A seaweed seed rope laying and sowing robot and sowing method

Abstract

This invention discloses a seagrass seed rope laying and sowing robot and method, relating to the field of marine ecological restoration technology. It includes a mounting platform, a seed rope laying structure, and a hydraulic transmission structure, both integrated on the mounting platform. The mounting platform also integrates a frame, a bottom-feeding walking mechanism, a power supply and control mechanism, underwater illumination, cameras, and sensors. In this invention, seagrass seeds are pre-treated and wrapped in yarn to form seed ropes, which serve as the sowing medium. The laying structure, with its rhomboid external shape and internal seed rope conduit, along with a special laying tube, hydraulic transmission, spring structure, sliding plate structure, and counterweight structure, automatically lays the seed ropes as the mounting platform moves. Simultaneously, the laying depth is controlled. The seagrass seed sowing device and method disclosed in this invention are simple and reliable, enabling large-scale automated mechanical operations. Accurate sowing depth control significantly improves the germination rate of seagrass seeds.

Description

Technical Field

[0001] This invention belongs to the field of marine ecological restoration technology, and more specifically, relates to a seeding device and method suitable for the ecological restoration of seagrass beds. Background Technology

[0002] Seed method, transplantation method and habitat restoration method are the main methods of seagrass bed restoration. Among them, the biggest bottleneck of seed method and transplantation method is the lack of automated operation equipment. Most of them rely on manual operation, which is subject to many restrictions, low operation efficiency, high operation cost, low seedling rate and cannot carry out large-scale seagrass bed ecological protection and restoration construction operations.

[0003] In addition, in the seed method, the conventional methods of carrying seagrass seeds at sea include mud pellets, mud boxes, net bags, or direct manual sowing. The carrying methods are affected by the special scenarios of sea operations. Mud pellets and mud boxes are easy to turn into powder and mud, and the carrying capacity is limited. Net bags are complicated to prefabricate and it is not easy to carry them by machinery. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a seaweed seed rope laying and sowing robot and sowing method, which uses seed rope as a carrier for seaweed seed sowing. It has a simple structure, is convenient for sowing, has a large carrying capacity, and a high germination rate.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A seaweed seed rope laying and sowing robot includes a mounting platform, a seed rope laying structure, and a hydraulic transmission structure. The seed rope laying structure and the hydraulic transmission structure are both integrated on the mounting platform. The mounting platform also integrates a frame, a bottom-following walking mechanism, a power supply and control mechanism, underwater illumination, cameras, and sensors.

[0007] Preferably, the seed rope laying structure includes a seed rope, a seed rope reel, a first pay-off roller, a second pay-off roller, a sliding plate, a pay-off tube, and a tying structure; the seed rope is wound onto the seed rope reel during the prefabrication stage, and the seed rope reel is mounted on a reel seat fixed to the front of the mounting platform; the first pay-off roller is located horizontally in front of the seed rope reel, and the shaft seat of the first pay-off roller is rigidly connected to the reel seat of the seed rope reel through a cantilever structure; the first pay-off roller has a built-in drive motor and a roughened surface design to increase the friction on the seed rope, achieving active pay-off; the second pay-off roller is located below and behind the first pay-off roller, the first... The angle between the center line of the first and second feed rollers and the center line of the seed rope reel and the first feed roller is an acute angle greater than or equal to 45°. The bearing of the second feed roller is fixed on the slide plate. A hole is made on the body of the slide plate directly below the second feed roller, through which the seed rope passes. A feed tube is welded to the bottom surface of the slide plate at the hole. The rivet structure is fixed to the frame structure of the aforementioned mounting platform, and the center line of the rivet in the feed direction is parallel to the horizontal center line of the seed rope guide tube inside the feed tube on the same vertical plane. The slide plate is connected to the front frame of the mounting platform through a hydraulic transmission structure.

