Multifunctional integrated automatic desert planting vehicle and planting method

Abstract

The utility model relates to a desert planting field relates to a multifunctional integrated automatic desert planting vehicle and planting method, the utility model solves the problem that the planting vehicle efficiency is low under the existing desert environment, cannot thoroughly liberate the problem of labor productivity, the crawler type mobile walking mechanism is installed in the lower end four corners of body frame and drives body frame to move, and the wind rotation fills the burying mechanism, water storage mechanism and pit drilling mechanism are installed in the bottom of body frame from left to right in proper order, and visual device is arranged around the lower part of body frame, the seedling storage mechanism is located above pit drilling mechanism, and water storage mechanism continuously supplies water to the root of seedling storage mechanism, and waters the newly planted plant, the clamping mechanism is installed in the upper part of body frame, and the clamping mechanism can realize the movement in horizontal direction and vertical direction, the solar energy mechanism is installed outside body frame, and the upper part of solar energy mechanism can open cover and is installed on the upper end surface of body frame and is shaded for the plant, the utility model is used for desert automatic planting plant.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of desert planting, in particular to a multifunctional integrated automatic desert planting vehicle and a planting method, which are used for automatic planting of plants in desert areas. BACKGROUND

[0002] Desert areas have the characteristics of water scarcity, land barrenness, and poor ecological environment. Traditional manual planting methods are low in efficiency, high in cost, and have low survival rate of seedlings and are not friendly to the environment. Therefore, developing a desert planting vehicle that can liberate labor and improve the survival rate of planting has great significance for improving the desert environment.

[0003] An invention patent with the name of a desert planting vehicle and the authorization announcement number CN11564 4014B mainly includes a hole drilling mechanism arranged on a vehicle frame, which is used for drilling holes and forming planting holes; a seedling bin arranged on the vehicle frame, which is used for storing seedlings to be planted; a seedling delivery mechanism arranged on the vehicle frame, which is used for delivering the seedlings in the seedling bin to the planting holes; a soil covering mechanism arranged on the vehicle frame, which is used for positioning and righting the seedlings in the planting holes and covering the soil; and a drip irrigation pipe installation mechanism arranged on the vehicle frame, which is used for installing the drip irrigation pipe corresponding to the seedlings after the soil covering. The desert planting vehicle realizes intelligent planting of seedlings and installation of drip irrigation pipes at the same time, does not need to additionally lay out the drip irrigation pipes, saves manpower, solves the problems of efficient tree planting and irrigation, and effectively improves the efficiency of desert planting and the survival rate of seedlings. Although the desert planting vehicle can achieve desert seedling planting to some extent, it still has the following shortcomings:

[0004] 1. Since the vehicle is moved in the desert by wheels, the actual situation of loose and rugged desert geology is not considered, and problems such as unstable walking and easy tilting or sinking exist;

[0005] 2. The patent does not have the functions of mid-way seedling and water supplementing, and still needs manual intervention, resulting in low work efficiency;

[0006] 3. The patent does not have a remote real-time detection function, and cannot implement effective measures for sudden situations;

[0007] 4. The patent works in high-temperature and drought environments, and needs to consider the storage time of the seed plants to improve their survival rate, but the invention does not have the function of maintaining the activity of the seed plants.

[0008] In summary, the existing planting vehicles in the desert environment are low in efficiency and cannot completely liberate labor productivity. SUMMARY

[0009] The present application aims at solving the problem of low efficiency of the existing planting vehicle in desert environment and the problem of inability to completely liberate labor productivity, and further provides a multifunctional integrated automatic desert planting vehicle and a planting method, so as to realize high efficiency, high survival rate, and integrated automation and multifunctional integration of the desert planting operation in the desert environment.

[0010] The technical scheme of the present application is:

[0011] The multifunctional integrated automatic desert planting vehicle comprises a body frame, further comprises a solar mechanism, a seedling storage mechanism, a clamping mechanism, a wind-rotating filling mechanism, a water storage mechanism, a hole drilling mechanism, a tracked moving walking mechanism, and a visual device, the tracked moving walking mechanism is installed at the lower end of the body frame to drive the body frame to move, the wind-rotating filling mechanism, the water storage mechanism, and the hole drilling mechanism are sequentially installed at the bottom of the body frame from left to right, and the visual device is arranged around the lower part of the body frame; the seedling storage mechanism is located above the hole drilling mechanism, the water storage mechanism continuously supplies water to the root part of the seedling storage mechanism and waters the newly planted plants, the clamping mechanism is installed at the upper part of the body frame, and the clamping mechanism can move in the horizontal direction and the vertical direction, the solar mechanism is installed outside the body frame, and the upper part of the solar mechanism can be opened to cover the upper end surface of the body frame to shield light for the plants.

