Automatic seedling raising machine

Abstract

The invention discloses an automatic seedling raising machine, and relates to the technical field of agricultural machinery. The automatic seedling raising machine comprises a frame main body, a walking system, a seeding system, a sensing detection system, a visual monitoring system, a control system and a data acquisition and transmission system, the walking system achieves automatic walking through a driving device, the sowing system achieves accurate sowing of seeds and soil, the sensing detection system monitors the environment and the material state in real time, the visual monitoring system collects operation images in a multi-dimensional mode, and the control system achieves parameter optimization and automatic control. And the data acquisition and transmission system supports remote monitoring and data tracing. According to the invention, full-automatic, precise and intelligent management of seedling raising operation is realized, and the efficiency and quality of seedling raising operation are improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an automatic seedling machine. Background Technology

[0002] Traditional seedling raising relies heavily on manual labor, resulting in high labor intensity and low efficiency; uneven sowing also makes it difficult to guarantee seedling quality. With the development of modern agricultural technology, automated seedling raising machines have gradually become an important research direction in the field of agricultural machinery due to their ability to significantly improve seedling raising efficiency, reduce labor intensity, and enhance seedling quality. However, existing automated seedling raising equipment still has shortcomings in terms of functional integration, intelligent control, and operational precision, making it difficult to fully meet the needs of modern seedling production.

[0003] A search revealed an automatic seedling machine with publication number CN111903392B, published on August 12, 2022. This patent, through the coordination of a tray-laying mechanism, a soil-pressing mechanism, a soil-spreading mechanism, and a conveying mechanism, achieves functions such as seed screening, soil compaction, and seedling tray conveying, significantly reducing labor costs and improving seedling production quality. However, this technical solution lacks precise control over the sowing amount, potentially leading to uneven sowing. Furthermore, its level of intelligence is low, unable to adjust operating parameters in real time according to environmental parameters (such as temperature and humidity), limiting the equipment's adaptability to complex environments. In addition, the equipment lacks remote monitoring and data recording functions, hindering refined management of the seedling process and subsequent data analysis.

[0004] A search revealed an automatic seedling planter with publication number CN114568174B, published on March 10, 2023. This patent achieves an automated seedling raising process by using a roller device, a seeding device, and a mechanical transmission device to push seeds into the nutrient soil after mixing the soil with water. However, the seeding device in this technical solution has a relatively complex structure, resulting in high equipment maintenance costs. Furthermore, its material management method is rather crude, making it difficult to accurately control the seeding rate and soil covering thickness, which may affect the consistency and survival rate of seedlings. In addition, the equipment lacks automatic detection and adjustment functions for environmental parameters during the seedling raising process, making it difficult to achieve intelligent management of the entire process.

[0005] The aforementioned problems indicate that existing automated seedling raising equipment still has certain shortcomings in terms of sowing precision, intelligent control, material management, and remote monitoring. Therefore, this invention provides a novel automated seedling raising machine, aiming to comprehensively improve seedling raising efficiency and quality by optimizing the sowing mechanism design, introducing an intelligent control system, and achieving precise material management and remote monitoring functions, thereby meeting the demands of modern agriculture for efficient and intelligent seedling raising equipment. Summary of the Invention

[0006] The present invention aims to provide an automatic seedling machine that can realize fully automated seedling raising operations, and has intelligent control, precise material management and remote monitoring functions, thereby solving the technical defects of existing seedling raising equipment.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] This invention provides an automatic seedling machine, comprising:

[0009] The main body of the frame;

[0010] The walking system includes a drive device disposed at the bottom of the frame body. The drive device includes a left walking mechanism and a right walking mechanism with the same structure disposed on both sides of the frame body. The left walking mechanism includes a walking mechanism mounting frame, a drive motor disposed on the walking mechanism mounting frame, a chain drive unit that is connected to the drive motor, and a drive wheel that is connected to one end of the chain drive unit.

[0011] The seeding system includes a material box mechanism, a mixing mechanism, a lifting mechanism, and a spreading mechanism, all mounted on the main body of the vehicle frame. The material box mechanism includes a soil hopper support mounted on the main body of the vehicle frame and a soil covering hopper mounted on the soil hopper support. The lifting mechanism is located below the soil covering hopper, and the spreading mechanism is located below the discharge port of the soil covering hopper. The mixing mechanism is connected to the drive motor via a transmission assembly and is used to mix the material in the soil covering hopper.

[0012] The sensing and detection system includes a laser displacement sensor mounted on the mounting frame of the walking mechanism, a weighing sensor mounted at the bottom of the soil covering hopper, and a soil moisture sensor mounted in front of the drive wheel.

[0013] A visual monitoring system, comprising a front camera and a rear camera respectively installed on the front and rear sides of the vehicle frame, and a material box monitoring camera installed on the soil covering hopper;

[0014] The control system includes a touch screen and an electrical cabinet, and is electrically connected to the drive device, the seeding system, the sensor detection system and the visual monitoring system, respectively.

[0015] A data acquisition and transmission system, the data acquisition and transmission system including a communication module, the communication module being electrically connected to the control system.

[0016] Preferably, the chain drive unit of the left-side walking mechanism includes a bearing seat mounted on the walking mechanism mounting frame, a driven shaft gear connected to the bearing seat, a drive shaft gear mounted on the output shaft of the drive motor, a walking drive chain meshing with the drive shaft gear and the driven shaft gear, and a drive wheel connected to the bearing seat; the walking mechanism mounting frame is also provided with a chain tensioning mechanism.

[0017] Preferably, the weighing sensor is a shear beam type weighing sensor, and a guide plate is provided below the discharge port of the covering hopper, the guide plate being connected to the spreading mechanism.

[0018] Preferably, the transmission assembly includes driven stirring gears disposed on both sides of the cover hopper, an active stirring gear disposed on the output shaft of the drive motor, and a stirring drive chain meshing with the active stirring gear and the driven stirring gear; the stirring mechanism includes a stirring shaft disposed inside the cover hopper and drivenly connected to the driven stirring gear, and stirring blades disposed on the stirring shaft.

[0019] Preferably, the lifting mechanism includes a first guide shaft disposed at the bottom of the soil covering hopper, a guide sleeve slidably connected to the first guide shaft, a push rod bracket disposed below the main body of the vehicle frame, and an electric push rod with an output shaft connected to the bottom of the soil covering hopper, wherein the guide sleeve is fixed on the main body of the vehicle frame.