[0008] Preferably, the outer structure of the feeding tube is similar to a rhombus prism in the feeding direction, and the cross-section perpendicular to the feeding direction is designed as a rhombus-like structure. The two sides below the rhombus prism have a small included angle, forming two blade-like cut surfaces. The two sides above the rhombus prism are not closed, forming a narrow plane between them. The upper edges of the two sides are welded to the bottom surface of the slide plate before and after the opening of the slide plate. The seed rope guide is built into the middle of the narrow plane formed above the rhombus prism and at the position tangent to the two rhombus sides. The seed rope guide starts from the plane formed between the sides above the rhombus prism and ends at the rhombus cross-section at the tail. It contains a bend greater than 90 degrees to guide the seed rope sent from the oblique upper direction to the horizontal direction. The inner diameter of the seed rope guide is about 16-18mm. The height difference between the horizontal center line of the seed rope guide and the bottom surface of the slide plate is designed as the sowing depth of seaweed seeds, i.e., 1-3cm.

[0009] Preferably, the rope laying structure also includes an obstacle avoidance structure and a counterweight structure; the obstacle avoidance structure is welded to the front end of the slide plate and is used to push away debris in the direction of movement during the robot's walking; the counterweight structure is fixedly connected to the upper surface of the slide plate, with the purpose of achieving the bottom pressure of the slide plate under different seabed conditions.

[0010] Preferably, the obstacle avoidance structure is an upward-curving, outward-protruding roof-like shape. The counterweight structure can achieve counterweight by filling and defilling a water tank, or by adding or removing standard metal counterweight blocks, or by inflating and deflating an airbag.

[0011] Preferably, the hydraulic transmission structure includes a hydraulic rod, a spring, a first connecting rod, a second connecting rod, and a third connecting rod. The hydraulic rod is hydraulically driven, with its upper end fixed to the horizontal frame at the upper front of the aforementioned mounting platform, and its lower end rigidly connected to the upper end of the spring. The lower end of the spring is rigidly connected to the middle position of the first connecting rod. The first connecting rod is horizontally welded to the upper surface of the aforementioned slide plate, with its middle position rigidly connected to the lower end of the spring. Two second connecting rods and two third connecting rods are symmetrically designed at both ends. One end of each of the two second connecting rods is hinged to the endpoint of the first connecting rod, and the other end is fixedly connected to the vertical frame at the front of the aforementioned mounting platform. One end of each of the two third connecting rods is also hinged to the endpoint of the first connecting rod, and the other end is respectively engaged in the vertical groove on the vertical frame at the front of the aforementioned mounting platform, and can slide up and down within the vertical groove. The angle between the centerline of the hydraulic rod and the spring and the horizontal plane of the slide plate is 45°-60°.

[0012] The method for laying and sowing seaweed seeds using a seaweed seed rope laying and sowing robot includes the following steps:

[0013] The first step is to pre-make seaweed seed ropes: wrap the moist seaweed seeds with organic mud to form small mud balls with a short diameter of 3mm and a long diameter of 5mm. Prepare a gauze strip with a width of 16-18mm and a thin cotton thread. Use a seed rope pre-making machine to wrap the pre-made mud balls inside the gauze strip to make seaweed seed ropes with a diameter of 6-8mm. Then, wind the seaweed seed ropes onto a spool to make a seed rope spool. Soak the seaweed seed rope spools in seawater for later use.

[0014] The second step is pre-sowing preparation: First, install the seaweed seed rope reel on the reel seat at the front of the upper part of the aforementioned platform. Manually pull the head of the seaweed seed rope to pass the seed rope around the first and second pay-off rollers, and through the opening on the slide plate. Then, use a special tool, the seed rope hook, to bring the seed rope in and through the seed rope guide tube inside the pay-off tube. Continue to pull the seaweed seed rope so that it passes directly below the tack structure 12, leaving a length of not less than 300mm. The head of the seed rope is glued to the bottom frame of the platform 1 with glutinous rice glue. Then, according to the geological conditions of the working area that day, such as silty seabed, muddy seabed, or sandy seabed, adjust the counterweight of the counterweight structure 11 so that the slide plate 8 has appropriate bottom pressure during operation.