[0012] Further, the solar mechanism comprises a signal receiving antenna, a large solar panel, two small solar panels, a solar connecting rod, a linkage rocker, a large gear disc gear, a small gear disc gear, and a direct current speed reduction stepper motor, one end of each of the two small solar panels is rotatably installed on the two opposite upper edges of the upper end surface of the body frame, and the two small solar panels are manually opened and closed; one end of the large solar panel is horizontally slidably installed on the upper edge of the upper end surface of the body frame and is located on one side of the two small solar panels, the other end of the large solar panel is supported by the body frame, the direct current speed reduction stepper motor is installed at the lower part of the outer side of the body frame, the output shaft of the direct current speed reduction stepper motor is connected with the small gear disc gear after being turned, the large gear disc gear is rotatably installed at the lower part of the outer side of the body frame, and the large gear disc gear is engaged with the small gear disc gear, one end of the linkage rocker is installed on the axle of the large gear disc gear through a hexagonal head fixing screw, the lower end of the solar connecting rod is rotatably installed on the body frame, long strip-shaped holes are respectively formed in the middle lower part and the upper part of the solar connecting rod, the other end of the linkage rocker is slidably inserted into the long strip-shaped hole in the middle lower part of the solar connecting rod, the actuating shaft at one end of the large solar panel is inserted into the long strip-shaped hole in the upper part of the solar connecting rod, and the large solar panel is horizontally slidably driven by the solar connecting rod during oscillation of the lower part of the solar connecting rod, so as to realize opening and closing of the large solar panel on the upper end surface of the body frame.

[0013] Further, the clamping mechanism comprises a transverse moving assembly, two longitudinal moving assemblies and a clamping unit, the clamping unit is slidingly installed on the transverse moving assembly through a pulley, and the clamping unit moves transversely on the transverse moving assembly under the drive of a belt transmission; the two ends of the transverse moving assembly are respectively installed on one longitudinal moving assembly, and the two longitudinal moving assemblies jointly drive the transverse moving assembly and the clamping unit to move longitudinally;

[0014] The clamping unit comprises a left clamping jaw, a right clamping jaw, a linkage rod, a clamping jaw disc, a main cylinder, a clamping pulley, a middle cylinder shaft, a left cylinder shaft, a right cylinder shaft, a left connecting rod and a right connecting rod,

[0015] The upper part of the main cylinder is installed on the lower part of the clamping plate, the clamping plate is slidingly installed on the transverse moving assembly through the clamping pulley installed on the upper part of the clamping plate, and can move transversely on the transverse moving assembly;

[0016] The lower end of the main cylinder is connected with the upper end of the middle cylinder shaft, the lower end of the middle cylinder shaft is slidingly connected with one linkage rod on the left and right sides after sliding through the clamping jaw disc, the left cylinder shaft and the right cylinder shaft are respectively located on the left and right sides of the main cylinder and connected with the clamping jaw disc to realize the lifting drive of the clamping jaw disc,

[0017] The upper ends of the left clamping jaw and the right clamping jaw are rotatably connected with the clamping jaw disc, and the middle parts of the left clamping jaw and the right clamping jaw are driven by the linkage rod to move inward or outward simultaneously under the extension and contraction of the main cylinder, so as to realize the grabbing action.

[0018] Further, the transverse moving assembly comprises a long slide rail, a limiting plate, a limiting switch, a fixed plate, a first pulley, a transverse moving drive motor, a second pulley, a long slide rail left sliding wheel, a long transmission belt, a long slide rail right sliding wheel and a sliding plate, the long slide rail left sliding wheel is installed on the left end of the long slide rail through the sliding plate, the long slide rail right sliding wheel is installed on the output shaft of the transverse moving drive motor located on the right side of the long slide rail, the long slide rail left sliding wheel and the long slide rail right sliding wheel are connected through the long transmission belt, the clamping unit is connected with the long transmission belt and moves transversely under the movement of the long transmission belt; the second pulley and the first pulley are respectively installed on the left lower part and the right lower part of the long slide rail for the longitudinal movement of the long slide rail, the limiting plate is fixedly installed on the right side of the long slide rail through the fixed plate, and the limiting switch is installed on the left side of the limiting plate.

[0019] Further, the two longitudinal moving assemblies are the same in structure and are oppositely arranged, the longitudinal moving assembly comprises a left side longitudinal moving drive motor, a left short slide rail, a left short transmission belt, a left short slide rail left sliding wheel and a left short slide rail right sliding wheel, the left side longitudinal moving drive motor is installed on the left side of the left short slide rail, the left short slide rail left sliding wheel is installed on the output shaft of the left side longitudinal moving drive motor, and the left short slide rail left sliding wheel and the left short slide rail right sliding wheel located on the right side of the left short slide rail are connected through the left short transmission belt.

[0020] Further, the wind filling mechanism comprises a lifting driving mechanism, a fan box, a ducted fan, a wind pressure pipe, a sapling conveying pipe, a discharge port, a nutrient solution valve, a nozzle valve, a wind cover and a sliding wheel; the wind cover is provided with a plurality of wind pressure pipes in the circumferential direction, each wind pressure pipe is provided with a fan box, and the fan box is provided with a ducted fan; the rotation of the ducted fan generates wind power for filling; the sapling conveying pipe is vertically installed at the center of the wind cover, the lower part of the sapling conveying pipe is provided with a discharge port, the nutrient solution valve and the nozzle valve are installed on the wind cover, the nutrient solution valve is connected with the copper water pipe of the water storage mechanism, the sliding wheel is installed on the side wall of the wind cover, and the lifting driving mechanism is fixedly connected with the wind cover and drives the whole wind cover to realize lifting.

[0021] The lifting driving mechanism comprises a rack, a rack gear, a worm gear, a worm, a transmission wheel, a transmission belt, a rotating wheel and a first stepping motor; the first stepping motor is installed in the machine body frame; the output shaft of the first stepping motor is connected with the rotating wheel; the transmission wheel and the worm are coaxially arranged, and the transmission belt is connected between the transmission wheel and the rotating wheel; the first stepping motor transmits rotating power to the rotating wheel; the rotating wheel drives the transmission wheel to rotate through the transmission belt; the transmission wheel transmits power to the worm; the worm engages with the worm gear; the worm gear engages with the rack gear; and the rack gear engages with the rack to drive the whole wind cover to lift.

