consistent with a bending direction of the arc-shaped baffle (33); and the arc-shaped rack (331) is meshed with the gear (313) after passing through the arc-shaped bar hole (322).

4. The automated equipment for planting aquatic plants in artificial wetlands according to claim 2, characterized in that: The airbag abutment mechanism (4) comprises an inflation / exhaust assembly (41) and an airbag assembly (42), wherein the inflation / exhaust assembly (41) is arranged in the arc-shaped baffle (33), and the airbag assembly (42) is arranged on the inner wall of the arc-shaped baffle (33) in the accommodating cavity (34), and the inflation / exhaust assembly (41) is connected to the airbag assembly (42) to inflate or deflat the airbag assembly (42).

5. The automated equipment for planting aquatic plants in artificial wetlands according to claim 4, characterized in that: The inflation and exhaust assembly (41) comprises an electric air pump (411), a first storage battery (412) and a tube body (413); a placement cavity (332) is provided in the arc-shaped baffle (33); the electric air pump (411) and the first storage battery (412) are both placed in the placement cavity (332); the electric air pump (411) is electrically connected to the first storage battery (412); and the tube body (413) is configured to connect the electric air pump (411) and the airbag assembly (42).

6. The automated equipment for planting aquatic plants in artificial wetlands according to claim 5, characterized in that: The airbag assembly (42) includes a first bag body (421), a second bag body (422) and a third bag body (423); the tube body (413) includes a first pipe (4131), a second pipe (4132) and a third pipe (4133); wherein, The first sac (421) is bonded to the middle area of ​​the inner wall of the arc-shaped baffle (33) and is used to abut against the middle of the stem of the plant. One end of the first pipe (4131) is connected to the electric air pump (411), and the other end is connected to the first sac (421); The second capsule (422) is bonded to the top area of ​​the inner wall of the arc-shaped baffle (33) and is used to abut against the top area of ​​the stem of the plant close to the leaves. One end of the second pipe (4132) is connected to the first capsule (421), and the other end is connected to the second capsule (422). The third capsule (423) is bonded to the bottom area of ​​the inner wall of the arc-shaped baffle (33) and is used to abut against the bottom area of ​​the stem of the plant close to the rhizome. One end of the third pipe (4133) is connected to the second capsule (422) and the other end is connected to the third capsule (423).

7. The automated equipment for planting aquatic plants in artificial wetlands according to claim 6, characterized in that: The first sac (421), the second sac (422) and the third sac (423) all have arcuate fitting portions (4134) and radial abutment portions (4135) facing each other, the arcuate fitting portions (4134) being bonded to the arcuate inner wall of the arcuate baffle (33), and the radial abutment portions (4135) being configured to radially expand or contract when the electric air pump (411) inflates or deflates the first sac (421), the second sac (422) and the third sac (423).

8. The automated equipment for planting aquatic plants in artificial wetlands according to any one of claims 2 to 7, characterized in that: The supplement mechanism (5) includes a push-pull component (51) and an injection component (52), wherein the push-pull component (51) is arranged on the outer wall of the arc-shaped cylinder (32) away from the accommodating cavity (34), and the injection component (52) is arranged on the push-pull component (51), and the push-pull component (51) is configured to drive the injection component (52) to move in the radial direction of the arc-shaped cylinder (32), so that the injection component (52) passes through the arc-shaped cylinder (32) and is inserted into the plant abutted against the inner wall of the enclosure mechanism (3), and drives the injection component (52) to radially exit the arc-shaped cylinder (32).

9. The automated equipment for planting aquatic plants in artificial wetlands according to claim 8, characterized in that: The push-pull assembly (51) includes a cover (511), a rodless electric cylinder (512) and a second battery (513); the cover (511) is arranged on the outer wall of the arc-shaped cylinder (32) away from the accommodating cavity (34); the rodless electric cylinder (512) and the second battery (513) are both installed in the cover (511) and are electrically connected; the length direction of the rodless electric cylinder (512) is consistent with the radial direction of the arc-shaped cylinder (32); The injection assembly (52) includes a storage tank (521), a transfer cylinder (522), a needle (523), a transmission hose (524) and an infusion pump (525). The transfer cylinder (522) is installed on the movable piston of the rodless electric cylinder (512), and the length direction of the transfer cylinder (522) is consistent with the length direction of the rodless electric cylinder (512). The needle (523) is coaxially connected to one end of the transfer cylinder (522). The radial direction on the arc cylinder (32) is A needle hole is provided through the housing (511) for the needle body (523) to pass through, and the needle hole is connected to the arc-shaped cavity (321). The storage tank (521) is installed in the housing (511). The infusion pump (525) is provided on the storage tank (521). The pump inlet end of the infusion pump (525) is connected to the transfer cylinder (522) through the transmission hose (524), and the pump outlet end is connected to the storage tank (521). The storage tank (521) is configured to store a growth-promoting nutrient solution.

10. The automated equipment for planting aquatic plants in artificial wetlands according to claim 1, characterized in that: The moving mechanism (2) includes a rotating motor (21), a rotating column (22), a first rodless cylinder (23) and a second rodless cylinder (24); the rotating motor (21) is mounted on a frame (1); the rotating column (22) is vertically mounted on an output shaft of the rotating motor (21); the first rodless cylinder (23) is disposed on the top of the rotating column (22) and extends horizontally; the second rodless cylinder (24) is disposed on a moving piston of the first rodless cylinder (23) and extends vertically; and the enclosing mechanism (3) is mounted on the moving piston of the second rodless cylinder (24).

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