[0015] The third step is the sea-based seeding operation: After the platform 1 arrives at the work area, the hydraulic rod 13 is driven to lower the slide plate 8, and the hydraulic rod 13 is continued to be driven so that the diamond-shaped seeding tube 9 under the slide plate 8 cuts into the seabed. At the same time, the nailing structure 12 is driven to insert nails into the seabed, burying one end of the seaweed seeding rope into the seabed. Then, the hydraulic rod 13 is slightly retracted, so that while the hydraulic rod 13 provides a pressing driving force for the slide plate 8, it also provides some spring allowance for floating up and down. The slide plate 8 is also pressed tightly against the seabed surface under the combined action of the counterweight and the hydraulic driving force. Then, the walking mechanism of the platform 1 is driven to start the seeding movement, and the first seeding roller 6 is driven to start the active release of the seeding rope. As the platform 1 moves forward, the slide plate 8 also moves forward pressed tightly against the seabed surface under the action of the hydraulic transmission mechanism 3. The laying pipe 9 in the seabed also moves forward. The seed rope inside the laying pipe 9 has its head fixed in the seabed. With the first laying roller 6 continuously feeding the seed rope, the seed rope is laid in the seabed as the laying pipe 9 moves. Due to the diamond-shaped cross-section design of the laying pipe 9 and the compaction effect of the sliding plate 8, the seed rope is also laid, buried and compacted in the seabed in the area traversed by the sliding plate 8. The laying depth is exactly 1-3 cm, which is the height difference between the horizontal center line of the laying pipe 9 and the bottom surface of the sliding plate 8. When the seabed surface rises or falls, the sliding plate 8 rises or falls along with it, and the rise and fall amplitude is buffered and absorbed by the spring 14. Since the height difference between the horizontal center line of the laying pipe 9 and the sliding plate 8 remains constant, the laying depth of the seed rope always remains constant. When the work in one area is completed, the seed rope is cut manually and the hydraulic rod 13 is retracted to end the laying and sowing operation.

[0016] The beneficial effects of adopting the above technical solution are as follows:

[0017] 1. Using gauze to wrap seaweed seeds to form seaweed seed ropes as a protective and carrying medium for seaweed seed sowing is a first-time innovation in seaweed bed ecological restoration. It has the characteristics of convenient sowing, large carrying capacity, and seaweed seeds not easily lost.

[0018] 2. In this invention, the cross-section of the laying pipe of the offshore operation machinery adopts a rhomboid structure. The two inclined surfaces at the bottom of the rhombus have a small included angle, forming a sharp edge, which is convenient for cutting into the seabed. The two inclined surfaces at the top contract but do not close, forming a narrow surface that is easy to bury. The laying pipe is fixed under the sliding plate. Under the action of the sliding plate, the laying process of the seed rope can achieve laying, burying and compaction without additional components such as trenching plow, soil raking structure and compaction structure.

[0019] 3. The invention features a sliding plate structure and adjusts the bottom pressure of the sliding plate using counterweights, making it highly adaptable to different seabed geological conditions such as silt, mud-sand mixtures, or sand.