[0022] Further, the water storage mechanism comprises a water tank wall, a water suction pump, a filter port, a bottom copper water pipe, a first discharge port copper water pipe, a second discharge port copper water pipe and a water tank pulling and sliding assembly; the water suction pump is installed on the water tank wall; the filter port is installed on the water suction side of the water suction pump; the bottom copper water pipe is horizontally arranged in the water tank wall and supplies water to the plant warehouse of the seedling storage mechanism to maintain the activity of the seed plants; one end of each of the first discharge port copper water pipe and the second discharge port copper water pipe is connected with the water tank wall; the other end of each of the first discharge port copper water pipe and the second discharge port copper water pipe is connected with the nutrient solution valve and the nozzle valve respectively for spraying water and nutrient solution to the seed plants; and the water tank pulling and sliding assembly is slidingly installed in the machine body frame.

[0023] The water tank pulling and sliding assembly comprises a water tank base, a water tank bottom pneumatic cylinder push rod, a guide wheel and a guide wheel connecting rod; the water tank bottom pneumatic cylinder push rod is installed in the machine body frame; the water tank base is installed on the lower end of the water tank wall; the guide wheel is installed on the two side end faces of the water tank base through the guide wheel connecting rod; and the water tank base and the water tank wall are slidingly installed in the machine body frame under the extension and retraction of the water tank bottom pneumatic cylinder push rod.

[0024] Further, the drilling mechanism comprises a ground drill lifting driving unit, a ground drill frame, a ground drill and a ground drill rotating driving unit; the ground drill lifting driving unit is installed on the machine frame, the ground drill frame is installed on the ground drill lifting driving unit and is lifted and lowered under the action of the ground drill lifting driving unit, the ground drill is vertically installed on the ground drill frame, and the ground drill is driven to rotate to complete drilling under the action of the ground drill rotating driving unit installed on the ground drill frame;

[0025] wherein,

[0026] The ground drill lifting driving unit comprises a DC speed reduction servo motor, a motor fixing base, a drilling transmission belt and a bearing pulley, the DC speed reduction servo motor is installed on the machine frame through the motor fixing base, the output shaft of the DC speed reduction servo motor is connected with a belt pulley, and the belt pulley and the bearing pulley are connected through the drilling transmission belt; the ground drill rotating driving unit comprises a main shaft motor, a rotating belt pulley, a rotating transmission belt, a rotating sliding bearing, a pulley fixing rod, a left lifting pulley and a right lifting pulley, the pulley fixing rod passes through the center bearings of the left lifting pulley and the right lifting pulley, the two ends of the pulley fixing rod are fixed on the ground drill frame, the left lifting pulley and the right lifting pulley are located in the ground drill frame, the pulley fixing rod is connected with the drilling transmission belt, the main shaft motor is installed on the ground drill frame, the output shaft of the main shaft motor is connected with the rotating sliding bearing after passing through the ground drill frame upwards, and the upper end of the ground drill is provided with the rotating belt pulley, and the rotating belt pulley and the rotating sliding bearing are connected through the rotating transmission belt.

[0027] Further, the visual device comprises a plurality of high-definition wireless cameras and a plurality of explosion-proof wireless cameras, the plurality of high-definition wireless cameras are installed around the machine frame of the machine frame, and the plurality of explosion-proof wireless cameras are installed in the wind rotary filling mechanism and the drilling mechanism.

[0028] The application also provides a planting method using the multifunctional integrated automatic desert planting vehicle, which comprises the following steps:

[0029] Step one, start the multifunctional integrated automatic desert planting vehicle, and perform self-checking on the equipment; if the self-checking is unqualified, the equipment needs to be manually maintained until the next step is performed after the maintenance is qualified;

[0030] Step two, manually remotely control the multifunctional integrated automatic desert planting vehicle to reach the designated location in the desert, and at this time, the surrounding environment can be observed by the high-definition wireless cameras around the planting vehicle to determine whether the planting conditions are met;

[0031] Step three, the equipment checks the materials in stock, if one of the water source, the sapling or the nutrient solution is missing, the planting vehicle sends a signal through the antenna, and the unmanned aerial vehicle transports the missing material according to the positioning of the planting vehicle, if the materials in stock are not missing, the next step is performed;

[0032] Step four, the explosion-proof wireless camera in the pit drilling mechanism finds the pit drilling position, when no suitable position is found, the planting vehicle moves to complete fine adjustment, when a suitable position is found, pit drilling is started, after pit drilling is completed, the explosion-proof wireless camera records the position;

[0033] Step five, the planting vehicle translates, moves the pit drilling position to the wind rotation filling mechanism directly below, at this time, the explosion-proof wireless camera in the wind rotation filling mechanism is positioned and corrected according to the data of the explosion-proof wireless camera in the pit drilling mechanism;

[0034] Step six, after the position is confirmed, the wind cover is lowered, the clamping mechanism clamps the seedling and sends it into the seedling conveying pipe, and is inserted into the pit drilled in step four;

[0035] Step seven, the wind rotation filling mechanism operates, after filling action is completed, water and nutrient solution are started to be sprayed;

[0036] Step eight, the explosion-proof wireless camera in the wind rotation filling mechanism takes a photo, uploads the server, automatically compares, confirms whether the planted seedling is qualified, if not qualified, filling needs to be re-performed, that is, steps seven are repeated, if qualified, the wind cover is raised, and the planting vehicle moves to find the next station;

[0037] Step nine, steps three to eight are repeated, and automatic planting of a specified desert area can be realized.