[0020] Preferably, the spreading mechanism includes a funnel, a funnel sealing plate connected to one side of the funnel, an insert plate connected to the funnel sealing plate, an insert plate electric cylinder for driving the insert plate to move, and a second guide shaft disposed on the insert plate, the second guide shaft passing through an opening in the insert plate and fitted with a spring.

[0021] Preferably, anti-collision strips are provided on the front and rear sides of the vehicle frame body, the front camera and the rear camera are respectively located above the anti-collision strips on the front and rear sides of the vehicle frame body, and the soil moisture sensor is located at the bottom of the anti-collision strip on the front side of the vehicle frame body.

[0022] Preferably, the visual monitoring system also includes side cameras located on the left and right sides of the vehicle frame body, and a close-up camera located below the funnel of the spreading mechanism. The front and rear cameras are equipped with camera protective covers.

[0023] Preferably, a protective cover and a battery box are provided on the upper part of the vehicle frame body, and the touch screen, electrical cabinet and battery box are embedded inside the protective cover. The battery box contains lithium iron batteries that supply power to each system.

[0024] Preferably, the frame body has symmetrically arranged lifting rings on the front and rear sides, and a mudguard connected to the frame body is arranged above the drive wheel.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. This invention achieves fully automated processes from parameter setting and environmental detection to sowing operations through an intelligent control system, reducing manual intervention and improving the continuity and efficiency of seedling cultivation.

[0027] 2. This invention uses a weighing sensor to monitor the weight of seeds and soil in real time, and combines this with the dynamic adjustment function of the spreading mechanism to achieve precise control of the amount of material spread, thus avoiding resource waste.

[0028] 3. Based on multi-sensor data fusion technology, this invention automatically optimizes operating parameters such as walking speed and spreading amount, realizes dynamic adjustment and environmental adaptive control during operation, and improves the stability of equipment operation.

[0029] 4. This invention uploads operation status information in real time through a data acquisition and transmission system, supports remote viewing of equipment operation data and abnormal alarms, and realizes an unattended intelligent management mode.

[0030] 5. This invention utilizes a visual monitoring system to collect images of key indicators such as sowing uniformity and soil covering thickness from multiple dimensions, and analyzes the quality of the operation through intelligent algorithms to ensure consistent seedling results.

[0031] 6. This invention records information such as material consumption, operating parameters, and environmental data throughout the entire operation process, forming a traceable operation file and providing data support for production management optimization.

[0032] 7. This invention uses a laser displacement sensor to detect terrain changes in real time and automatically adjusts the chassis height in conjunction with a lifting mechanism to ensure that the equipment maintains a stable operating posture under different seedbed conditions. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the automatic seedling machine of the present invention. Figure 1 .

[0034] Figure 2 This is a schematic diagram of the automatic seedling machine of the present invention. Figure 2 .

[0035] Figure 3 This is a schematic diagram of the automatic seedling machine of the present invention. Figure 3 .

[0036] Figure 4 This is a schematic diagram of the structure of the automatic seedling machine from the rear view of the present invention.

[0037] Figure 5 This is a schematic diagram of the left-side walking mechanism of the present invention.

[0038] Figure 6 This is a schematic diagram of the material box mechanism of the present invention.

[0039] Figure 7 This is a longitudinal cross-sectional view of the present invention.

[0040] Figure 8 Appendix to this invention Figure 1 Enlarged structural diagram at point A in the middle.

[0041] Figure 9 Appendix to this invention Figure 7 Enlarged structural diagram at point B.

[0042] In the above figures, the component names corresponding to the reference numerals are as follows:

[0043] 1. Chassis main body; 2. Left side traveling mechanism; 3. Right side traveling mechanism; 4. Traveling mechanism mounting frame; 5. Drive motor; 6. Coupling; 7. First drive shaft gear; 8. Second drive shaft gear; 9. First chain drive unit; 10. Second chain drive unit; 11. Bearing seat; 12. Driven shaft gear; 13. Travel drive chain; 14. Drive wheel; 15. Chain tensioning mechanism; 16. Mudguard; 17. Soil hopper support; 18. Covering hopper; 19. Discharge port; 20. Guide plate; 21. First guide shaft; 22. Guide sleeve; 23. Push rod support; 24. Electric push rod; 25. Driven mixing gear 26. Stirring shaft; 27. Stirring blades; 28. Active stirring gear; 29. ​​Stirring drive chain; 30. Funnel; 31. Funnel sealing plate; 32. Insert plate; 33. Insert plate electric cylinder fixing plate; 34. Push plate connecting plate; 35. Insert plate electric cylinder; 36. Guide shaft fixing seat; 37. Second guide shaft; 38. Guide shaft baffle; 39. Spring; 40. Touch screen; 41. Electrical cabinet; 42. Battery box; 43. Laser displacement sensor; 44. Weighing sensor; 45. Side camera; 46. Anti-collision strip; 47. Front camera; 48. Rear camera; 49. Camera protective cover; 50. Protective cover; 51. Lifting ring. Detailed Implementation

[0044] The following will be combined with the appendix Figure 1-9 This invention provides a detailed engineering description of an automatic seedling machine to ensure that those skilled in the art can clearly understand and successfully implement it.

[0045] In one specific embodiment, with the end where the soil covering hopper 18 is located as the forward direction of the automatic seedling machine, the automatic seedling machine of the present invention first includes a frame body 1 as the core support structure. The frame body 1 is made of high-strength structural steel, such as Q235 or Q345, and is formed into a rectangular frame structure through precision welding. This structure aims to provide a stable mounting foundation and sufficient internal space for various internal functional modules and components, and to ensure the structural rigidity and stability of the equipment under various operating conditions. The surface of the frame body 1 undergoes anti-corrosion treatment, including phosphating, primer, and topcoat spraying, to adapt to the humidity and corrosiveness of the agricultural environment.