[0020] 4. In this invention, a spring is designed between the hydraulic rod and the sliding plate, and the laying pipe is welded to the bottom of the sliding plate. When the seabed surface rises or falls, the sliding plate rises or falls along with it, closely following the seabed surface. The rise and fall amplitude is buffered and absorbed by the spring. Since the height difference between the horizontal laying center line of the laying pipe and the sliding plate is fixed, the laying depth of the seed rope remains constant. This allows the key element in the sowing process, namely the sowing depth, to be controlled. It is simple and reliable and helps to greatly improve the germination rate of seagrass seeds. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the seeding robot;

[0022] Figure 2 This is a top-view structural diagram of the seeding robot;

[0023] Figure 3 yes Figure 2 View A in the middle;

[0024] Figure 4 yes Figure 2 View B in the middle;

[0025] Figure 5 This is a schematic diagram of the cable laying tube;

[0026] In the diagram: 1. Mounting platform; 2. Seeding rope laying structure; 3. Hydraulic transmission structure; 4. Seeding rope; 5. Seeding rope reel; 6. First pay-off roller; 7. Second pay-off roller; 8. Slide plate; 9. Pay-off tube; 10. Obstacle avoidance structure; 11. Counterweight structure; 12. Nail structure; 13. Hydraulic rod; 14. Spring; 15. First connecting rod; 16. Second connecting rod; 17. Third connecting rod. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0028] like Figure 1-4 As shown, the seaweed seed rope laying and sowing robot consists of three parts: a mounting platform 1, a seed rope laying structure 2, and a hydraulic transmission structure 3. The seed rope laying structure 2 and the hydraulic transmission structure 3 are both integrated on the mounting platform 1. The mounting platform 1 also integrates a frame, a bottom-following walking mechanism, a power supply and control mechanism, underwater illumination, cameras, and sensors (not shown).

[0029] The seed rope laying structure 2 includes a seed rope 4, a seed rope reel 5, a first pay-off roller 6, a second pay-off roller 7, a slide plate 8, a pay-off tube 9, and a tying structure 12. The seed rope 4 is wound onto the seed rope reel 5 during the prefabrication stage, and the seed rope reel 5 is mounted on a reel seat fixed to the front frame above the mounting platform 1. The first feed roller 6 is located horizontally in front of the seed rope reel 5. The bearing seat of the first feed roller 6 is rigidly connected to the reel seat of the seed rope reel 5 through a cantilever structure. The first feed roller 6 has a built-in drive motor and a rough surface design to increase the friction on the seed rope and achieve active feed. The second feed roller 7 is located below and behind the first feed roller 6. The angle between the center line of the first feed roller 6 and the center line of the seed rope reel 5 and the first feed roller 6 is an acute angle greater than or equal to 45°. The bearing seat of the second feed roller 7 is fixed on the slide plate 8. A hole is made on the body of the slide plate 8 directly below the second feed roller 7, through which the seed rope passes. A feed tube 9 is welded to the bottom surface of the slide plate 8 at the hole. The rivet structure 12 is fixed to the frame structure of the aforementioned platform 1. The center line of the rivet in the direction of line laying is parallel to the horizontal center line of the seed rope guide tube inside the line laying pipe 9 on the same vertical plane. The slide plate 8 is connected to the front frame of the platform 1 through the hydraulic transmission structure 3. When the seabed surface rises or falls, the slide plate 8 rises or falls along with it, and the rise and fall amplitude is buffered and absorbed by the spring 14.

[0030] The rivet structure 12 is mounted on the mounting platform 1 and includes a rivet frame, springs, a rivet feeding plate, bench nails, nail pressing legs, and a nail pressing drive mechanism. The rivet frame is welded to the mounting platform 1 and is an H-shaped structure with an external cantilever. Grooves are present in both the H-shaped columns and the sides of the cantilever. One end of the spring is welded to the outer side panel of the cantilever structure of the rivet frame, and the other end is welded to one end face of the rivet feeding plate. The other end face of the rivet feeding plate presses against one side of the bench nails, with multiple bench nails neatly arranged and both ends engaged in slots on the cantilever of the rivet frame. Under the combined action of the spring and the rivet feeding plate, the bench nails continuously move forward along the grooves in the cantilever and slide into the grooves of the columns on both sides of the H-shaped structure of the rivet frame. The pressure leg is a structure with two pressure legs, located between the two columns of the H-shaped structure and above the horizontal plane where the bench nail is located. Under the action of the drive mechanism, the pressure leg applies downward pressure to the bench nail that is moved downward, causing it to drive into the seabed and fix the seed rope in the groove opened in the laying pipe 9. The pressure driving mechanism can be a hydraulic mechanism or a mechanical mechanism such as a four-bar linkage or gears.

