Soil cultivation mechanism and algorithm identification of integrated planting and irrigation machine

Abstract

The present invention relates to the technical field of agricultural planting equipment, and in particular to a soil-building mechanism and algorithm recognition of a planting and irrigation all-in-one machine. The soil-building mechanism comprises: a horizontal positioning and moving mechanism, a rotating mechanism, and an identification and bulldozing mechanism; the horizontal positioning and moving mechanism is installed on the chassis of the planting and irrigation all-in-one machine, and is used to move the soil-building mechanism in the horizontal direction; the rotating mechanism is connected to the horizontal positioning and moving mechanism, and is used to drive the soil-building mechanism to rotate and move; the identification and bulldozing mechanism is installed on the rotating mechanism, and is used to collect image information and perform soil-building operations based on the image information. The present invention can achieve a high-precision, high-efficiency, and low-power soil-building effect for a single plant, and can greatly reduce labor costs and avoid losses caused by improper human handling, effectively improve the survival rate of plants, improve economic benefits, and promote energy conservation and emission reduction.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural planting equipment, and in particular to a soil-cultivating mechanism and algorithm recognition of an all-in-one planting and irrigation machine. Background Art

[0002] With the modernization of agriculture, labor costs are constantly increasing, and agricultural work has been mainly converted to mechanized work. In my country, most of the cutting planting methods are done manually with a shovel to compact and add soil. This method is time-consuming and labor-intensive, with high labor costs. In addition, manual soiling can easily lead to insufficient soil compaction and adding soil, resulting in unsatisfactory soil compaction and adding soil effects. Another method is to use a crane to compact and add soil, but the energy consumption is too high, and a lot of spaces that do not need to be compacted are also compacted, resulting in a waste of resources and the inability to achieve precise soil compaction and adding soil for individual seedlings. In addition, a soil-raising machine can achieve operational farming and is fast, but it is only suitable for plains, not for uneven environments such as hills. It is not suitable for the cultivation of single seedlings and cannot achieve a compacting effect. Summary of the Invention

[0003] The purpose of the present invention is to provide a soil-building mechanism and algorithm identification for a planting and irrigation all-in-one machine, which can solve the problem of low labor efficiency in the process of soil compaction and soil building for plants. Traditional crane soil compaction and soil building machines are only suitable for plains, not for uneven environments such as hills, and are not suitable for the cultivation of single plants. They cannot achieve the soil compaction effect, resulting in a waste of resources and cannot achieve the problem of accurate soil compaction and soil building for single plants.

[0004] The first aspect of the present invention provides a soil-raising mechanism for an all-in-one planting and irrigation machine, comprising: a horizontal positioning and moving mechanism, a rotating mechanism, and an identification and pushing mechanism; the horizontal positioning and moving mechanism is installed on the chassis of the all-in-one planting and irrigation machine, and is used to move the soil-raising mechanism in the horizontal direction; the rotating mechanism is connected to the horizontal positioning and moving mechanism, and is used to drive the soil-raising mechanism to rotate and move; the identification and pushing mechanism is installed on the rotating mechanism, and is used to collect image information and perform soil-raising operations based on the image information.

[0005] Preferably, the horizontal positioning movement mechanism includes: a screw slide; the screw slide is installed on the chassis of the integrated planting and irrigation machine; the screw slide is controlled by a stepping motor.

[0006] Preferably, the rotating mechanism includes: a motor and a fixed disk; the motor is mounted on a screw slide; and the rotating shaft of the motor is connected to the fixed disk.

[0007] Preferably, a motor protection shell is provided on the outside of the motor.

[0008] Preferably, the bulldozer identification mechanism includes: an infrared camera and four bulldozer structures; the infrared camera is installed at the bottom of the fixed plate; and the four bulldozer structures are symmetrically connected around the fixed plate.