[0046] The drive unit located at the bottom of the frame body 1 is crucial for the precise movement of the automatic seedling machine. This drive unit comprises a left-side walking mechanism 2 and a right-side walking mechanism 3, structurally identical and symmetrically arranged on the left and right sides of the frame body 1. Each walking mechanism, such as the left-side walking mechanism 2, is supported by a walking mechanism mounting frame 4. The walking mechanism mounting frame 4 is welded from 6mm thick high-strength structural steel, with a frame-shaped cross-section designed to provide rigidity while reducing weight, ensuring minimal deformation during complex operations, especially when bearing heavy loads and overcoming soil resistance. Two brushless DC drive motors are symmetrically mounted on the walking mechanism mounting frame 4. Each motor has a rated power of 400W, a rated speed of 3000rpm, a rated torque of 1.27Nm, and an IP67 protection rating, enabling it to withstand harsh outdoor environments. The output shaft of the drive motor 5 is coaxially connected to a first drive shaft gear 7 via a coupling 6. This first drive shaft gear 7 is further coaxially connected to a second drive shaft gear 8 via a transmission shaft. The specifications of the second drive shaft gear 8 are the same as those of the first drive shaft gear 7. The walking mechanism mounting frame 4 has a first chain drive unit 9 and a second chain drive unit 10 at each end. Each chain drive unit includes a bearing seat 11 located at the front end of the walking mechanism mounting frame 4. Two deep groove ball bearings are installed in the bearing seat 11 to support the driven shaft. A driven shaft gear 12 is mounted on the driven shaft. One driven shaft gear is connected to the first driving shaft gear 7 via a walking drive chain 13, and the other driven shaft gear is connected to the second driving shaft gear 8 via the walking drive chain 13. A drive wheel 14 is coaxially mounted on the outside of the bearing seat 11. The drive wheel 14 is a solid rubber wheel with an interlaced herringbone anti-slip pattern molded on its surface to provide sufficient grip and ensure stable movement on wet or soft surfaces. The walking mechanism mounting frame 4 is also equipped with a chain tensioning mechanism 15, which includes an adjustable tensioning wheel. The tensioning wheel applies preload to the walking drive chain 13 to ensure the transmission stability of the walking drive chain under long-term operation and complex working conditions, and to prevent tooth skipping and slippage. The drive device controls the speed and torque of the DC brushless drive motor to achieve linear adjustment of the automatic seedling machine's forward and backward movement within a speed range of 0.2m / s to 1.5m / s, and achieves a repeatability positioning accuracy of ±10mm when traveling in a straight line. A mudguard 16 is provided above the drive wheel 14. The mudguard 16 is fixedly connected to the frame body 1 by bolts, and its curvature matches the radius of the drive wheel 14, effectively preventing mud and water splashing during operation, protecting the internal components of the equipment and improving the cleanliness of the operation.

[0047] A laser displacement sensor 43 is installed at the front end of the mounting frame 4 of the walking mechanism, where its detection axis coincides with the vertical center line of the sowing system's material inlet in the same vertical plane. The laser displacement sensor 43 uses the principle of pulsed laser ranging, with a detection distance range of 200mm to 1200mm and a measurement center distance of 700mm. This sensor is used to accurately detect the relative height between the automatic seedling machine chassis and the seedbed surface in real time, providing crucial feedback data for subsequent adjustment of the lifting mechanism.

[0048] The material bin mechanism, located above the main frame 1, is used to store and manage the seeds and soil required for seedling cultivation. The material bin mechanism first includes a soil hopper support 17, which is securely fixed to the main frame 1 via bolts, providing stable support for the covering hopper 18. The covering hopper 18 has an inverted frustum-shaped structure, with an upper opening of 600x400 mm and a lower opening of 150x80 mm, for a total volume of 150L. Its main body is integrally formed from food-grade corrosion-resistant 304 stainless steel, and the inner wall is polished to a friction coefficient of less than 0.1, ensuring smooth material (seeds or soil) flow and preventing adhesion. The internal space of the covering hopper 18 is designed to function as a seed bin and a soil bin at different stages of operation, sharing the same discharge port 19, thereby simplifying the structure and improving utilization. Four weighing sensors 44 are installed at the bottom of the covering hopper 18 for real-time monitoring of the precise weight of the material inside.

[0049] To prevent seeds or soil from caking or bridging inside the hopper and to ensure smooth material flow, the hopper mechanism also includes a stirring mechanism. This stirring mechanism is located inside the covering hopper 18. The stirring mechanism is connected to the drive motor via a transmission assembly. Specifically, the transmission assembly includes two driven stirring gears 25 symmetrically arranged on both sides of the covering hopper 18. These gears are mounted on the side walls of the covering hopper 18 via bearings. In one embodiment, a partition is provided in the middle of the covering hopper 18, dividing it into two independent hoppers. A stirring shaft 26 passes through an opening in the middle of the partition and is mounted inside the covering hopper 18 via a bearing seat. It is connected to the driven stirring gears 25 via a stirring drive chain 29. The stirring shaft 26 is made of solid steel and extends axially through the entire length of the covering hopper 18. Stirring blades 27 are provided on the stirring shaft 26, arranged in a continuous spiral pattern. The power of the stirring mechanism comes from the output shaft of the drive motor 5. The output shaft of the drive motor 5 is equipped with an active stirring gear. The active stirring gear is connected to the driven stirring gear 25 through a stirring drive chain 29. The driving stirring shaft 26 rotates at a periodic speed of 15 to 30 revolutions per minute, effectively stirring the material and promoting the uniform falling of the material.

[0050] A lifting mechanism located below the soil covering hopper 18 is used to adjust the overall height of the hopper 18 to adapt to different seedbed heights and operational requirements. The lifting mechanism includes four first guide shafts symmetrically arranged at the four corners of the bottom of the soil covering hopper 18. A guide sleeve, mounted on the frame body 1 and slidably connected to the first guide shafts, has a clearance fit between its inner wall and the outer wall of the first guide shafts to ensure stability, verticality, and no jamming during lifting. A push rod bracket 23 is located below the frame body 1 and is fixed to the frame body 1 by bolts. An electric push rod 24 is mounted on the push rod bracket, with its output shaft connected to the bottom of the soil covering hopper 18. The electric push rod has a stroke range of 0mm to 120mm. The push rod integrates a high-precision Hall effect position feedback sensor, which can transmit the precise position information of the push rod to the control system in real time as an analog signal or a digital signal (such as PWM).

[0051] The guide plate 20, located below the discharge port of the covering hopper 18, is perpendicular to the ground and is designed to use gravity to allow the material to slide smoothly from the covering hopper 18 to the spreading mechanism below.