[0031] like Figure 5As shown, the external structure of the laying tube 9 resembles a rhombus prism in the laying direction. The cross-section perpendicular to the laying direction is designed as a rhombus-like structure. The two sides below the rhombus prism have a small included angle, forming two blade-like cut surfaces. The two sides above the rhombus prism are not closed, forming a narrow plane that is easy to bury. The upper edges of the two sides are welded to the bottom surface of the slide plate 8 before and after the opening. The seed rope conduit is built into the middle of the narrow plane formed above the rhombus prism and tangent to the two rhombus sides. The seed rope conduit starts from the plane formed between the sides above the rhombus prism and ends at the rhombus cross-section at the tail. It contains a bend greater than 90 degrees to guide the seed rope sent from the oblique upper direction to the horizontal direction. The inner diameter of the seed rope conduit is about 16-18mm. The height difference between the horizontal center line of the seed rope conduit and the bottom surface of the slide plate 8 is designed as the sowing depth of seaweed seeds, i.e., 1-3cm. Because the height difference between the horizontal centerline of the laying pipe 9 and the sliding plate 8 remains constant, the seed rope laying depth remains constant, thus controlling the key element of the sowing process—the sowing depth. This simple and reliable method helps to greatly improve the germination rate of seaweed seeds.

[0032] The rope laying structure 2 also includes an obstacle avoidance structure 10 and a counterweight structure 11. The obstacle avoidance structure 10 is an upward-curving, outward-protruding roof-shaped structure, welded to the front end of the slide plate 8, used to push away debris in the direction of travel during robot movement. The counterweight structure 11 can achieve counterweight by filling and defilling a water tank, adding or removing standard metal counterweight blocks, or inflating and deflating an airbag. The counterweight structure 11 is fixedly connected to the upper surface of the slide plate 8, aiming to achieve the same seabed pressure for the slide plate 8 under different seabed conditions.

[0033] The hydraulic transmission structure 3 includes a hydraulic rod 13, a spring 14, a first connecting rod 15, a second connecting rod 16, and a third connecting rod 17. The hydraulic rod 13 is hydraulically driven, with its upper end fixed to the horizontal frame at the upper front of the aforementioned mounting platform 1, and its lower end rigidly connected to the upper end of the spring 14. The lower end of the spring 14 is rigidly connected to the middle position of the first connecting rod 15. The first connecting rod 15 is horizontally welded to the upper surface of the aforementioned slide plate 8, with its middle position rigidly connected to the lower end of the spring 14. Two second connecting rods 16 and two third connecting rods 17 are symmetrically designed at both ends. One end of each of the two second connecting rods 16 is hinged to the end point of the first connecting rod 15, and the other end is fixedly connected to the vertical frame at the front of the aforementioned mounting platform 1. One end of each of the two third connecting rods 17 is also hinged to the end point of the first connecting rod 15, and the other end is respectively engaged in the vertical groove on the vertical frame at the front of the aforementioned mounting platform 1, and can slide up and down within the vertical groove. The angle between the center line of the hydraulic rod 13 and the spring 14 and the horizontal plane of the slide plate 8 is 45°-60°.

[0034] The method for laying and sowing seaweed seeds using a seaweed seed rope laying and sowing robot includes the following steps:

[0035] The first step is to pre-make seaweed seed ropes: wrap the moist seaweed seeds with organic mud to form small mud balls with a short diameter of 3mm and a long diameter of 5mm. Prepare a gauze strip with a width of 16-18mm and a thin cotton thread. Use a seed rope pre-making machine to wrap the pre-made mud balls inside the gauze strip to make seaweed seed ropes with a diameter of 6-8mm. Then, wind the seaweed seed ropes onto a spool to make a seed rope spool. Soak the seaweed seed rope spools in seawater for later use.

