A desert tree-planting robot and its control method and control system

Abstract

The present invention discloses a desert tree-planting robot, its control method and control system. In the method, a map is obtained through positioning, a tree-planting area is planned on the map, multiple small planting areas arranged at equal intervals are customized, a moving route is formulated, and then environmental data of the tree-planting area is obtained to analyze the planting conditions of the environment. Next, information on the remaining amount of materials is obtained, including the remaining amount of saplings and the remaining amount of water. The moving task is executed along the moving route, and the tree-planting task is stopped and executed at the position of the target small planting area. In the system, it includes a GPS module, a control module, a monitoring module, a network communication module and a control terminal. The network communication module is communicatively connected to the control module and the control terminal, and the control module is respectively coupled to the GPS module, the monitoring module, the moving mechanism of the robot and the seedling mechanism of the robot. The method and system of the desert tree-planting robot of the present invention are beneficial to improving the intelligent level and working efficiency of the desert tree-planting robot.

Description

Technical Field

[0001] The present invention relates to the technical field of desert tree-planting equipment, and particularly relates to a desert tree-planting robot, a control method therefor, and a control system therefor. Background Art

[0002] Desertification refers to the phenomenon of land degradation in desert areas caused by various factors such as climate change and human activities. According to the data of the United Nations, the direct economic loss caused by desertification globally reaches up to 42.3 trillion US dollars every year, and desertification is expanding at a speed of 50,000 - 70,000 km 2 per year. Since China joined the United Nations Convention to Combat Desertification, it has continuously improved the construction of the desertification prevention and control system, deeply implemented the Law on Desertification Prevention and Control, and adhered to scientific methods for desert control. In recent years, the new greening technology of the water-jet tree-planting method has been widely promoted, making the desert greening area continuously expand.

[0003] The water-jet tree-planting method is a minimally invasive planting technology that combines hole digging, tree planting, and watering. It has little disturbance to the soil. With two people cooperating, one tree can be planted in only 10 seconds. During tree planting, one person uses the water pressure derived from a water pipe as the power to punch a deep hole in the sandy land, and the other person inserts the sapling into the hole to make the sapling closely combine with the sand layer. The survival rate of this planting method is as high as over 90%.

[0004] However, due to the vast area of desert regions, even though the water-jet tree-planting method has the advantages of high efficiency and high survival rate, it cannot cover up the disadvantage of high labor costs in its manual planting method. Therefore, in order to reduce the labor costs of desertification prevention and control, reduce people's labor intensity, and improve the tree-planting efficiency, it is urgent to design a desert tree-planting robot that can use the water-jet tree-planting method, as well as a control method and a control system for this desert tree-planting robot. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects of the prior art and provide a desert tree-planting robot, a control method therefor, and a control system therefor.

[0006] To solve the above technical problems, the present invention provides the following solutions:

[0007] A desert tree-planting robot, comprising a frame and a moving mechanism connected to the lower end of the frame. A seedling storage bin is provided on the frame. The seedling storage bin has at least one loading port and at least one discharging port, and the discharging port is used for at least one sapling to pass through. A seedling planting mechanism is also provided on the frame. The seedling planting mechanism includes a moving component provided on the frame. The moving direction of the moving component is the vertical direction. A seedling holder and a water sprayer that move up and down with it are provided on the moving component. The seedling holder has a chuck for keeping the sapling in a vertical state. The chuck and the water sprayer are close to each other. The water sprayer is a slender tube body with both upper and lower ends communicating. The upper end is used to connect to a water source through a water pipe, and the lower end is used to flush water onto the ground to form a slender hole. The sapling held by the seedling holder is implanted into the hole. A seedling feeding mechanism for conveying the sapling is also provided between the discharging port and the seedling holder.

[0008] In addition, the present invention also provides a control method for a desert tree-planting robot:

[0009] Obtain the location of the robot and the map of its area. Plan the tree-planting area range on the map, and formulate multiple equally spaced planting target small areas in the tree-planting area. Formulate the moving route of the robot so that the robot can move to any one of the planting target small areas.

[0010] Real-time monitor and obtain the environmental data in the tree-planting area where the robot is located, and analyze the planting conditions of the environment.

[0011] Obtain the remaining amount of the materials accommodated on the robot. The remaining amount of the materials includes the remaining amount of saplings and the remaining amount of water.