[0009] Preferably, the bulldozer mechanism includes: a connecting body, a connecting rod, a first servo, a second servo, a third servo, a protective shell, a rack, a gear, a first pressure sensor, a second pressure sensor, and a push plate; the first end of the connecting body is fixed to the bottom of the fixed plate, and the second end of the connecting body is fixed with the first servo; the first servo is connected to the first end of the connecting rod for driving the connecting rod to rotate; the second end of the connecting rod is fixed with the second servo, and the second servo is connected to the protective shell for driving the protective shell to rotate; the third servo is installed above the protective shell, the third servo is connected to the gear, the gear is meshed with the rack, and the rack and gear are located in the middle of the protective shell; the third servo is used to drive the gear to rotate, thereby making the rack move back and forth; the push plate is fixedly connected to the rack; the first pressure sensor is located on the side of the protective shell; the second pressure sensor is located on the inclined surface of the push plate.

[0010] Preferably, the first servo is fixed to the connector by screws; the second servo is fixed to the connecting rod by screws; the third servo is fixed to the protective housing by screws; and the push plate is connected to the rack by threads.

[0011] Preferably, a boss groove is provided in the protective shell, and the rack is located in the boss groove; the gear is installed in the protective shell through a gear shaft, and the gear shaft is connected to the third steering gear.

[0012] Preferably, an identification camera is installed on the aluminum frame on the upper front of the integrated planting and irrigation machine.

[0013] The second aspect of the present invention provides an algorithm for identifying the soil-building mechanism of the integrated planting and irrigation machine, which is characterized in that, in the process of the integrated planting and irrigation machine moving forward, the position of the target plant is obtained by using a YOLOv5 deep learning neural network algorithm, and the horizontal positioning moving mechanism and the rotating mechanism are used for adjustment according to the position of the target plant, and the soil-building operation is completed by identifying the bulldozer mechanism.

[0014] Preferably, the algorithm identification comprises the following steps:

[0015] S1. Utilizing deep convolutional neural networks in deep learning and sharing convolutional features using a region proposal algorithm, a deep model for grape seedling recognition and localization is trained using the collected dataset to achieve near-real-time target detection. Specifically, high-definition images of grape seedlings in various poses are continuously collected as the dataset for the deep model for recognition and localization. These datasets are manually annotated to form a labeled sample set for model training, with a training set to validation set ratio of 8:2. Using the region proposal algorithm and the VGGNet model, a deep model for grape seedling recognition and localization with a high recognition rate is trained.

[0016] S2. Deploy the trained deep learning model for grape seedling identification and positioning into the operating system of an industrial computer. Specifically, the industrial computer uses a Linux-based operating system, and the hardware equipment meets the configuration requirements of at least the YOLOv5s deep learning model. At the same time, a machine vision-related interactive platform is installed in the operating system, and the deep learning model for grape seedling identification and positioning is then encapsulated into the interactive platform.

[0017] S3. The recognition camera located at the front and top of the planting and irrigation machine captures the front image and transmits it to the industrial control computer. The grape seedling deep learning model is used for recognition. When the recognition confidence level is greater than 0.8, the XZ plane coordinates of the grape seedling are obtained. The coordinate information is used to control the movement mechanism to move to the coordinates until the working distance is met. During this movement process, multiple recognitions are performed to achieve a basically stable recognition confidence level of 0.9 or above, which effectively ensures the accurate recognition of the grape seedlings.

[0018] S4. After the above working distance is met, the X-axis coordinate of the bottom end of the grape seedling is obtained using the above identification and positioning algorithm;

[0019] S5. The industrial computer uses the above X-axis coordinates to drive the stepper motor to drive the screw slide to adjust the horizontal position.