[0038] Compared with the prior art, the present application has the following effects:

[0039] 1、The present application adopts a crawler-type moving walking mechanism, the contact area of which with the desert is large, the stable of the machine body frame is ensured, and the phenomenon of overturning or sinking of the machine body frame in the process of moving and walking in the desert due to loose and rugged actual road conditions is avoided.

[0040] 2、The present application adopts a visual device to monitor the walking environment of the machine body frame in real time, and can also observe the planting situation, if there is a seedling shortage, the unmanned aerial vehicle can timely and quickly perform re-planting, thereby avoiding the problem of manual re-planting, and effectively improving the planting efficiency.

[0041] 3、The visual device in the present application can realize remote real-time detection function in actual use, and can implement effective measures for sudden situations, thereby ensuring effective planting of plants.

[0042] 4、The application can work in high temperature and drought environment, the solar energy mechanism is arranged on the upper part of the body frame, which can not only supplement the electric energy of the body frame, but also can block the sunlight for the plants, thereby the plants can be stored for a long time, the survival rate of the plants is improved under the combined action of the water supply of the water storage mechanism, and the activity of the plants is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is the three-dimensional schematic view of the overall structure of the application; Figure 2 is the three-dimensional front view of the application; Figure 3 is the three-dimensional side view of the application; Figure 4 is the three-dimensional top view of the application; Figure 5 is the two-dimensional side view of the application; Figure 6 is the top view of the clamping mechanism; Figure 7 is the front view of Figure 6 ; Figure 8 is the side view of Figure 6 ; Figure 9 is the front view of the wind rotation landfill mechanism; Figure 10 is the top view of Figure 9 ; Figure 11 is the front view of the water storage mechanism; Figure 12 is the internal structure schematic view of Figure 11 ; Figure 13 is the front view of the drilling mechanism; Figure 14 is the side view of Figure 13 ; Figure 15 is the front view of the tracked mobile walking mechanism; Figure 16 is the arrangement schematic view of the visual device; Figure 17 is the flow chart of the planting method. DETAILED DESCRIPTION

[0044] Specific implementation one: in combination with Figures 1 to 16 The present embodiment includes a body frame, which further includes a solar energy mechanism, a seedling storage mechanism, a clamping mechanism, a wind rotation landfill mechanism, a water storage mechanism, a drilling mechanism, a tracked mobile walking mechanism and a visual device, the tracked mobile walking mechanism is installed at the lower end of the body frame to drive the body frame to move, the wind rotation landfill mechanism, the water storage mechanism and the drilling mechanism are installed on the bottom of the body frame from left to right, and the visual device is arranged around the lower part of the body frame; the seedling storage mechanism is located above the drilling mechanism, the water storage mechanism continuously supplies water to the root part of the seedling storage mechanism, and waters the newly planted plants, the clamping mechanism is installed on the upper part of the body frame, and the clamping mechanism can realize movement in the horizontal direction and the vertical direction, the solar energy mechanism is installed outside the body frame, and the upper part of the solar energy mechanism can be opened and covered on the upper end surface of the body frame to block the sunlight for the plants.

[0045] The seedling storage mechanism of the embodiment is a plant bin 61 in the application Figure 5 in which a plurality of plants to be planted are placed.

[0046] Specific embodiment two: in combination Figures 1 to 5 The solar mechanism of the embodiment comprises a signal receiving antenna 1, a large solar panel 2, two small solar panels 3, a solar connecting rod 4, a linkage rocker 5, a large gear disc gear 7, a small gear disc gear 8, and a direct current speed reduction stepping motor 9. One end of each of the two small solar panels 3 is rotatably installed on the opposite two upper edges of the upper end surface of the machine frame, and the two small solar panels 3 are opened and closed manually. One end of the large solar panel 2 is horizontally slidably installed on the upper edge of the upper end surface of the machine frame and is located on one side of the two small solar panels 3. The other end of the large solar panel 2 is supported by the machine frame. The direct current speed reduction stepping motor 9 is installed on the lower part of the outer side of the machine frame. The output shaft of the direct current speed reduction stepping motor 9 is connected to the small gear disc gear 8 after being turned. The large gear disc gear 7 is rotatably installed on the lower part of the outer side of the machine frame and is engaged with the small gear disc gear 8. One end of the linkage rocker 5 is installed on the axle of the large gear disc gear 7 through a hexagonal head fixing screw 6. The lower end of the solar connecting rod 4 is rotatably installed on the machine frame. Long strip-shaped holes are respectively formed in the middle lower part and the upper part of the solar connecting rod 4. The other end of the linkage rocker 5 is slidably inserted into the long strip-shaped hole in the middle lower part of the solar connecting rod 4. The actuating shaft at one end of the large solar panel 2 is inserted into the long strip-shaped hole in the upper part of the solar connecting rod 4. The large solar panel 2 is horizontally slidably driven by the solar connecting rod 4 during swinging of the lower part of the solar connecting rod 4, thereby realizing automatic opening and closing of the large solar panel 2 on the upper end surface of the machine frame.