[0012] When the planting conditions are suitable and the remaining amount of materials is satisfied, the robot executes the moving task along the moving route in the tree-planting area and stops at the position of the planting target small area to execute the tree-planting task. The tree-planting task includes using a flushing mechanism to flush water into the desert to form a tree-planting hole, and at the same time using a clamping mechanism to clamp the sapling and implant it into the tree-planting hole, and then using the flushing mechanism to flush water so that the sandy soil backfills into the tree-planting hole.

[0013] In addition, the present invention also provides a control system for a desert tree-planting robot, including:

[0014] A GPS module, a control module, a monitoring module, a network communication module and a control terminal;

[0015] The network communication module is communicatively connected to the control module and the control terminal for transmitting data information and work instructions;

[0016] The control module includes a main controller, a walking controller and a tree-planting controller that are coupled to each other;

[0017] Among them, the main controller is respectively coupled to the GPS module and the monitoring module. The main controller is configured to receive the map information of the area near the location where the GPS module is located, receive the environmental data collected by the monitoring module, and send the received information to the control terminal; the walking controller is used to be coupled to the moving mechanism of the robot. The walking controller is configured to receive the moving route information formulated by the control terminal and receive the moving route correction information from the main controller in real time; the tree-planting controller is used to be coupled to the seedling mechanism of the robot. The tree-planting controller is configured to control the seedling mechanism of the robot to perform the actions of flushing water and clamping and placing saplings when the GPS module is located in the target small area for planting.

[0018] The present invention has the following advantages:

[0019] 1. For the desert tree-planting robot according to the present invention, by pre-storing sufficient saplings in the seedling storage bin and discharging the saplings from the discharge port, the saplings are conveyed to the seedling holder through the provided seedling conveying mechanism. The seedling holder holds the saplings steadily and keeps them in a vertical state. The water sprayer can flush water onto the desert ground to form slender holes. Since the seedling holder and the water sprayer are fixed on the moving component, when the moving component moves downward, it can drive the saplings and the water sprayer to move downward simultaneously, so that the saplings are implanted into the slender holes at the same time. By driving the frame to move continuously through the moving mechanism, the saplings in the seedling storage bin are planted at different positions. Therefore, this device can replace manual planting, which is beneficial to saving the cost of desertification control and reducing the labor intensity of people.

[0020] 2. For the control method of the desert tree-planting robot according to the present invention, by reasonably planning the planting area and formulating the moving route of the robot, the robot can intelligently and real-time judge whether it deviates from the route and adjust and return at any time to avoid planting saplings in places with vegetation, resulting in waste of resources. This is beneficial to improving the planting efficiency. After obtaining the environmental data before planting, it can intelligently judge the impact on the planting survival rate according to environmental factors, and can also intelligently monitor the remaining amount of the carried materials to remind adding materials. In addition, the water flushing method is adopted for tree planting during tree planting, which can quickly complete the steps of drilling holes, planting, backfilling and watering, improving the planting efficiency.

[0021] 3. For the control system of the desert tree-planting robot according to the present invention, the user realizes interaction with the robot through the control terminal to remotely control the robot for tree planting. The location of the robot is located through the GPS module, the surrounding environmental information is sensed through the monitoring module, the data of the remaining amount of the carried materials is obtained, and the obstacles in front of the robot are measured. After the main controller processes the data information, it feeds back to the walking controller and the tree-planting controller to control the moving mechanism to move in the planned area and control the seedling mechanism to perform the tree-planting task under suitable conditions, thereby realizing intelligent tree planting and being beneficial to improving the survival rate of saplings and the desert tree-planting efficiency. Description of the Drawings

[0022] Figure 1 It is a schematic structural diagram of the desert tree-planting robot of the present invention.

[0023] Figure 2 It is Figure 1 a side view of the seedling storage bin, the seedling feeding mechanism and the seedling planting mechanism in

[0024] Figure 3 It is Figure 2 an enlarged view of area B in

[0025] Figure 4 It is Figure 2 a schematic structural diagram of the seedling storage bin in

[0026] Figure 5 It is Figure 2 a schematic structural diagram of the seedling feeding mechanism and the seedling planting mechanism in

[0027] Figure 6 It is Figure 5 a schematic diagram of another implementation manner of the non-destructive seedling receiver in

[0028] Figure 7 It is Figure 1 an enlarged view of area A in

[0029] Figure 8 It is a flowchart of the control method of the desert tree-planting robot of the present invention.