[0020] Beneficial effects:

[0021] The soiling mechanism of the integrated planting and irrigation machine of the present invention realizes the horizontal movement of the soiling mechanism through the horizontal positioning moving mechanism installed on the chassis of the integrated planting and irrigation machine; the soiling mechanism is driven to rotate and move by the rotating mechanism; the image information is collected by identifying the pusher mechanism, and soiling operations are performed according to the image information, thereby achieving high-precision, high-efficiency, and low-power consumption soil compaction effects for single plants, and can greatly reduce labor costs, avoid losses caused by improper human handling, effectively improve the survival rate of plants, improve economic benefits, and promote energy conservation and emission reduction; in addition, the algorithm recognition of the soiling mechanism can solve problems such as the difficulty of target detection algorithms in detecting small targets, and the machine vision recognition confidence is stable at above 0.9, which can effectively ensure the system operation accuracy and realize high-precision soiling operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a structural diagram of the integrated planting and irrigation machine provided by the present invention;

[0024] Figure 2 A schematic structural diagram of the soil-cultivating mechanism of the integrated planting and irrigation machine provided by the present invention;

[0025] Figure 3 It is a schematic structural diagram of the bulldozer mechanism of the present invention;

[0026] Figure 4 A schematic diagram of the gear and rack structure provided by the present invention;

[0027] Figure 5 This is a flowchart of the algorithm identification of the soil-cultivating mechanism of the integrated planting and irrigation machine provided by the present invention.

[0028] Explanation of the accompanying reference numerals: 1-1, identification camera; 2-1, screw slide; 3-1, motor protective shell; 4, soil-raising mechanism; 4-1, motor; 4-2, infrared camera; 4-3, first servo; 4-4, connecting rod; 4-5, second servo; 4-6, protective shell; 4-7, rack; 4-8, third servo; 4-9, gear; 4-10, first pressure sensor; 4-11, push plate; 4-12, second pressure sensor; 4-13, connector; 4-14, gear shaft; 4-15, boss groove; 4-16, fixed plate. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a communication between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0032] Example 1

[0033] like Figures 1 to 4 As shown, this embodiment provides a soil-building mechanism for the integrated planting and irrigation machine, including: a horizontal positioning and moving mechanism, a rotating mechanism, and an identification and pushing mechanism; the horizontal positioning and moving mechanism is installed on the chassis of the integrated planting and irrigation machine, and is used to move the soil-building mechanism in the horizontal direction; the rotating mechanism is connected to the horizontal positioning and moving mechanism, and is used to drive the soil-building mechanism to rotate and move; the identification and pushing mechanism is installed on the rotating mechanism, and is used to collect image information and perform soil-building operations based on the image information, thereby achieving a high-precision, high-efficiency, and low-power consumption soil-building effect for a single plant, and can greatly reduce labor costs, avoid losses caused by improper handling by people, etc., effectively improve the survival rate of plants, improve economic benefits, and promote energy conservation and emission reduction.

[0034] Specifically, the integrated planting and irrigation machine in the present invention can be various models available on the market, such as: a grape field water-gas-fluid intelligent planting and irrigation integrated machine; the plants in the present invention can be various cultivated plants, such as: grape seedlings. The soil-building mechanism based on the intelligent planting and irrigation integrated machine for grape fields can greatly improve the soil compaction and building efficiency of grape seedlings, achieve high-precision operations, avoid the waste of resources by some soil-building machines, and help save energy and reduce emissions.

[0035] In this embodiment, the horizontal positioning mechanism includes a screw slide 2-1 mounted on the chassis of the integrated planter and irrigation machine and controlled by a stepper motor. The left and right sliding motion of the screw slide 2-1 allows precise positioning of plants, enabling highly accurate soiling of individual plants.

[0036] In this embodiment, the rotating mechanism includes: a motor 4-1 and a fixed disk 4-16; the motor 4-1 is installed on the screw slide 2-1; and the rotating shaft of the motor 4-1 is connected to the fixed disk 4-16.

[0037] In this embodiment, a motor protection shell 3-1 is provided on the outside of the motor 4-1, which can prevent sand and the like from splashing onto the rotating shaft while realizing rotation, thereby avoiding damage to the motor 4-1 and extending the service life of the device.