[0047] In actual use, the signal receiving antenna 1 is used for receiving and transmitting satellite signals. The large solar panel 2 is used for collecting solar energy to provide energy supply for the planting vehicle. The small solar panel 3 is used for assisting the large solar panel in collecting solar energy to increase the solar energy collection efficiency. The solar connecting rod 4 is connected to one end of the large solar panel 2 and can horizontally move and control the position of the large solar panel 2 on the upper end surface of the machine frame, thereby realizing shielding of the plants in the plant bin 61 on the upper part of the machine frame and controlling the opening and closing of the top of the seedling storage mechanism. When the seedlings need to be stored, the large solar panel 2 is opened to facilitate the seedlings to be put in, which provides a sun-shading environment for the seedling storage mechanism, avoids direct sunlight, and increases the survival rate of the seedlings.

[0048] The direct current speed reduction stepping motor 9 is fixed on the machine body frame, the linkage rocker 5 is connected with the solar connecting rod 4, and is used for transmitting power to realize the opening and closing functions; the hexagonal head fixing screw 6 is used for fixing the linkage rocker 5 on the large gear disc gear 7; the large gear disc gear 7 is engaged with the small gear disc gear 8 to realize the force transmission; the small gear disc gear 8 is installed on the output shaft of the direct current speed reduction stepping motor 9, is engaged with the large gear disc gear 7, and transmits the power generated by the direct current speed reduction stepping motor 9 to the large gear disc gear 7; the plant bin 61 is used for storing plants, and contains saplings in the inside. The other components and connection relationships are the same as those in the specific embodiment one.

[0049] Specific embodiment three: combination Figures 6 to 8 In this embodiment, the clamping mechanism includes a transverse moving assembly, two longitudinal moving assemblies and a clamping unit. The clamping unit is slidingly installed on the transverse moving assembly through a pulley and moves transversely on the transverse moving assembly under the drive of a belt. The two ends of the transverse moving assembly are respectively installed on one longitudinal moving assembly, and the two longitudinal moving assemblies jointly drive the transverse moving assembly and the clamping unit to move longitudinally.

[0050] The clamping unit includes a left clamping jaw 26, a right clamping jaw 27, a linkage rod 28, a clamping jaw disc 29, a main cylinder 32, a clamping pulley 33, a middle cylinder shaft 34, a left cylinder shaft 35, a right cylinder shaft 36, a left connecting rod 42 and a right connecting rod 43. The upper part of the main cylinder 32 is installed on the lower part of a clamping plate, the clamping plate is slidingly installed on the transverse moving assembly through the clamping pulley 33 installed on the upper part thereof and can move transversely on the transverse moving assembly. The lower end of the main cylinder 32 is connected with the upper end of the middle cylinder shaft 34, the lower end of the middle cylinder shaft 34 is slidingly connected with one linkage rod 28 on the left and right sides after passing through the clamping jaw disc 29, the left cylinder shaft 35 and the right cylinder shaft 36 are respectively located on the left and right sides of the main cylinder 32 and are connected with the clamping jaw disc 29 to realize the lifting drive of the clamping jaw disc 29, the upper ends of the left clamping jaw 26 and the right clamping jaw 27 are rotationally connected with the clamping jaw disc 29, and the middle parts of the left clamping jaw 26 and the right clamping jaw 27 are driven by the linkage rod 28 to simultaneously move inward or outward, thereby realizing the grabbing action.

[0051] The clamping unit actually used further includes a first inner hexagonal cylindrical head screw 30, a first hexagonal nut I type 31, a second inner hexagonal cylindrical head screw 37, a third inner hexagonal cylindrical head screw 38, a second hexagonal nut I type 39, a fourth inner hexagonal cylindrical head screw 40 and a third hexagonal nut I type 41.

[0052] The left clamping jaw 26 and the right clamping jaw 27 are engaged with the linkage rod 28 to realize the clamping action of the left clamping jaw 26 and the right clamping jaw 27; one end of the clamping jaw disc 29 is connected with the main cylinder 32, and the other end of the clamping jaw disc 29 is hingedly connected with the left clamping jaw 26 and the right clamping jaw 27; the first inner hexagonal cylindrical head screw 30 is used for connecting the left clamping jaw 26, and the right clamping jaw 27 is the same; the hexagonal nut type I 31 is matched with the first inner hexagonal cylindrical head screw 30 and is used for connecting the left clamping jaw 26 and the right clamping jaw 27; the main cylinder 32 is fixed on the long slide rail 10 and provides power for the clamping of the left clamping jaw 26 and the right clamping jaw 27; the clamping pulley 33 is used for the transverse movement of the main cylinder 32 on the long slide rail 10; the intermediate cylinder shaft 34 is fixed at the main cylinder 32 and is used for the telescopic action of the clamping mechanism; the left cylinder shaft 35 is fixed at the main cylinder 32 and is used for the telescopic action of the clamping jaw disc 29; the right cylinder shaft 36 is fixed at the main cylinder 32 and is used for the telescopic action of the clamping jaw disc 29; the second inner hexagonal cylindrical head screw 37 is used for fixing the intermediate cylinder shaft 34 and the clamping jaw disc 29; the inner hexagonal cylindrical head screw third inner hexagonal cylindrical head screw 38 is used for fixing the clamping pulley 33 on the main cylinder 32; the hexagonal nut type I 39 is matched with the inner hexagonal cylindrical head screw third inner hexagonal cylindrical head screw 38 and is used for fixing the clamping pulley 33 on the main cylinder 32; the fourth inner hexagonal cylindrical head screw 40 is used for fixing the main cylinder 32 on the long slide rail 10; the hexagonal nut type I 41 is matched with the fourth inner hexagonal cylindrical head screw 40 and is used for fixing the main cylinder 32 on the long slide rail 10; the left connecting rod 42 is hingedly connected with the linkage rod 28; and the right connecting rod 43 is hingedly connected with the linkage rod 28.