[0052] A spreading mechanism is located below the guide plate 20, and this mechanism is used to precisely control the spreading amount and uniformity of the material. The spreading mechanism includes a funnel 30, the inlet of which is connected to the outlet of the guide plate 20. The funnel 30 is wider at the top and narrower at the bottom, with a length of 150 mm and an adjustable width. A funnel sealing plate 31 is located on one side of the funnel 30, and the funnel sealing plate 31 is connected to one side of the funnel 30 by two micro-hinges. An insert plate 32, which has a T-shaped structure, is fixedly connected to the inner side of the funnel sealing plate 31. The insert plate 32 also has a guide opening for guidance. The spreading mechanism also includes a guide shaft fixing seat 36, which is fixedly connected to one end of the insert plate 32 by bolts. A second guide shaft 37 passes through the opening, ensuring smooth sliding of the insert plate 32. A guide shaft baffle 38 located at one end of the second guide shaft 37 limits the range of movement of the insert plate 32 and prevents it from detaching. A spring 39, a compression spring, is sleeved on the second guide shaft 37 and located between the guide shaft fixing seat 36 and the guide shaft baffle 38. This spring 39 provides a restoring force for the insert plate 32, ensuring that the insert plate automatically closes or remains in its initial position when the electric cylinder fails. An insert plate electric cylinder fixing plate 33, connected to the insert plate 32, is bolted to the funnel sealing plate 31. An insert plate electric cylinder 35 is mounted on the insert plate electric cylinder fixing plate 33. The insert plate electric cylinder 35 is a linear motion unit driven by a stepper motor. The output end of the insert plate electric cylinder 35 is fixedly connected to the insert plate 32 via a push plate connecting plate 34. The insert plate electric cylinder 35 controls the position of the insert plate 32 to adjust the opening width of the funnel 30, thereby achieving closed-loop control of the material spreading amount. The sowing amount control of the sowing mechanism is synchronized with the walking speed of the automatic seedling machine. The opening width of its electric gate is driven by the stepper motor, and the closed-loop resolution is 0.1mm, which aims to ensure that the sowing amount error per unit area is less than or equal to ±2%.

[0053] Four weighing sensors 44 are installed at the four corners of the bottom of the covering hopper 18. These weighing sensors 44 are all temperature-compensated shear beam type weighing sensors, each with a single sensor range of 0 kg to 50 kg. Therefore, the four sensors work together to cover a total weighing range of 0 kg to 150 kg, which is sufficient to meet the material monitoring needs of a 150L volume hopper. The static measurement accuracy of the weighing sensors 44 is ±10g. After processing by a multi-stage digital filtering algorithm inside the control system, the dynamic measurement steady-state error can be further reduced to less than or equal to ±10g. The weighing sensors 44 convert the weak analog weight signal into a high-resolution digital signal through a high-precision 24-bit analog-to-digital converter, and communicate efficiently and stably with the control system via a CAN bus. The weighing sensors 44 are used to monitor the precise weight of seeds or soil in the covering hopper 18 in real time. When the material weight falls below a preset warning threshold (e.g., 10% of the total volume), the control system immediately triggers an audible and visual alarm, simultaneously uploading the warning information to the cloud platform and the administrator's mobile terminal application via a 4G communication module. The material weight is differentiated based on the operational stage: during the soil spreading stage, the weighing sensor 44 monitors the soil weight; after emptying the hopper and switching to the seed spreading stage, the weighing sensor 44 monitors the seed weight, and this, combined with crop parameters set via the touchscreen, enables precise seeding control.

[0054] The control system coordinates the operation of all functional modules. The control system includes a touchscreen 40, an electrical cabinet 41, and a battery box 42, all conveniently located above the main frame 1. The touchscreen 40 is a 10.1-inch industrial-grade capacitive touchscreen, integrating a high-speed industrial-grade CPU with a 1.2GHz clock speed, a customized embedded Linux operating system, and a high-performance graphics display unit. This interface provides an intuitive, graphical user interface for parameter setting, real-time status display, work progress tracking, and fault diagnosis. The electrical cabinet 41 is enclosed in a sealed shell conforming to IP65 protection standards, welded from 1.5mm thick 304 stainless steel sheet. Internally, it integrates an industrial-grade programmable logic controller (PLC) for complex logic and sequential control; a multi-channel high-performance brushless DC motor driver for precise control of the drive unit and stirring mechanism motors; an industrial-grade 4G communication module; a high-efficiency power management unit; and necessary relays, circuit breakers, terminal blocks, and other core electronic components. The battery box 42 is made of aluminum alloy sheet and contains batteries for powering the drive unit, the material bin mechanism, the sensing and detection system, and the vision monitoring system. The battery utilizes lithium iron phosphate technology, configured with a 48V voltage and 50Ah capacity, consisting of 16 high-energy-density cells in series. It incorporates a built-in intelligent battery management system (BMS) providing overcharge, over-discharge, overcurrent, short-circuit, and temperature protection, and real-time monitoring of individual cell voltage, total voltage, charging / discharging current, and internal temperature. Its overall operating time is greater than or equal to 8 hours, and it supports fast charging technology (less than 2 hours) and hot-swappable battery replacement, aiming to maximize operational continuity and efficiency. The control system achieves electrical connection and highly reliable data communication with the drive unit, the electric push rod 24, the insert cylinder 35, the laser displacement sensor 43, and the weighing sensor 44 via industrial Ethernet (for high-speed video data and PLC / HMI communication), CAN bus (for sensor and driver communication), and digital / analog I / O interfaces (for simple switching and analog signals). The control system has a built-in crop expert database that has been verified through long-term field trials. This database stores the optimal seedling parameters for a variety of common crops (such as rice, corn, vegetables, and flowers), including but not limited to key information such as target seeding rate (thousand-grain weight per acre), sowing speed curve, standard soil covering thickness, suitable soil moisture range, and growth temperature range.The control system can automatically retrieve corresponding data from the expert database based on environmental parameters (such as soil moisture and seedbed height) acquired in real time from the sensing system and parameters set by the user via the touchscreen 40, such as crop type, target seeding rate, and row spacing. It then performs in-depth processing and optimization of the acquired real-time data by integrating multiple intelligent control algorithms, including PID control, fuzzy logic control, and neural network control. This allows for real-time optimization and adjustment of the automatic seedling machine's operating parameters, such as the drive unit's operating speed, the opening of the electric gate of the sowing mechanism, and the chassis height of the lifting mechanism. The control system can automatically calculate the required seed and soil weight based on the set crop type and operating area, and display this information dynamically and in real time on the touchscreen 40.