[0038] In this embodiment, the bulldozer identification mechanism includes: an infrared camera 4-2 and four bulldozer structures; the infrared camera 4-2 is installed at the bottom of the fixed plate 4-16; the four bulldozer structures are symmetrically connected around the fixed plate 4-16, and the bulldozer identification mechanism as a whole imitates the bacteriophage mechanism, ensuring the stability of the device operation.

[0039] In this embodiment, the bulldozer mechanism includes: a connecting body 4-13, a connecting rod 4-4, a first steering gear 4-3, a second steering gear 4-5, a third steering gear 4-8, a protective shell 4-6, a rack 4-7, a gear 4-9, a first pressure sensor 4-10, a second pressure sensor 4-12, and a push plate 4-11; the first end of the connecting body 4-13 is fixed to the bottom of the fixed plate 4-16, and the second end of the connecting body 4-13 is fixed with the first steering gear 4-3; the first steering gear 4-3 is connected to the first end of the connecting rod 4-4, so as to drive the connecting rod 4-4 to rotate; the second end of the connecting rod 4-4 is fixed with the second steering gear 4-5, The second servo 4-5 is connected to the protective housing 4-6 and is used to drive the protective housing 4-6 to rotate. The third servo 4-8 is installed above the protective housing 4-6 and is connected to the gear 4-9. The gear 4-9 meshes with the rack 4-7. The rack 4-7 and gear 4-9 are located in the middle of the protective housing 4-6. The third servo 4-8 is used to drive the gear 4-9 to rotate, thereby causing the rack 4-7 to reciprocate. The push plate 4-11 is fixedly connected to the rack 4-7. The first pressure sensor 4-10 is located on the side of the protective housing 4-6. The second pressure sensor 4-12 is located on the inclined surface of the push plate 4-11. The addition of pressure sensors to the protective housing 4-6 and push plate 4-11 ensures accurate soil filling while preventing damage to the mechanism due to terrain. Among them, the first pressure sensor 4-10 is used to stop the operation urgently when the pressure generated by the rotation of the device under the drive of the motor 4-1 exceeds the set value to reduce the loss to the device; the function of the second pressure sensor 4-12 is to drive the gear 4-9 to move under the drive of the third servo 4-8, thereby realizing the forward movement of the rack 4-7. When the pressure reaches the set value, the third servo 4-8 stops rotating to complete the soiling operation. Finally, each servo is reset to proceed to the next operation.

[0040] Infrared camera 4-2 detects and locates the ground, providing feedback on the grape seedling's location and distance. This in turn causes the screw slide 2-1 to move left and right to align with the grape seedling's position. The first servo 4-3 drives the connecting rod 4-4, allowing the grape seedling to approach the grape seedling and determine whether it has reached the desired position. The second servo 4-5 adjusts the tilt angle of the lower protective housing 4-6 based on conditions such as ground levelness, allowing the mechanism to adapt to various terrains. Based on the data provided by infrared camera 4-2, the third servo 4-8 rotates gear 4-9, which in turn drives rack 4-7 back and forth, moving the push plate 4-11 forward until the second pressure sensor 4-12 reaches its set value, at which point the third servo 4-8 stops. The motor 4-1 rotates the mechanism. If the first pressure sensor 4-10 exceeds its set value, the mechanism will initiate a safety emergency stop to prevent damage. These four components operate simultaneously to complete the soiling operation for a single plant. After the soiling operation for a single plant is completed, the third servo 4-8 is reset, and the rack 4-7 returns to its original position. The first servo 4-3 is reset, driving the connecting rod 4-4 to move, and the four bulldozers retract upward to avoid interfering with the movement of the integrated planter and irrigation machine. The next single plant soiling operation is then carried out, and the above operation is repeated.

[0041] In this embodiment, the connecting body 4-13 is connected to the connecting rod 4-4 by bolts, the first servo 4-3 is fixed to the connecting body 4-13 by screws; the second servo 4-5 is fixed to the connecting rod 4-4 by screws, the third servo 4-8 is fixed to the protective shell 4-6 by screws, and the push plate 4-11 is connected to the rack 4-7 by threads.