[0030] Figure 9 It is a schematic diagram of the desert tree-planting robot of the present invention performing a moving task and a tree-planting task.

[0031] Figure 10 It is a structural block diagram of the control system of the desert tree-planting robot of the present invention.

[0032] Reference numerals in the figure: 1, frame; 2, seedling storage bin; 21, loading port; 22, discharge port; 3, solar panel; 4, moving mechanism; 41, motor; 42, driving sprocket; 43, driven sprocket; 44, drive chain; 45, transmission shaft; 46, wheel set; 47, crawler belt; 5, water tank; 6, seedling feeding mechanism; 61, non-destructive seedling receiver; 611, telescopic member; 612, support joint; 6121, flat portion; 6122, groove portion; 62, attitude adjuster; 621, rotating member; 6211, rotating arm; 622, clamping member; 7, seedling planting mechanism; 71, moving assembly; 72, seedling holder; 721, chuck; 73, water sprayer; 74, linear drive member. Specific embodiments

[0033] For a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0034] AsFigures 1 - 6 As shown in the figure, the desert tree-planting robot of this embodiment includes a frame 1 and a moving mechanism 4 connected to the lower end of the frame 1. A seedling storage bin 2 is provided on the frame 1. The seedling storage bin 2 has at least one loading port 21 and at least one discharging port 22. The discharging port 22 is used for at least one sapling to pass through. A seedling planting mechanism 7 is also provided on the frame 1. The seedling planting mechanism 7 includes a moving component 71 provided on the frame 1. The moving direction of the moving component 71 is the vertical direction. A seedling holder 72 and a water sprayer 73 that move up and down with it are arranged on the moving component 71. The seedling holder 72 has a chuck 721 for keeping the sapling in a vertical state. Specifically, the chuck 721 includes two pieces in a "V" shape, having a certain width on the vertical plane, capable of surrounding and clamping the sapling and keeping the sapling in a vertical state. The chuck 721 and the water sprayer 73 are close to each other. The water sprayer 73 is an elongated tube body with both upper and lower ends penetrating. Usually, the length of the water sprayer 73 is at least 1 meter, so that the sapling can be implanted into a deep enough hole, enabling the sapling to take root deeper, which is beneficial to improving the survival rate. The upper end of the water sprayer 73 is used to connect to a water source through a water pipe, and the lower end is used to flush the ground to form an elongated hole. The sapling held by the seedling holder 72 is implanted into this hole. In this way, while the water sprayer 73 punches the hole, the sapling can also move downward and be implanted into the hole, improving the planting efficiency and being beneficial to locking in moisture to prevent the moisture from flowing away too quickly. To facilitate providing water to the water sprayer 73, a water tank 5 for storing water is provided on the frame 1. A water pump for pumping water is arranged in the water tank 5. A flexible water pipe is connected between the water pump and the upper end of the water sprayer 73.

[0035] A seedling feeding mechanism 6 for conveying saplings is provided between the discharging port 22 and the seedling holder 72. In this way, through the cooperation of the seedling feeding mechanism 6 and the seedling planting mechanism 7, the saplings in the seedling storage bin 2 can be implanted into the desert.

[0036] Specifically, the moving component 71 includes a guide rail 711 and a slider 712. The guide rail 711 is arranged in the vertical direction, and the slider 712 is slidably installed on the guide rail 711. The seedling holder 72 and the water sprayer 73 are both fixedly connected to the slider 712. In addition, to facilitate the seedling holder 72 to clamp and receive the saplings conveyed by the seedling feeding mechanism 6, a linear driving member 74 is also arranged between the seedling holder 72 and the slider 712. The seedling holder 72 is fixedly connected to the moving part of the linear driving member 74, and the seedling holder 72 can be linearly moved. During the execution of the action, the moving part extends, making the seedling holder 72 approach the seedling feeding mechanism 6 to clamp the sapling, and then the moving part contracts, and the chuck 721 on the seedling holder 72 approaches the water sprayer 73.

[0037] The loading port 21 is opened at the upper end of the seedling storage bin 2, and the discharge port 22 is opened at the lower end of the seedling storage bin 2. The seedling storage bin 2 is provided with an inclined bottom surface, and the discharge port 22 is located at the lowest position of the bottom surface of the seedling storage bin 2. The seedlings loaded into the seedling storage bin 2 are placed horizontally, and the discharge port 22 is provided with strip holes along the direction in which the seedlings are placed, so that the seedlings can be discharged downward one by one. In addition, a solar panel 3 that can be rotatably covered is also provided on the loading port 21 to provide power for its system, and can block the hot sun in the desert, so that the seedling storage bin 2 is kept at a low temperature to prevent the seedlings in the seedling storage bin 2 from drying out.