[0055] The sensing and detection system provides the automatic seedling machine with comprehensive environmental awareness. In addition to the aforementioned laser displacement sensor 43 and weighing sensor 44, the sensing and detection system also includes:

[0056] A soil moisture sensor is positioned below the anti-collision strip 46, 150 mm in front of the drive wheel 14, with a detection depth of 2 cm to 5 cm. This sensor utilizes the high-frequency dielectric constant principle, measuring at a frequency of 70 MHz, with a measurement accuracy of ±3%RH. The sensor is used to detect the soil moisture in the working environment in real time and transmits the moisture data to the control system via RS485 protocol. Based on the soil moisture data and a preset soil friction model, the control system dynamically adjusts the output torque and speed of the DC brushless drive motor 5 in the drive unit. This aims to prevent the drive wheel 14 from spinning freely on slippery soil due to insufficient friction, thereby ensuring the stability and path accuracy of the automatic seedling machine under different soil conditions.

[0057] The wheel speed sensor, which adopts the Hall effect principle, is installed next to the driven shaft gear 12 of each drive wheel 14 to monitor the precise speed of each drive wheel 14 in real time. It provides high-precision mileage information by calculating the wheel diameter and speed, and then calculates the instantaneous linear velocity of the device.

[0058] The internal temperature and humidity sensor is integrated inside the electrical cabinet 41. It is a digital sensor (e.g., SHT30 series) with a range of -20℃ to 60℃ and a measurement accuracy of ±0.5℃ (temperature) and ±2%RH (humidity). This sensor monitors the temperature and humidity inside the electrical cabinet 41. When the detected values ​​exceed preset thresholds (e.g., temperature above 45℃ or humidity above 80%RH), the control system will activate the cooling fan or heating / dehumidification module inside the electrical cabinet to prevent electronic components from failing due to overheating or moisture, ensuring long-term stable operation of the equipment.

[0059] The travel speed sensor, usually used in conjunction with the wheel speed sensor, provides centimeter-level high-precision overall travel speed via differential GPS (RTK-GPS) or a high-precision inertial measurement unit (IMU), enhancing the accuracy of the positioning system.

[0060] The equipment tilt sensor, employing MEMS technology, is installed at the geometric center of the frame body 1 to detect the lateral and longitudinal tilt angles of the automatic seedling machine frame body 1 in real time. Its measurement accuracy is as high as 0.1°, to cope with uneven seedbed surfaces. When the tilt angle exceeds the safe range (e.g., a lateral tilt angle greater than 5° or a longitudinal tilt angle greater than 10°), the control system will send an alarm signal to the driver and automatically reduce the travel speed or suspend operation to prevent the equipment from tipping over.

[0061] The battery power sensor, integrated into the battery management system (BMS), is used to accurately monitor the remaining battery power and provide key battery parameters such as battery voltage, current, temperature, and state of health (SOH) via the CAN bus, thereby enabling intelligent battery management.

[0062] The device positioning system integrates a GPS / BeiDou dual-mode positioning module and employs a high-precision Ublox M8T GNSS receiver. By receiving signals from multiple satellite constellations and performing differential correction, the positioning accuracy can reach ±1 meter. This system is used to acquire the device's precise location information and trajectory in real time and upload it to a cloud platform.

[0063] All of the above sensors are electrically connected to the control system via industrial-grade M12 connectors and shielded cables (wired) or low-power Bluetooth / Wi-Fi modules (wireless) to achieve real-time and reliable data acquisition and transmission.

[0064] The visual monitoring system provides the automated seedling machine with multi-dimensional, real-time visualization of the operation process and quality assessment capabilities. The system includes multiple high-definition industrial cameras connected to the control system via an industrial Ethernet interface, enabling real-time transmission and processing of high-definition video streams.

[0065] Side cameras 45, one on each side, employ wide-angle lenses. They are used to monitor the areas on both sides of the equipment in real time, assisting in the detection of obstacles (such as tools and personnel) on both sides. Dynamic obstacle detection is performed through image recognition algorithms to ensure the safe operation of the equipment when working in narrow spaces or irregular terrain.

[0066] A front-facing camera 47 and a rear-facing camera 48 are respectively mounted above the anti-collision strips 46 on the front and rear sides of the main frame 1. The anti-collision strips 46 are made of high-strength, impact-resistant polyurethane elastomer material, effectively absorbing impact energy in the event of a minor collision. The front-facing camera 47 is a wide-angle camera used to monitor obstacles, seedbed flatness, and pre-defined work boundaries on the forward path in real time. When the deep learning target detection algorithm built into the control system detects a large obstacle, the control system will automatically trigger an emergency stop of the equipment and upload the obstacle type, image frame, and equipment positioning information to the cloud platform and the administrator's mobile terminal application in real time via the 4G communication module, while simultaneously displaying a warning on the touchscreen 40. The rear-facing camera 48 is a high-definition camera, installed at a downward angle, used to monitor the sowing effect, soil covering uniformity, and work quality in real time. Protective covers 49 are installed on the exterior of both the front-facing camera 47 and the rear-facing camera 48. These covers have an IP67 protection rating, effectively protecting against dust, moisture, and physical impact, ensuring normal operation of the cameras in harsh outdoor environments.

[0067] The monitoring camera for the material hopper is located above the covering hopper 18. It uses a low-light CMOS sensor and a wide-angle lens to provide clear images even in low-light conditions. It is used to monitor the remaining state of the material inside the covering hopper 18, the material quality, and the feeding process in real time.

[0068] A close-up camera is positioned below the funnel 30, adjacent to the discharge port of the spreading mechanism. This camera employs a high-resolution macro lens with an optical resolution of 5 micrometers, enabling it to clearly capture details of individual seeds or fine soil particles. The camera is used to precisely monitor the uniformity of sowing, seed placement, and soil covering thickness. The real-time image data captured by the close-up camera is processed by an image processing unit built into the control system, using a deep learning-based image recognition algorithm to quantitatively analyze the sowing uniformity. When the sowing uniformity deviation exceeds a preset threshold, the control system will automatically fine-tune the opening of the sowing mechanism's electric cylinder 35 or the speed of the drive device to dynamically correct the deviation, or trigger an audible and visual alarm and suspend operation if correction fails.