[0042] In this embodiment, a boss groove 4-15 is provided in the protective shell 4-6, and the rack 4-7 is located in the boss groove 4-15, and the rack 4-7 is fixed in position by the boss groove 4-15; the gear 4-9 is installed in the protective shell 4-6 through the gear shaft 4-14, and the gear shaft 4-14 is connected to the third servo 4-8, and the gear 4-9 and the gear shaft 4-14 are integrated through the wheel axle to achieve position fixation.

[0043] In this embodiment, a recognition camera 1-1 is mounted on the aluminum frame at the front of the integrated planter-irrigator. When the recognition camera 1-1 uses an algorithm to identify the grape seedlings to be soiled, the integrated planter-irrigator moves toward the target location. Once the location is reached, the infrared camera 4-2 provides feedback on the grape seedlings' real-time location and distance.

[0044] Example 2

[0045] like Figure 5As shown, this embodiment provides an algorithm for identifying the soiling mechanism of an integrated planting and irrigation machine. As the machine moves forward, it uses a YOLOv5 deep learning neural network algorithm to determine the location of the target plant. Adjustments are made based on the horizontal positioning mechanism and the rotation mechanism, and the soiling operation is completed by identifying the pusher mechanism. This algorithmic identification of the soiling mechanism can address issues such as the difficulty of target detection algorithms in detecting small targets. The machine vision recognition confidence level remains stable at above 0.9, effectively ensuring system operation accuracy and enabling highly precise soiling operations.

[0046] In this embodiment, algorithm identification includes the following steps:

[0047] S1. Utilizing deep convolutional neural networks in deep learning, and sharing convolutional features based on a region proposal algorithm, a deep model for identifying and localizing plants (e.g., grape seedlings) is trained using a collected dataset to achieve near-real-time target detection. Specifically, high-definition images of plants in various poses are continuously collected as the dataset for the deep model for identifying and localizing plants. These datasets are manually annotated to form a labeled sample set for model training, with a training set to validation set ratio of 8:2. Using the region proposal algorithm and the VGGNet model, a deep model for identifying and localizing plants with a high recognition rate is trained.

[0048] S2. Deploy the trained deep learning model for plant identification and positioning into the operating system of an industrial computer. Specifically, the industrial computer uses a Linux-based operating system, and the hardware equipment meets the configuration that allows at least the YOLOv5s deep learning model. At the same time, a machine vision-related interactive platform is installed in the operating system, and the deep learning model for plant identification and positioning is then encapsulated into the interactive platform.

[0049] S3. The recognition camera 1-1 located at the front upper part of the integrated planting and irrigation machine captures the front image and transmits it to the above-mentioned industrial control computer. The above-mentioned plant deep learning model is used for recognition. When the recognition confidence is greater than 0.8, the XZ plane coordinates of the plant are obtained. The coordinate information is used to control the moving mechanism to move to the coordinate until the working distance is met. During the above movement process, multiple recognitions will be performed to achieve a basically stable recognition confidence of 0.9 or above, which can effectively ensure the accurate operation of plant recognition.

[0050] S4. After the above working distance is met, the X-axis coordinate of the bottom of the plant is obtained using the above identification and positioning algorithm;

[0051] S5. The industrial computer uses the above X-axis coordinates to enable the stepper motor to drive the screw slide 2-1 to adjust the horizontal position.