[0038] The seedling delivery mechanism 6 includes a lossless seedling receiving device 61 arranged below the discharge outlet 22, and a posture adjuster 62 arranged on the front side of the lossless seedling receiving device 61. The lossless seedling receiving device 61 includes two portions arranged on both sides of the posture adjuster 62, so that the seedlings discharged from the discharge outlet 22 can be received in a balanced manner. The lossless seedling receiving device 61 includes a telescopic member 611 and a supporting joint 612 arranged on the telescopic member 611. The front side of the upper end of the supporting joint 612 is a groove portion 6122, and the rear side of the upper end of the supporting joint 612 is a plane portion 6121 flush with the upper end of the groove portion 6122. The telescopic member 611 is telescopic to drive the supporting joint 612 to move forward and backward, so that the groove portion 6122 and the plane portion 6121 are alternately placed below the discharge outlet 22. In this way, when the telescopic member 611 is extended to send out the seedlings in the groove portion 6122, the plane portion 6121 on the rear side can just block the discharge outlet 22 to prevent the seedlings from falling out of the seedling storage bin 2.

[0039] The supporting joint 612 may be made of a soft brush as a whole, with some of the soft hair cut short to form a groove 6122, or the supporting joint 612 may include a receiving block and a plurality of springs, the front side of the receiving block being stepped, and the springs being arranged vertically and fixed on the front side of the receiving block, so that a groove 6122 is formed between the receiving block and the springs, and a flat portion 6121 is formed at the upper end of the rear side of the receiving block. When the sapling falls into the groove 6122, the telescopic member 611 extends, and then the posture adjuster 62 clamps and fixes the sapling, and then the telescopic member 611 retracts, so that when the sapling is separated from the groove 6122, the groove 6122 is always in soft contact with the outer surface of the sapling, thereby protecting the sapling support rod from damage.

[0040] The posture adjuster 62 includes a clamping member 622 and a rotating member 621. The clamping member 622 is used to clamp the sapling received on the non-destructive seedling grafting device 61. The clamping member 622 is fixed on the rotating member 621. The rotating member 621 can drive the clamping member 622 to rotate to adjust the posture of the sapling held by the clamping member 622 so that the root of the sapling faces downward. The clamping member 622 has two clamping jaws that can approach each other, and there is a relative concave arc surface between the two clamping jaws. The sapling can be fixedly clamped between the two concave arc surfaces.

[0041] The moving component 71, the seedling holder 72, the telescopic member 611, the linear drive member 74, the clamping member 622, and the rotating member 621 mentioned above are all pneumatic components. An air tank and an air pump are also provided on the frame 1. The air tank stores gas, and the air pump is connected between the air tank and the pneumatic components through an air pipe. Specifically, the moving component 71 uses a rodless cylinder; the seedling holder 72 uses a pivot pneumatic finger; the jaws on the pivot pneumatic finger are the chucks 721 for clamping the saplings; the telescopic member 611 and the linear drive member 74 are both linear cylinders; the clamping member 622 uses a parallel pneumatic finger; the rotating member 621 uses a telescopic rotary cylinder, and a rotating arm 6211 is fixedly connected to the end of its piston rod. The parallel pneumatic finger is fixed on the rotating arm 6211, which can drive the parallel pneumatic finger to move linearly and rotate, so as to adjust the direction of the saplings.

[0042] In another embodiment, the moving component 71, the seedling holder 72, the telescopic member 611, the linear drive member 74, the clamping member 622, and the rotating member 621 can also be electric components or hydraulic components that can achieve the above functional purposes.