[0069] The data acquisition and remote transmission system ensures comprehensive recording, analysis, and remote management of seedling operation data. This system includes a 4G communication module built into the electrical cabinet 41. This module supports the LTE Cat 4 standard, possesses industrial-grade reliability, and provides stable high-speed wireless data transmission. It enables bidirectional data communication between the automatic seedling machine and the remote cloud platform, uploading real-time operation data and receiving remote control commands. The data acquisition system collects and records in real-time a series of operational parameters and status data of the automatic seedling machine, including its operating trajectory, speed, material consumption, total operating time, battery level, sowing quality assessment results, and internal temperature and humidity. All data is timestamped and includes the device ID, encapsulated in CSV or JSON format.

[0070] The cloud platform, based on a distributed database architecture, provides petabyte-level data storage capacity for storing all operational data uploaded from the automated seedling machine. The cloud platform integrates big data analytics tools and machine learning algorithms, enabling in-depth analysis of historical operational data and providing precise decision support for intelligent management, strategy optimization, and cost control in seedling production.

[0071] The remote monitoring and operation scheduling functions allow managers to log in to the cloud platform via personal computer or mobile terminal application to view the real-time operating status, geographical location, remaining material, battery level, sowing progress, and quality assessment reports of the automatic seedling machine. The cloud platform also supports remote issuance of operation commands, such as adjusting operation parameters, planning travel paths, pausing or resuming operations, and remote firmware upgrades, enabling centralized management and efficient scheduling of multiple devices. All remote commands are transmitted through encrypted channels and undergo authorization verification to ensure system security.

[0072] In a preferred embodiment of the present invention, the automatic seedling machine further includes a protective cover 50 disposed above the main frame 1, covering the electrical cabinet 41 and the battery box 42. This protective cover 50 is made of lightweight, high-strength composite material and is designed to provide embedded protection for the electrical cabinet 41 and the battery box 42, while also possessing excellent dustproof, waterproof, and UV-resistant functions, extending the service life of the internal electronic components. Furthermore, the automatic seedling machine also includes four lifting rings 51 symmetrically arranged on the front and rear sides of the main frame 1. Each lifting ring 51 has a load-bearing capacity of 2 tons, with a total designed load-bearing capacity of 4 tons, used for the transportation and hoisting of the equipment, facilitating the transfer of the equipment between different work sites.

[0073] The automatic seedling machine of this invention follows a strict closed-loop control logic, and its detailed operation process is as follows:

[0074] I. Initialization and Parameter Setting Phase:

[0075] After the operator starts the device via the touchscreen 40, the system will automatically enter the initialization process. The operator needs to input the key parameters for this seedling operation on the touchscreen 40, including the crop type to be seeded, the target sowing density, the expected soil covering thickness, and the type and quantity of seedling trays. Based on the input crop type, the control system automatically calls the corresponding optimal seedling parameters pre-stored in the built-in crop expert database. At the same time, the control system initiates a system self-test program to perform a comprehensive calibration and status check on all sensors in the sensing and detection system, including the static accuracy calibration of the weighing sensor 44, the reference height calibration of the laser displacement sensor 43, and the working status confirmation of the soil moisture sensor 56, ensuring that all data acquisition units are in optimal working condition. The 4G communication module simultaneously establishes a communication connection with the cloud platform to register the device status and prepare for data synchronization.

[0076] II. Environmental Sensing and Dynamic Parameter Calculation Stage:

[0077] When the automatic seedling machine is in standby mode or upon initial startup, the sensing and detection system begins full operation. The laser displacement sensor 43 detects the relative height between the chassis of the automatic seedling machine and the surface of the seedbed in real time and transmits the precise height data to the control system. The control system employs an advanced adaptive PID control algorithm, using a preset optimal distance from the material inlet to the seedbed surface as the set value. Based on the real-time feedback data from the laser displacement sensor 43, it precisely drives the electric push rod 24 of the lifting mechanism. This electric push rod 24 adjusts in real time at a speed of 10 mm / s, with a dynamic adjustment accuracy of ±5 mm, thereby ensuring that the material inlet and the surface of the seedbed maintain a constant vertical distance during sowing, compensating for height fluctuations caused by uneven seedbed terrain. The soil moisture sensor 56 detects the soil moisture of the working environment in real time and feeds the data back to the control system. Based on the soil moisture information and a preset soil friction model, the control system dynamically adjusts the output torque and speed of the DC brushless drive motor 5 of the drive device to adapt to the soil friction characteristics under different moisture conditions, preventing the drive wheel 14 from slipping and ensuring stable movement. The control system comprehensively considers the set operating parameters, environmental sensing data, and the equipment's own status. Through its built-in intelligent control algorithm, it automatically calculates the optimal operating speed and the opening degree of the electric gate of the spreading mechanism that is synchronized with the travel speed. The control system also accurately calculates the total weight of seeds and soil required based on the set sowing density and operating area, and displays it in real time on the touch screen 40.

[0078] III. Material Loading and Intelligent Detection Stage:

[0079] Before commencing formal operation, the operator loads materials into the covering hopper 18 according to the precise material requirements displayed on the touchscreen 40. The automatic seedling machine employs a phased operation logic for material management: First, during the seed sowing stage, the operator loads seeds into the covering hopper 18, and the weighing sensors 44 at the four corners of the bottom of the covering hopper 18 monitor the weight of the seeds in real time. When the seed weight reaches the target value set by the control system, the control system issues voice prompts and visual instructions through the touchscreen 40 to guide the operator to stop adding materials. The material bin monitoring camera monitors the entire material adding process and records the material status. After completing the seed sowing operation, the covering hopper 18 will automatically undergo an emptying process. Subsequently, the soil sowing stage begins, where the operator loads soil substrate into the emptied covering hopper 18, and the weighing sensors 44 again monitor the weight of the soil in real time and match it with the set covering amount. The control system is set with multiple material warning thresholds. For example, when the weighing sensor 44 detects that the material weight is lower than the preset minimum threshold, the control system will automatically trigger the audible and visual alarm device to issue an alarm. At the same time, the 4G communication module will upload the material shortage warning information along with the equipment location data to the cloud platform and the mobile terminal application of the management personnel in real time. The touch screen 40 will display the precise weight of the material that needs to be replenished and guide the personnel to replenish the material accurately through voice. It also has an error prevention and verification function, recording the weight, time, operator ID and replenishment amount of each material addition.