[0052] In summary, the working process of the present invention is as follows:

[0053] (1) As the planting and irrigation machine moves forward, the camera collects image information of the grape seedlings and then uses the YOLOv5 deep neural network target detection algorithm framework of (CSPD) darknet to determine and extract the position and health information features of the branches, leaves, etc. of the plants in the image, thereby obtaining relevant position information and health information. While loading data, the data loader will use local algorithms such as Grid Mask, Hide and Seek, and mosaic enhancement to enhance the data. This solves the problem that some target detection algorithms have difficulty detecting small targets. The recognition confidence is basically stable at above 0.9, which can effectively ensure the accurate operation of identifying grape seedlings;

[0054] (2) After the grape seedlings are identified, the stepper motor drives the screw slide 2-1 to adjust the horizontal position;

[0055] (3) After the horizontal position is adjusted, the servo starts working. The sensor reads the real-time distance between the push plate 4-11 and the location of the grape seedlings, and the pusher mechanism is brought close to the ground. The pressure sensor returns pressure data to see if the load threshold is reached. If it is within the threshold range, the pusher is started, and the soil is successfully pushed together to form a hillock. If it exceeds the threshold range, the pusher is reset and re-identified.

[0056] (4) After the soiling operation for each plant is completed, the planting and irrigation machine moves forward.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The soil-raising mechanism of the integrated planting and irrigation machine is characterized by: include: Horizontal positioning movement mechanism, rotation mechanism, identification and bulldozing mechanism; The horizontal positioning and moving mechanism is installed on the chassis of the integrated planting and irrigation machine, and is used to move the soil-raising mechanism in the horizontal direction; the rotating mechanism is connected to the horizontal positioning and moving mechanism, and is used to drive the soil-raising mechanism to rotate and move; The identification and bulldozing mechanism is installed on the rotating mechanism and is used to collect image information and perform soil-building operations based on the image information; The horizontal positioning movement mechanism includes: a screw slide; The screw slide is installed on the chassis of the integrated planting and irrigation machine; The screw slide is controlled by a stepper motor; The rotating mechanism includes: a motor and a fixed disk; The motor is mounted on a screw slide; The rotating shaft of the motor is connected to the fixed disk; The bulldozer identification mechanism includes: an infrared camera and four bulldozer structures; The infrared camera is installed at the bottom of the fixed plate; The four bulldozer structures are symmetrically connected around the fixed plate; The bulldozer mechanism includes: a connecting body, a connecting rod, a first steering gear, a second steering gear, a third steering gear, a protective housing, a rack, a gear, a first pressure sensor, a second pressure sensor, and a push plate; The first end of the connector is fixed to the bottom of the fixed plate, and the second end of the connector is fixed with a first steering gear; the first steering gear is connected to the first end of the connecting rod, and is used to drive the connecting rod to rotate; A second steering gear is fixed to the second end of the connecting rod, and the second steering gear is connected to the protective housing and is used to drive the protective housing to rotate; The third servo is installed above the protective housing. The third servo is connected to a gear, which is engaged with a rack. The rack and gear are located in the middle of the protective housing. The third servo is used to drive the gear to rotate, thereby causing the rack to reciprocate. The push plate is fixedly connected to the rack. The first pressure sensor is located on the side of the protective housing; the second pressure sensor is located on the inclined surface of the push plate.

2. The soil-cultivating mechanism of the integrated planting and irrigation machine according to claim 1, characterized in that: A motor protection shell is arranged on the outside of the motor.

3. The soil-cultivating mechanism of the integrated planting and irrigation machine according to claim 1, characterized in that: A boss groove is provided in the protective shell, and the rack is located in the boss groove; The gear is installed in the protective housing through a gear shaft, and the gear shaft is connected to the third steering gear.

4. The soil-cultivating mechanism of the integrated planting and irrigation machine according to claim 1, characterized in that: An identification camera is installed on the aluminum frame on the upper front of the integrated planting and irrigation machine.

5. The algorithm identification method for the soil-cultivating mechanism of the integrated planting and irrigation machine according to claim 1, characterized in that: As the integrated planting and irrigation machine moves forward, the location of the target plant is obtained through the YOLOv5 deep learning neural network algorithm, and the horizontal positioning moving mechanism and rotating mechanism are used to adjust according to the location of the target plant. The soil-raising operation is completed by identifying the bulldozer mechanism.

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