[0043] As Figure 7 shown, in addition, four separately controllable moving mechanisms 4 are provided on the frame 1, and the moving speeds can be controlled separately to enable the robot to avoid obstacles. The moving mechanisms 4 are located at the four corners of the lower end of the frame 1. Each moving mechanism 4 includes a motor 41, a transmission shaft 45, a driving sprocket 42, a driven sprocket 43, a transmission chain 44, a wheel set 46, and a crawler 47. The motor 41 is fixed on the frame 1, the driving sprocket 42 is installed on the main shaft of the motor 41, the driven sprocket 43 and the wheel set 46 are installed on the transmission shaft 45, the transmission chain 44 is connected between the driving sprocket 42 and the driven sprocket 43, and the crawler 47 surrounds the wheel set 46. Generally, the wheel set 46 includes three arranged in a triangle, one of which is the main wheel, and the main wheel is installed on the transmission shaft 45. Using the crawler 47 can more flexibly adapt to the harsh environment in the desert.

[0044] The following specifically describes the working process of the present invention: First, in the first step, the saplings are conveyed to the seedling planting mechanism 7 by the seedling feeding mechanism 6. Sufficient saplings are stored in the seedling storage bin 2. Since the bottom surface of the seedling storage bin 2 is inclined, the saplings will slide down along the inclined surface to the discharge port 22 and fall from the discharge port 22 to the non-destructive seedling receiver 61. Then, the non-destructive seedling receiver 61 extends to the clamping member 622 of the posture adjuster 62, and the saplings are clamped and fixed by the clamping member 622. Then, the piston rod of the rotating member 621 rotates 90°, rotating the originally horizontally placed saplings so that the roots of the saplings face down. While rotating, the piston rod extends towards the seedling holder 72. Then, the linear drive member 74 extends, extending the seedling holder 72 a certain distance towards the clamping member 622. The chuck 721 on the seedling holder 72 rotates and closes to clamp the saplings. After that, the linear drive member 74 contracts, and the saplings approach the water sprayer 73, completing the transfer of the saplings. Then, in the second step, the seedling planting mechanism 7 plants the saplings. The moving assembly 71 drives the seedling holder 72 and the water sprayer 73 to form holes while flushing water and move downward, and plants the saplings into the holes. After the chuck 721 of the seedling holder 72 releases the saplings, the moving assembly 71 rises, thereby lifting the lower end of the water sprayer 73 outside the holes. The water sprayer 73 continues to flush water, thereby flushing the sand into the holes to backfill the tree planting holes and complete the tree planting.

[0045] As Figure 8 and Figure 9 shown, the desert tree planting robot control method of this embodiment includes the following steps:

[0046] Obtain the location of the robot and the map of its area, plan the tree planting area range on the map, and avoid areas with vegetation to prevent repeated planting. In the tree planting area, multiple small planting target areas arranged at equal intervals are formulated, and the moving route of the robot is formulated. The moving route is formed by connecting multiple small planting target areas in series with straight line segments. So that the robot can move to any small planting target area, making the sapling planting more regular and tidy. A certain space distance between saplings is beneficial to improving the survival rate.

[0047] Real-time monitor and obtain the environmental data in the tree planting area where the robot is located. These environmental data include the temperature, humidity, and wind speed in the tree planting area. Analyze the planting conditions of the environment. When the temperature, humidity, and wind speed exceed the set range values, the robot stops the tree planting task and sends an alarm message. For example, when the temperature is too high and the humidity is too low, it is not conducive to plant growth, and when the wind speed is too high, the plants are easily blown down, which is also not conducive to improving the survival rate. Therefore, planting can only be carried out when the environmental conditions are suitable.

[0048] Next, it is necessary to obtain the remaining amount information of the materials accommodated on the robot. The remaining amount information of the materials includes the remaining amount information of the saplings and the remaining amount information of the water. When the planting conditions are suitable and the remaining amount of the materials is satisfied, the robot performs a moving task along the moving route in the tree-planting area. The moving task includes monitoring obstacles on the moving route, correcting the moving route to avoid obstacles, and the robot stops at the planting target small area position to perform the tree-planting task. The tree-planting task includes using a flushing mechanism to flush water into the desert to form a tree-planting hole, and at the same time using a clamping mechanism to clamp the saplings and implant them into the tree-planting hole, and then using the flushing mechanism to flush water so that the sandy soil backfills into the tree-planting hole. Among them, the depth of the tree-planting hole is at least 1 m, which is beneficial to the saplings taking root and surviving.

[0049] As Figure 10 shown, the desert tree-planting robot control system of this embodiment includes a GPS module, a control module, a monitoring module, a network communication module, and a control terminal.

[0050] The network communication module is communicatively connected to the control module and the control terminal for transmitting data information and work instructions. The control module includes a main controller, a walking controller, and a tree-planting controller that are mutually coupled. Specifically, the main controller uses an STM32F103ZET6 microcontroller, while the walking controller and the tree-planting controller both use STC8H8K64U controllers.