[0053] In this way, the clamping of the plant is quickly and flexibly realized. The other components and connection relationships are the same as those in the first or second embodiment.

[0054] Specific embodiment four: combination Figures 6 to 8 In this embodiment, the transverse movement assembly includes a long slide rail 10, a limiting plate 12, a limiting switch 13, a fixed plate 14, a first pulley 15, a transverse movement driving motor 23, a second pulley 19, a long slide rail left sliding pulley 20, a long transmission belt 21, a long slide rail right sliding pulley 22, and a sliding plate 18,

[0055] The long slide rail left sliding wheel 20 is installed on the left end of the long slide rail 10 through the sliding plate 18, the long slide rail right sliding wheel 22 is installed on the output shaft of the transverse movement driving motor 23 located on the right side of the long slide rail 10, the long slide rail left sliding wheel 20 and the long slide rail right sliding wheel 22 are connected through the long transmission belt 21, the clamping unit is connected with the long transmission belt 21 and realizes the transverse movement under the movement of the long transmission belt 21; the second pulley 19 and the first pulley 15 are respectively installed on the left lower part and the right lower part of the long slide rail 10 for the longitudinal movement of the long slide rail 10, the limiting plate 12 is fixedly installed on the right side of the long slide rail 10 through the fixed plate 14, and the limiting switch 13 is installed on the left side of the limiting plate 12. In addition, the transverse movement driving motor 23 is a high-precision 42-step motor.

[0056] The transverse movement assembly of the embodiment further comprises a hexagonal self-tapping locking screw 11, a cross slot disc head self-tapping locking screw 16, a hexagonal fixed screw 17, a first hexagonal flange self-tapping screw 24 and a type II full-metal hexagonal locking nut 25.

[0057] The long slide rail 10 is used for the transverse movement of the clamping mechanism; the hexagonal self-tapping locking screw 11 is used for fixing the long slide rail 10 and the limiting plate 12; the limiting plate 12 is provided with the fixed limiting switch 13, which is used for limiting the stroke of the clamping mechanism; the limiting switch 13 is used for hard limiting the clamping mechanism and has a reset function; the fixed plate 14 is used for fixing the first pulley 15 on the long slide rail 10; the first pulley 15 is used for the longitudinal movement of the long slide rail 10; the cross slot disc head self-tapping locking screw 16 passes through the fixed plate 14 to fix the first pulley 15 and the limiting plate 12; the hexagonal fixed screw 17 is used for fixing the second pulley 19 and the sliding plate 18 on the long slide rail 10; the sliding plate 18 is used for fixing the second pulley 19; the second pulley 19 is used for the longitudinal movement of the long slide rail 10; the long slide rail left sliding wheel 20 is fixed with the sliding plate 18 and is used for the rotation of the long transmission belt 21; the long transmission belt 21 is fixed on the long slide rail 10 and is fixed and supported by the long slide rail left sliding wheel and the long slide rail right sliding wheel 22 and is used for the transverse movement of the clamping mechanism; the long slide rail right sliding wheel 22 is connected with the output shaft of the high-precision 42-step motor and transmits the force to the long transmission belt 21; the high-precision 42-step motor provides power for the long transmission belt 21 and is fixed on the long slide rail 10; the first hexagonal flange self-tapping screw 24 is used for fixing the long slide rail left sliding wheel 20 and the sliding plate 18; the type II full-metal hexagonal locking nut 25 cooperates with the hexagonal fixed screw 17 and has a fixing function.

[0058] In this way, the transverse movement of the clamping mechanism is facilitated. The other components and connection relationships are the same as those in any one of the first to third embodiments.

[0059] Specific embodiment five: combined with Figures 6 to 8The two longitudinal moving assemblies in the embodiment are arranged oppositely and have the same structure. The longitudinal moving assembly comprises a left longitudinal moving driving motor 44, a left short sliding rail 45, a left short transmission belt 46, a left short sliding rail left sliding wheel 47 and a left short sliding rail right sliding wheel 48.

[0060] The left longitudinal moving driving motor 44 is installed on the left side of the left short sliding rail 45. The left short sliding rail left sliding wheel 47 is installed on the output shaft of the left longitudinal moving driving motor 44. The left short sliding rail left sliding wheel 47 and the left short sliding rail right sliding wheel 48 located on the right side of the left short sliding rail 45 are connected through the left short transmission belt 46. The left longitudinal moving driving motor 44 is a high-precision 42-step motor.

[0061] In this way, the longitudinal movement of the clamping mechanism is facilitated. The other components and connection relationships are the same as those in any one of the first to fourth embodiments.

[0062] The longitudinal moving assembly in the embodiment further comprises a second hexagonal flange self-tapping screw 49, a cylindrical fixing screw 50, a type II full-metal hexagonal locking nut 51, a third hexagonal flange self-tapping screw 52, a high-precision 42-step motor 53, a short transmission belt 54, a hexagonal flange self-tapping screw 55, a right short sliding rail left sliding wheel 56, a right short sliding rail right sliding wheel 57, a right short sliding rail 58, a fifth internal hexagonal cylindrical head screw 59 and a second hexagonal head self-tapping locking screw 60.