[0036] The second step is pre-sowing preparation: First, install the seaweed seed rope reel on the reel seat at the front of the upper part of the aforementioned platform 1. Manually pull the head of the seaweed seed rope to pass the seed rope around the first pay-off roller 6 and the second pay-off roller 7, and through the opening on the slide plate 8. Then, use a special tool, the seed rope hook, to bring the seed rope in and through the seed rope guide tube inside the pay-off pipe 9. Continue to pull the seaweed seed rope so that the seed rope passes directly below the nailing structure 12 and leaves a length of not less than 300mm. The head of the seed rope is glued to the bottom frame of the platform 1 with glutinous rice glue. Then, according to the geological conditions of the working area that day, such as silty seabed, muddy seabed, or sandy seabed, adjust the counterweight of the counterweight structure 11 so that the slide plate 8 has appropriate bottom pressure during the operation.

[0037] The third step is the sea-based seeding operation: After the platform 1 arrives at the work area, the hydraulic rod 13 is driven to lower the slide plate 8, and the hydraulic rod 13 is continued to be driven so that the diamond-shaped seeding tube 9 under the slide plate 8 cuts into the seabed. At the same time, the nailing structure 12 is driven to insert nails into the seabed, burying one end of the seaweed seeding rope into the seabed. Then, the hydraulic rod 13 is slightly retracted, so that while the hydraulic rod 13 provides a pressing driving force for the slide plate 8, it also provides some spring allowance for floating up and down. The slide plate 8 is also pressed tightly against the seabed surface under the combined action of the counterweight and the hydraulic driving force. Then, the walking mechanism of the platform 1 is driven to start the seeding movement, and the first seeding roller 6 is driven to start the active release of the seeding rope. As the platform 1 moves forward, the slide plate 8 also moves forward pressed tightly against the seabed surface under the action of the hydraulic transmission mechanism 3. The laying pipe 9 in the seabed also moves forward. The seed rope inside the laying pipe 9 has its head fixed in the seabed. With the first laying roller 6 continuously feeding the seed rope, the seed rope is laid in the seabed as the laying pipe 9 moves. Due to the diamond-shaped cross-section design of the laying pipe 9 and the compaction effect of the sliding plate 8, the seed rope is also laid, buried and compacted in the seabed in the area traversed by the sliding plate 8. The laying depth is exactly 1-3 cm, which is the height difference between the horizontal center line of the laying pipe 9 and the bottom surface of the sliding plate 8. When the seabed surface rises or falls, the sliding plate 8 rises or falls along with it, and the rise and fall amplitude is buffered and absorbed by the spring 14. Since the height difference between the horizontal center line of the laying pipe 9 and the sliding plate 8 remains constant, the laying depth of the seed rope always remains constant. When the work in one area is completed, the seed rope is cut manually and the hydraulic rod 13 is retracted to end the laying and sowing operation.