[0051] The main controller is respectively coupled to the GPS module and the monitoring module. The main controller is configured to receive the map information of the area near the location of the GPS module, receive the environmental data and the remaining amount information of the materials collected by the monitoring module, and send the information it receives to the control terminal. The walking controller is used to be coupled to the moving mechanism of the robot. The walking controller is configured to receive the moving route information formulated by the control terminal and receive the moving route correction information from the main controller in real time. Specifically, the walking controller is connected to the motor in the moving mechanism, and its controlled motor speed realizes turning when the motors on both sides of the moving mechanism are inconsistent, so as to adjust and correct the route. The tree-planting controller is used to be coupled to the seedling mechanism of the robot. The tree-planting controller is configured to control the seedling mechanism of the robot to perform the actions of flushing water and clamping and releasing saplings when the GPS module is located in the planting target small area.

[0052] For the monitoring module, it includes a temperature and humidity sensor for detecting the environmental temperature and humidity, a wind speed sensor for detecting the environmental wind speed, a water level sensor for detecting the water level in the water tank of the robot, a laser ranging sensor for detecting the distance between the obstacle and the robot, a single-axis angle sensor for detecting the pose of the robot, and a camera for observing the scene, making tree planting intelligent. A linear mechanism for controlling its up and down movement is provided on the water pipe of the planting mechanism. The water pipe discharges water and punches holes while descending a certain height. A sensor for monitoring the moving distance is provided on the linear mechanism. By monitoring the descending height of the water pipe, it is ensured that the punching depth is at least 1 m. In addition, a lighting module is coupled to the control module, which can cooperate with the camera to observe clearer image videos. The remaining amount in the seedling storage bin is the total amount minus the number of planted saplings, which can be recorded by the number of tree planting operations of the seedling planting mechanism.

[0053] The control terminal is configured to present environmental information, material information, and the position information of the robot to the user. The control terminal can display the on-site video, and the user can operate to send a movement instruction and a seedling planting operation instruction to the control module.

[0054] In addition, the desert tree planting robot control system further includes a power supply module. The power supply module is respectively coupled to the control module, the moving mechanism of the robot, and the seedling planting mechanism of the robot. The control module is also coupled to a Hall detection module for detecting current, so as to understand the power supply amount of the power supply module.

Claims

1. A desert tree-planting robot, comprising a frame and a moving mechanism connected to the lower end of the frame, characterized in that, it further comprises: a seedling storage bin, provided on the frame, having at least one loading port and at least one discharging port, and the discharging port is used for passing at least one sapling; a seedling planting mechanism, including a moving component provided on the frame, the moving direction of the moving component is the vertical direction, a seedling holder and a water sprayer that move up and down with it are arranged on the moving component. By moving the moving component downward, the sapling and the water sprayer can be driven to move downward at the same time. The seedling holder has a chuck for keeping the sapling in a vertical state. The chuck and the water sprayer are close to each other. The water sprayer is a slender tube body with both upper and lower ends penetrating. The upper end is used to connect to a water source through a water pipe, and the lower end is used to flush water onto the ground to form a slender hole, and the sapling held by the seedling holder is implanted into the hole; a seedling feeding mechanism, provided between the discharging port and the seedling holder, for conveying the sapling. The discharging port is provided at the lower end of the seedling storage bin. The seedling feeding mechanism includes a non-destructive seedling receiver provided below the discharging port. The non-destructive seedling receiver includes a telescopic member and a soft hair support joint provided on the telescopic member. The front side of the upper end of the support joint is a groove portion, and the rear side of the upper end of the support joint is a flat portion flush with the upper end of the groove portion. The telescopic member expands and contracts to drive the support joint to move back and forth, so that the groove portion and the flat portion are alternately placed below the discharging port. The seedling feeding mechanism further includes an attitude adjuster, which is provided on the front side of the non-destructive seedling receiver and includes a clamping member and a rotating member. The clamping member is used to clamp and receive the sapling on the non-destructive seedling receiver. The clamping member is fixed on the rotating member, and the rotating member can drive the clamping member to rotate to adjust the attitude of the sapling held by the clamping member.

2. The desert tree-planting robot according to claim 1, characterized in that, the moving component includes a guide rail and a slider. The guide rail is arranged in the vertical direction, and the slider is slidably installed on the guide rail. The seedling holder and the water sprayer are both fixedly connected to the slider.