[0063] The high-precision 42-step motor 44 provides transmission power for the rotation of the left short transmission belt 46; the left short slide rail 45 is fixed with the long slide rail 10 and is used for the longitudinal movement of the long slide rail 10; the left short transmission belt 46 is used for transmitting the force required by the movement of the long slide rail 10; the left short slide rail left sliding wheel 47 is used for transmitting the force of the high-precision 42-step motor 44 to the left short transmission belt 46 and is matched with the left short slide rail right sliding wheel 48 to fix the left short transmission belt 46; the left short slide rail right sliding wheel 48 is fixed on the left short slide rail 45 and is used for fixing the left short transmission belt 46 in cooperation with the left short slide rail left sliding wheel 47; the second hexagonal flange self-tapping screw 49 is used for fixing the high-precision 42-step motor 44 on the machine body frame; the cylindrical fixing screw 50 is used for fixing the left short slide rail right sliding wheel 48 on the left short slide rail 45; the type II full-metal hexagonal locking nut 51 is used for fixing the left short slide rail right sliding wheel 48 in cooperation with the cylindrical fixing screw 50; the third hexagonal flange self-tapping screw 52 is used for fixing the high-precision 42-step motor 44 on the machine body frame; the high-precision 42-step motor 53 is used for providing transmission power for the short transmission belt 54 on the right short slide rail 58; the short transmission belt 54 is used for transmitting the force required by the movement of the long slide rail 10; the hexagonal flange self-tapping screw 55 is used for fixing the high-precision 42-step motor 53 on the machine body frame; the right short slide rail left sliding wheel 56 is used for transmitting the force of the high-precision 42-step motor 53 to the short transmission belt 54 and is matched with the right short slide rail right sliding wheel 57 to fix the short transmission belt 54; the right short slide rail right sliding wheel 57 is fixed on the right short slide rail 58 and is used for fixing the short transmission belt 54 in cooperation with the right short slide rail left sliding wheel 56; the right short slide rail 58 is fixed with the long slide rail 10 and is used for the longitudinal movement platform of the long slide rail 10; the fifth internal hexagonal cylindrical head screw 59 is used for fixing the right short slide rail right sliding wheel 57 on the right short slide rail 58; and the second hexagonal head self-tapping locking screw 60 is used for fixing the right short slide rail 58.

[0064] DETAILED DESCRIPTION Figure 9 and Figure 10The wind-rotary burying mechanism of the embodiment includes a lifting driving mechanism, a fan box 72, a ducted fan 73, a wind pressure pipe 74, a sapling conveying pipe 75, a discharge port 76, a nutrient solution valve 77, a nozzle valve 78, a fixed wind cover 409, and a sliding wheel 79; the fixed wind cover 409 is installed with a plurality of wind pressure pipes 74 in the circumferential direction, each wind pressure pipe 74 is installed with a fan box 72, the fan box 72 is installed with a ducted fan 73, the rotation of the ducted fan 73 generates wind force for burying; the sapling conveying pipe 75 is vertically installed at the center of the fixed wind cover 409, the lower part of the sapling conveying pipe 75 is provided with the discharge port 76, the nutrient solution valve 77 and the nozzle valve 78 are installed on the fixed wind cover 409, the nutrient solution valve 77 is connected with the second discharge port copper water pipe 86 of the water storage mechanism, the sliding wheel 79 is installed on the side wall of the fixed wind cover 409, and the lifting driving mechanism is fixedly connected with the fixed wind cover 409 and drives the whole fixed wind cover 409 to realize lifting;

[0065] The lifting driving mechanism includes a rack 62, a rack gear 63, a worm gear 64, a worm 65, a transmission wheel 66, a transmission belt 69, a rotating wheel 70, and a first stepping motor 71.

[0066] The first stepping motor 71 is installed in the machine body frame, the output shaft of the first stepping motor 71 is connected with the rotating wheel 70, the transmission wheel 66 and the worm 65 are coaxially arranged, and the transmission wheel 66 and the rotating wheel 70 are connected through the transmission belt 69.

[0067] The first stepping motor 71 transmits rotating power to the rotating wheel 70, the rotating wheel 70 drives the transmission wheel 66 to rotate through the transmission belt 69, the transmission wheel 66 transmits power to the worm 65, the worm 65 engages the worm gear 64, the worm gear 64 engages the rack gear 63, the rack gear 63 engages the rack 62, thereby driving the whole fixed wind cover 409 to lift.

[0068] In this way, it is convenient to cover the planted plants with sand, complete planting, and the wind-rotary burying mechanism blows the sand into the pit to bury the sapling through the four pairs of rotating wind generated by the ducted fans 73, and the nozzle valve 78 sprays water mist to reduce the diffusion of dust, after burying is completed, the nutrient solution is poured, the first stepping motor 71 drives the worm gear to reset the wind-rotary system, and then the uploading detection is photographed, and the next process is entered. The other components and connection relationships are the same as those in any one of the first to fifth embodiments.