[0038] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A seaweed seed rope laying and sowing robot, characterized in that, It includes three parts: a mounting platform (1), a seed rope laying structure (2), and a hydraulic transmission structure (3). The seed rope laying structure (2) and the hydraulic transmission structure (3) are both integrated on the mounting platform (1). The mounting platform (1) also integrates a frame, a bottom-walking mechanism, a power supply and control mechanism, underwater exploration, cameras and sensors. The seed rope laying structure (2) includes a seed rope (4), a seed rope reel (5), a first pay-off roller (6), a second pay-off roller (7), a sliding plate (8), a pay-off tube (9), and a tack structure (12). The seed rope (4) is wound around the seed rope reel (5) during the prefabrication stage. The seed rope reel (5) is installed on a reel seat fixed on the frame above the front of the mounting platform (1). The first pay-off roller (6) is located horizontally in front of the seed rope reel (5). The shaft seat of the first pay-off roller (6) is rigidly connected to the reel seat of the seed rope reel (5) through a cantilever structure. The first pay-off roller (6) has a built-in drive motor and a rough surface design to increase the friction on the seed rope and achieve active pay-off. The second pay-off roller (7) is located below and behind the first pay-off roller (6). The first pay-off roller (6) and the second pay-off roller (7) are connected. The angle between the center line of the two rollers (7) and the center line of the seed rope reel (5) and the first feeding roller (6) is an acute angle greater than or equal to 45°. The bearing of the second feeding roller (7) is fixed on the slide plate (8). A hole is made on the body of the slide plate (8) and directly below the second feeding roller (7), through which the seed rope passes. The bottom surface of the slide plate (8) is welded with a feeding tube (9) at the hole. The nail structure (12) is fixed on the frame structure of the aforementioned mounting platform (1). The center line of the nail in the feeding direction is parallel to the horizontal center line of the seed rope guide tube inside the feeding tube (9) on the same vertical plane. The slide plate (8) is connected to the front frame of the mounting platform (1) through a hydraulic transmission structure (3). The height difference between the horizontal center line of the seed rope guide tube and the bottom surface of the slide plate is designed as the sowing depth of the seaweed seeds. The external structure of the wire-laying tube (9) is similar to a rhombus in the wire-laying direction. The cross-section perpendicular to the wire-laying direction is designed as a rhombus-like structure. The two sides below the rhombus have a small included angle, forming two blade-like cut surfaces. The two sides above the rhombus are not closed, forming a narrow plane between them. The upper edge of the two sides is welded to the bottom surface of the slide plate (8) before and after the opening of the slide plate (8). The seed rope guide is built into the middle of the narrow plane formed above the rhombus and the position tangent to the two rhombus sides. The seed rope guide starts from the plane formed between the sides above the rhombus and ends at the rhombus cross-section at the tail. It contains a bend greater than 90 degrees to guide the seed rope sent from the oblique upper direction to the horizontal direction.

2. The seaweed seed rope laying and sowing robot according to claim 1, characterized in that, The rope laying structure (2) also includes an obstacle avoidance structure (10) and a counterweight structure (11). The obstacle avoidance structure (10) is welded to the front end of the slide plate (8) and is used to push away debris in the forward direction during the robot's walking process. The counterweight structure (11) is fixedly connected to the upper surface of the slide plate (8) and is intended to adjust the bottom pressure of the slide plate (8) under different seabed conditions.

3. The seaweed seed rope laying and sowing robot according to claim 2, characterized in that, The obstacle avoidance structure (10) is an upturned, outward-protruding roof-shaped structure. The counterweight structure (11) achieves counterweight by filling and emptying water in a water tank, or by adding or removing standard metal counterweight blocks, or by inflating and deflating airbags.

4. A seaweed seed rope laying and sowing robot according to claim 3, characterized in that, The hydraulic transmission structure (3) includes a hydraulic rod (13), a spring (14), a first connecting rod (15), a second connecting rod (16), and a third connecting rod (17). The hydraulic rod (13) is hydraulically driven, with its upper end fixed to the horizontal frame at the upper front of the aforementioned mounting platform (1), and its lower end rigidly connected to the upper end of the spring (14). The lower end of the spring (14) is rigidly connected to the middle position of the first connecting rod (15). The first connecting rod (15) is horizontally welded to the upper surface of the aforementioned sliding plate (8), with its middle position rigidly connected to the lower end of the spring (14). Two connecting rods are symmetrically designed at both ends. One second link (16) and two third links (17); one end of each of the two second links (16) is hinged to the end of the first link (15), and the other end is fixedly connected to the vertical frame in front of the aforementioned mounting platform (1); one end of each of the two third links (17) is also hinged to the end of the first link (15), and the other end is respectively engaged in the vertical groove on the vertical frame in front of the aforementioned mounting platform (1), and can slide up and down in the vertical groove; the center line of the hydraulic rod (13) and the spring (14) forms an angle of 45°-60° with the horizontal plane of the slide plate (8).