3. The desert tree-planting robot according to claim 1, characterized in that, the loading port is opened at the upper end of the seedling storage bin, the discharging port is opened at the lower end of the seedling storage bin, the seedling storage bin is provided with an inclined bottom surface, and the discharging port is located at the lowest position of the bottom surface of the seedling storage bin.

4. The desert tree-planting robot according to claim 1, characterized in that, the moving mechanism includes a motor, a transmission shaft, a driving sprocket, a driven sprocket, a transmission chain, a wheel set and a crawler. The motor is fixed on the frame, the driving sprocket is installed on the main shaft of the motor, the driven sprocket and the wheel set are installed on the transmission shaft, the transmission chain is connected between the driving sprocket and the driven sprocket, and the crawler is wound around the wheel set.

5. The control method of the desert tree-planting robot according to claim 1, characterized in that, it includes: obtaining the position of the robot and the map of its location area, planning the tree-planting area range on the map, formulating a plurality of equally spaced planting target small areas in the tree-planting area, and formulating the moving route of the robot so that the robot can move to any one of the planting target small areas; real-time monitoring and obtaining the environmental data in the tree-planting area where the robot is located, and analyzing the planting conditions of the environment; Obtain the remaining quantity information of the materials contained in the robot. The remaining quantity information of the materials includes the remaining quantity information of saplings and the remaining quantity information of water. When the planting conditions are suitable and the remaining quantity of materials is satisfied, the robot executes a moving task along the moving route in the tree-planting area and stops at the position of the planting target small area to execute the tree-planting task. The tree-planting task includes using a seedling holder to flush water into the desert to form a tree-planting hole, and at the same time using the seedling holder to clamp the sapling and implant it into the tree-planting hole, and then using the seedling holder to flush water so that the sandy soil backfills into the tree-planting hole.

6. The control method of the desert tree-planting robot according to claim 5, characterized in that the moving route is formed by connecting a plurality of planting target small areas in series with straight line segments.

7. The control method of the desert tree-planting robot according to claim 5, characterized in that the environmental data includes the temperature, humidity and wind speed of the tree-planting area. When the temperature, humidity and wind speed exceed the set range values, the robot stops the tree-planting task and sends an alarm message.

8. The control method of the desert tree-planting robot according to claim 5, characterized in that the moving task includes monitoring obstacles on the moving route and correcting the moving route to avoid obstacles.

9. The control system of the desert tree-planting robot according to claim 1, characterized in that: It includes a GPS module, a control module, a monitoring module, a network communication module and a control terminal; The network communication module is communicatively connected to the control module and the control terminal for transmitting data information and work instructions; The control module includes a main controller, a walking controller and a tree-planting controller that are mutually coupled; Among them, the main controller is respectively coupled to the GPS module and the monitoring module. The main controller is configured to receive the map information of the area near the position where the GPS module is located, receive the environmental data and the remaining quantity information of the materials collected by the monitoring module, and send the information it receives to the control terminal; the walking controller is used to be coupled to the moving mechanism of the robot, and the walking controller is configured to receive the moving route information formulated by the control terminal and receive the moving route correction information from the main controller in real time; the tree-planting controller is used to be coupled to the seedling mechanism of the robot, and the tree-planting controller is configured to control the seedling mechanism of the robot to execute the actions of flushing water and clamping and releasing saplings when the GPS module is located in the planting target small area.

10. The control system of the desert tree-planting robot according to claim 9, characterized in that the monitoring module includes a temperature and humidity sensor for detecting the environmental temperature and humidity, a wind speed sensor for detecting the environmental wind speed, a water level sensor for detecting the water level in the water tank of the robot, a laser range finder for detecting the distance between the obstacle and the robot, a single-axis angle sensor for detecting the pose of the robot, and a camera for observing the scene.

11. The control system of the desert tree-planting robot according to claim 9, characterized in that It further includes a power supply module and a Hall detection module. The power supply module is respectively coupled to the control module, the moving mechanism of the robot and the seedling mechanism of the robot, and the Hall detection module is coupled to the control module.

12. According to the control system of the desert tree-planting robot according to claim 9, characterized in that The control terminal is configured to present environmental information, material information, and the position information of the robot to the user, and the user operates to send a movement instruction and a seedling operation instruction to the control module.

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