[0080] IV. Automated Operation and Seeding Stage:

[0081] Once all parameters are set and materials are loaded, the operator activates the "one-click automated operation" function via the touchscreen 40. The DC brushless drive motor 5 of the drive unit starts, driving the left and right walking mechanisms 2 and 3, propelling the automatic seedling machine smoothly along a preset path and at the calculated optimal operating speed. During this movement, the control system continuously receives seedbed height data from the laser displacement sensor 43 and adjusts the electric push rod 24 of the lifting mechanism in real time using the PID control algorithm to precisely maintain a constant distance between the material discharge port and the seedbed surface.

[0082] During the seed sowing stage, the electric cylinder 35 of the sowing mechanism precisely drives the insert plate 32 to adjust the opening width of the funnel 30. The control system calculates and adjusts the driving frequency and stroke of the electric cylinder 35 in real time based on the current travel speed and target sowing density, ensuring a high degree of synchronization between the sowing amount and the travel speed, aiming to ensure that the sowing amount error per unit area is less than or equal to ±2%. The stirring blades 27 in the stirring mechanism rotate continuously under the drive of the drive motor 5, preventing seeds from clogging inside the hopper and ensuring that the material falls evenly and continuously into the funnel 30.

[0083] After sowing seeds and emptying the hopper, the automatic seedling machine automatically switches to soil sowing mode and repeats the above process to achieve precise and uniform soil coverage above the seeds. A front-facing camera 47 at the front of the walking mechanism's mounting frame 4 continuously monitors the travel path and detects obstacles. When a large obstacle is detected, the control system immediately issues a stop command, the drive unit stops working, and the unexpected situation and equipment location are uploaded to the cloud platform and mobile terminal application via a 4G communication module.

[0084] V. Real-time monitoring and intelligent adjustment stage:

[0085] Throughout the entire operation, the automatic seedling machine undergoes multi-dimensional continuous monitoring and intelligent adjustment: the bottom close-up camera of the visual monitoring system 63 captures real-time images of the seedbed surface after sowing, and uses a built-in image recognition algorithm to quantitatively assess the sowing uniformity in real time. When image analysis shows that the sowing uniformity deviation exceeds a preset threshold, the control system will automatically fine-tune the opening of the electric cylinder 35 of the sowing mechanism or the travel speed of the drive device to correct the deviation, or trigger an alarm and pause the operation if it cannot be corrected, displaying a message "Sowing uniformity abnormal, please check" on the touchscreen 40. The rear high-definition camera 48 transmits high-definition video streams of the sowing effect back to the touchscreen 40 and the cloud platform in real time for remote viewing by management personnel. The material bin monitoring camera continuously monitors the material status and remaining amount in the soil covering hopper 18. The equipment tilt sensor 60 in the sensing detection system monitors the tilt angle of the chassis body 1 in real time. When the tilt angle exceeds the safe range, the control system will pause the operation and issue a warning. The battery power sensor 61 continuously monitors the battery power. When the power is below 20%, the control system sends a warning message to the cloud platform and mobile terminal application via the 4G communication module. When the battery level drops further to 10%, the automatic seedling machine will automatically plan its path back to its starting point or a preset charging / battery swapping station and report its status to the cloud platform. The automatic seedling machine supports hot-swappable battery swapping and fast charging technology, aiming to minimize operational downtime. By configuring a quick-locking mechanism and standardized battery interface in the battery box 42, a single battery swap can be completed within 3 minutes. The internal temperature and humidity sensor 58 monitors the internal environment of the electrical cabinet 41. If abnormal temperature or humidity is detected, the control system can trigger internal heat dissipation or heating devices to maintain stable operating temperature and humidity for the electronic components.

[0086] VI. Data recording, remote transmission, and task completion stage:

[0087] The data acquisition and remote transmission system collects and records all key operational data in real time throughout the entire operation, including but not limited to travel trajectory, speed, material consumption, operation time, sowing quality assessment results, equipment status parameters, and environmental parameters. All collected data is encrypted using AES256 via the 4G communication module and then uploaded to the cloud platform in real time for storage and big data analysis.

[0088] Managers can remotely monitor the operation progress of the automatic seedling machine in real time, view historical operation reports, and perform fault diagnosis through the cloud platform or mobile terminal application. They can also remotely schedule or adjust parameters of the equipment as needed. After all preset seedling tasks are completed, the automatic seedling machine returns to the starting point or designated parking area according to the positioning system and automatically empties the residual material in the covering hopper 18. The data acquisition and remote transmission system generates a detailed PDF operation report, which includes timestamps, operator IDs, parameters for each operation stage, material consumption, sowing quality assessment results, and abnormal event records, and uploads it to the cloud platform for archiving. The control system also displays next maintenance suggestions on the touchscreen 40 based on the cumulative operation time or the number of times key components have been run, to guide preventative maintenance.

[0089] In one specific embodiment, an automatic seedling machine of the present invention was used for vegetable seedling cultivation on a farm.

[0090] Task objective: Sow Chinese cabbage seeds in a seedbed with an area of ​​500 square meters, with a target sowing density of 300 seeds per square meter and a soil covering thickness of 8 millimeters.

[0091] 1. Parameter settings: Set the crop to "Chinese cabbage" via the touchscreen 40, with a target sowing density of 300 seeds / square meter and a soil covering thickness of 8mm. The control system calculates based on an expert database that approximately 0.5 kg of seeds and 20 kg of soil are needed.

[0092] 2. Material Loading: The operator first adds 0.5 kg of bok choy seeds to the soil covering hopper 18. After the weighing sensor 44 confirms the weight, the system prompts to switch to soil loading. Then, 20 kg of seedling substrate soil is added. The monitoring camera in the hopper displays the internal condition of the hopper in real time.

[0093] 3. Environmental Sensing: The laser displacement sensor 43 detects the seedbed height in real time, displaying an average of 710mm. The control system adjusts the soil covering hopper 18 to 708mm from the seedbed surface via a lifting mechanism (the preset optimal distance between the material discharge port and the bed surface). The soil moisture sensor 56 detects a soil moisture content of 65%RH. Based on this data, the control system dynamically adjusts the motor torque output of the drive unit to prevent slippage due to wet conditions.

[0094] 4. Automated Operation: The equipment begins its journey at a set speed of 0.6 m / s. During the seed sowing stage, the electric cylinder 35 of the sowing mechanism adjusts the funnel opening to 1.2 mm and makes fine adjustments synchronously according to the travel speed. The stirring mechanism rotates continuously to ensure that the seeds do not clog. A close-up camera monitors the sowing uniformity in real time, and the image recognition algorithm detects a sowing uniformity of 98.5%, which meets the target.