5. The seaweed seed rope laying and sowing robot according to claim 4, the method for laying and sowing seaweed seed rope includes the following steps: The first step is to pre-make seaweed seed ropes: wrap the moist seaweed seeds with organic mud to form small mud balls with a short diameter of 3mm and a long diameter of 5mm. Prepare a gauze strip with a width of 16-18mm and a thin cotton thread. Use a seed rope pre-making machine to wrap the pre-made mud balls inside the gauze strip to make seaweed seed ropes with a diameter of 6-8mm. Then, wind the seaweed seed ropes onto a spool to make a seed rope spool. Soak the seaweed seed rope spools in seawater for later use. The second step is to prepare before sowing: First, install the seaweed seed rope reel on the reel seat at the front of the upper part of the aforementioned platform (1). Manually pull the head of the seaweed seed rope to pass the seed rope around the first line roller (6) and the second line roller (7), and through the opening on the slide plate (8). Then, use a special tool, the seed rope hook, to bring the seed rope in and through the seed rope guide tube inside the line pipe (9). Continue to pull the seaweed seed rope so that the seed rope passes directly under the nailing structure (12) and leaves a length of not less than 300mm. The head of the seed rope is glued to the bottom frame of the platform (1) with glutinous rice glue. Then, according to the geological conditions of the working area that day, whether it is a silty seabed, a muddy seabed, or a sandy seabed, adjust the weight of the counterweight structure (11) so that the slide plate (8) has a suitable bottom pressure during the operation. The third step is the sea-based seeding operation: After the platform (1) arrives at the operating area, the hydraulic rod (13) is driven to lower the slide plate (8), and the hydraulic rod (13) is continued to be driven so that the diamond-shaped line-laying pipe (9) under the slide plate (8) cuts into the seabed sediment; at the same time, the nailing structure (12) is driven to insert nails into the seabed, so that one end of the seaweed seed rope is submerged in the seabed; then, the hydraulic rod (13) is slightly retracted so that the hydraulic rod (13) provides a pressing driving force for the slide plate (8) while giving some springs room to float up and down. The slide plate (8) is also in close contact with the seabed surface under the combined action of the counterweight and the hydraulic driving force; then the walking mechanism of the platform (1) is driven to start the seeding movement, and at the same time, the first line-laying roller (6) is driven to start the active line-laying. As the platform (1) moves forward, the slide plate (8) also moves forward in close contact with the seabed surface under the action of the hydraulic transmission structure (3), and is welded to the bottom of the slide plate (8) and The laying pipe (9) cut into the seabed also moves forward. The seed rope inside the laying pipe (9) has its head fixed in the seabed. In addition, the first laying roller (6) continuously feeds in the seed rope. The seed rope is also laid in the seabed as the laying pipe (9) moves. Due to the diamond-shaped cross-section design of the laying pipe (9) and the compaction effect of the sliding plate (8), the seed rope is also laid, buried and compacted in the seabed in the area passed by the sliding plate (8). The laying depth is exactly the same as that of the laying pipe (9). The height difference between the horizontal center line and the bottom surface of the slide plate (8) is 1-3cm. When the seabed surface rises or falls, the slide plate (8) rises or falls along with it, and the rise and fall amplitude is buffered and absorbed by the spring (14). Since the height difference between the horizontal center line of the laying pipe (9) and the slide plate (8) is fixed, the laying depth of the seed rope remains constant. When the work in a certain area is completed, the seed rope is cut manually and the hydraulic rod (13) is retracted to end the laying and sowing operation.

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