[0095] 5. Covering with Soil: After seed sowing is completed, the hopper is emptied and the machine automatically switches to covering with soil mode. The sowing mechanism then sows soil again according to the calculated parameters. Close-up camera footage shows that the average covering thickness is 7.9 mm, with a covering uniformity of 99.1%.

[0096] 6. Monitoring and Data: Throughout the operation, the front-facing camera 47 did not detect any obstacles. The equipment tilt sensor 60 showed a maximum tilt angle of 2.1°, within the safe range. The battery level sensor 61 showed a decrease from 100% to 55%. The data acquisition and remote transmission system uploaded all data to the cloud platform in real time.

[0097] 7. Task Completed: The operation on 500 square meters of seedbed was completed in 45 minutes. The system generated a detailed task report, showing that the sowing rate error was ±1.5%, the soil covering thickness uniformity error was ±0.5mm, and the sowing uniformity was 98.5%, all of which were better than the design targets.

[0098] Through a highly integrated sensing, control, vision, and data transmission system, this invention achieves refined, automated, and intelligent seedling operations, significantly improving operational quality and management levels. For example, the closed-loop control of the laser displacement sensor and lifting mechanism ensures a constant sowing height, effectively solving the problem of inconsistent sowing depth caused by uneven terrain in traditional seedling machines. The precise coordination between the weighing sensor and the electric cylinder, along with real-time feedback on sowing uniformity from the vision monitoring system, results in unprecedented precision in both sowing quantity and uniformity. Furthermore, comprehensive sensing and remote data management not only enhance operational safety but also provide a solid data foundation for scientific decision-making in seedling production.

[0099] In this invention, the sensors, cameras, and touch screens are all mature products on the market that can be purchased, installed, and used directly. Moreover, these devices are already widely used in various fields, and those skilled in the art are familiar with their usage methods, so there are no technical barriers.

[0100] The above description is merely one embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An automatic seedling raising machine characterized by comprising: The utility model relates to a kind of agricultural seeding machine, including: Frame body; Walking system, the walking system includes the drive device being arranged at the bottom of the frame body, the drive device includes the left walking mechanism and the right walking mechanism of being arranged respectively at the both sides of frame body with same structure, the left walking mechanism includes walking mechanism mounting frame, drive motor being arranged on walking mechanism mounting frame, chain drive unit being connected with drive motor transmission, and drive wheel being connected with one end of chain drive unit; Seeding system, the seeding system includes material box mechanism, stirring mechanism, lifting mechanism and sowing mechanism being arranged above frame body, the material box mechanism includes soil hopper support being arranged on frame body and covering soil hopper being arranged on soil hopper support, the lifting mechanism is arranged below covering soil hopper, and the sowing mechanism is arranged below the discharge port of covering soil hopper;The stirring mechanism is connected with the drive motor by transmission assembly, and stirring mechanism is used to stir the material in covering soil hopper; Sensing detection system, the sensing detection system includes laser displacement sensor being arranged on walking mechanism mounting frame, weighing sensor being arranged at the bottom of covering soil hopper, and soil moisture sensor being arranged in front of drive wheel; Visual monitoring system, the visual monitoring system includes front camera and rear camera being arranged respectively at the both sides of frame body, and material box monitoring camera being arranged on covering soil hopper; Control system, the control system includes touch screen and electrical cabinet, and the control system is electrically connected with drive device, seeding system, sensing detection system and visual monitoring system respectively; Data acquisition and transmission system, the data acquisition and transmission system includes communication module, and the communication module is electrically connected with control system.

2. The automatic seedling raising machine according to claim 1, characterized by The chain drive unit of the left walking mechanism includes bearing seat being arranged on walking mechanism mounting frame, driven shaft gear being connected with bearing seat, driving shaft gear being arranged on the output shaft of drive motor, walking drive chain being connected with the meshing of driving shaft gear and driven shaft gear, and drive wheel being connected with bearing seat;Chain tensioning mechanism is also arranged on the walking mechanism mounting frame.

3. The automatic seedling raising machine according to claim 1, characterized by The weighing sensor is shear beam type weighing sensor, and guiding plate is arranged below the discharge port of covering soil hopper, and the guiding plate is communicated with sowing mechanism.

4. The automatic seedling raising machine according to claim 1, characterized by The transmission assembly includes driven stirring gear being arranged at the both sides of covering soil hopper, driving stirring gear being arranged on the output shaft of drive motor, and stirring drive chain being connected with the meshing of driving stirring gear and driven stirring gear;The stirring mechanism includes stirring shaft being arranged in covering soil hopper and being transmission connected with driven stirring gear, and stirring blade being arranged on stirring shaft.

5. The automatic seedling raising machine according to claim 1, wherein The lifting mechanism includes first guide shaft being arranged at the bottom of covering soil hopper, guide sleeve being slidably connected with first guide shaft, push rod support being arranged below frame body, and electric push rod being connected with the bottom of covering soil hopper, and the guide sleeve is fixed on frame body.

6. The automatic seedling raising machine according to claim 1, wherein The spreading mechanism comprises a hopper, a hopper sealing plate connected to one side of the hopper, a plug plate connected to the hopper sealing plate, a plug plate electric cylinder for driving the plug plate to move, and a second guide shaft provided on the plug plate, the second guide shaft penetrating through an opening on the plug plate and being sleeved with a spring.

7. The automatic seedling raising machine according to claim 1, wherein The front and rear sides of the frame body are provided with anti-collision strips, the front camera and the rear camera are arranged above the anti-collision strips on the front and rear sides of the frame body respectively, and the soil moisture sensor is arranged at the bottom of the anti-collision strip on the front side of the frame body.

8. The automatic seedling raising machine according to claim 1, characterized by The visual monitoring system further comprises side cameras arranged on the left and right sides of the frame body and a close-up camera arranged below the hopper of the spreading mechanism, and the front camera and the rear camera are provided with camera protection covers outside.

9. The automatic seedling raising machine according to claim 1, characterized by A cover and a battery box are arranged above the frame body, the touch screen, the electrical cabinet and the battery box are embedded in the cover, and a lithium-iron battery for supplying power to each system is arranged in the battery box.

10. The automatic seedling raising machine according to claim 1, characterized by The frame body is symmetrically provided with lifting rings on the front and rear sides, and a mud guard connected to the frame body is arranged above the driving wheel.

Images