[0069] The wind-rotating filling mechanism of the embodiment comprises a bearing 67, a fourth hexagonal flange self-tapping screw 68, and a cross slot head self-tapping locking screw 80, the rack 62 is engaged with the rack gear 63 for the up and down movement of the wind cover 409; the worm gear 64 is engaged with the worm 65 and transmits force to the rack gear 63; the transmission wheel 66 is used for transmission of the transmission belt 69; the inner hole of the bearing 67 is used for fixing the worm 65; the fourth hexagonal flange self-tapping screw 68 mainly plays a fixing role; the transmission belt 69 is used for transmitting the force of the rotating wheel 70 to the transmission wheel 66; the rotating wheel 70 is connected with the output shaft of the high-precision 42 stepping motor 71 to transmit force to the transmission belt 69; the high-precision 42 stepping motor 71 provides power for the lifting of the entire wind-rotating filling mechanism; the fan box 72 has a ducted fan 73 connected with a wind pressure pipe 74; the ducted fan 73 rotates to generate wind force for filling; the wind pressure pipe 74 is used for directional delivery of the wind force generated by the ducted fan 73; the sapling delivery pipe 75 is used for delivering saplings to the discharge port 76; the nutrient solution valve 77 is connected with the second discharge port copper water pipe 86 for spraying nutrient solution on the saplings during planting; the nozzle valve 78 is connected with the discharge port of the first discharge port copper water pipe 85 for watering during sapling planting; the sliding wheel 79 is used to assist the lifting of the wind cover 409; the cross slot head self-tapping locking screw 80 is used for fixing the sliding wheel 79.

[0070] Specific embodiment seven: combination Figure 11 and Figure 12 The embodiment is described, and the water storage mechanism of the embodiment comprises a water tank wall 81, a water suction pump 82, a filter port 83, a bottom copper water pipe 84, a first discharge port copper water pipe 85, a second discharge port copper water pipe 86, and a water tank pulling and sliding assembly;

[0071] The water suction pump 82 is installed on the water tank wall 81, the filter port 83 is installed on the water suction side of the water suction pump 82, and the bottom copper water pipe 84 is horizontally arranged in the water tank wall 81 and supplies water to the plant bin 61 of the sapling storage mechanism to maintain the activity of the planted plants;

[0072] One end of the first discharge port copper water pipe 85 and the second discharge port copper water pipe 86 is connected with the water tank wall 81, and the other end of the first discharge port copper water pipe 85 and the second discharge port copper water pipe 86 is connected with the nutrient solution valve 77 and the nozzle valve 78 respectively for spraying water and nutrient solution to the planted plants, and the water tank pulling and sliding assembly is slidingly installed in the machine body frame;

[0073] The water tank pulling and sliding assembly comprises a water tank base 87, a water tank bottom pneumatic cylinder push rod 88, a guide wheel 89 and a guide wheel connecting rod 90. The water tank bottom pneumatic cylinder push rod 88 is installed in the machine body frame, the water tank base 87 is installed on the lower end of the water tank wall 81, the guide wheel 89 is installed on the two side end faces of the water tank base 87 through the guide wheel connecting rod 90, and the water tank base 87 and the water tank wall 81 are slidingly installed in the machine body frame under the extension and retraction of the water tank bottom pneumatic cylinder push rod 88. The other components and connection relationships are the same as those in any one of the first to sixth embodiments.

[0074] The water tank wall 81 in the machine body frame facilitates carrying and working on the go. The water suction pump 82 is used to suck out the water in the water tank wall 81 for use in the planting process. The filter port 83 is used to filter the sand and dust particles accidentally entering the water tank. The copper water pipe 84 is used to maintain the activity of the plants in the plant bin 61. The water tank base 87 is used to fix the water tank. The water tank bottom pneumatic cylinder push rod 88 can push the water tank base 87 to move below the water inlet. The guide wheel 89 is used for the movement of the water tank base 87. The guide wheel connecting rod 90 is used to fix the guide wheel 89. The first flange self-tapping screw 92 and the second first flange self-tapping screw 94 fix the water tank bottom pneumatic cylinder push rod 88 on the water tank base 87. The first hexagonal locking nut 91 and the first hexagonal locking nut 93 are used to fix the first flange self-tapping screw 92 and the second first flange self-tapping screw 94. The wind cover 409 is mainly used to form a wind rotating space for easy filling.

[0075] Specific embodiment eight: combination Figure 13 and Figure 14 This embodiment is described. The drilling mechanism of this embodiment comprises a ground drill lifting drive unit, a ground drill frame 100, a ground drill 95 and a ground drill rotating drive unit.

[0076] The ground drill lifting drive unit is installed on the machine body frame, the ground drill frame 100 is installed on the ground drill lifting drive unit and realizes lifting under the action of the ground drill lifting drive unit, the ground drill 95 is vertically installed on the ground drill frame 100, and the ground drill 95 is rotated to complete drilling under the action of the ground drill rotating drive unit installed at the bottom of the ground drill frame 100.

[0077] The ground drill lifting driving unit comprises a DC speed reduction servo motor 104, a motor fixed base 105, a pit conveying belt 103 and a bearing pulley 106. The DC speed reduction servo motor 104 is installed on the machine body frame through the motor fixed base 105. The output shaft of the DC speed reduction servo motor 104 is connected with a belt pulley. The belt pulley and the bearing pulley 106 are connected through the pit conveying belt 103. The ground drill rotating driving unit comprises a main shaft motor 98, a rotating belt pulley 96, a rotating conveying belt 97, a rotating sliding bearing 99, a pulley fixed rod 109, a left lifting pulley 107 and a right lifting pulley 108. The pulley fixed rod 109 passes through the central bearings of the left lifting pulley 107 and the right lifting pulley 108, is fixed at both ends on the ground drill frame, and the left lifting pulley 107 and the right lifting pulley 108 are located in the ground drill frame 100. The pulley fixed rod 109 is connected with the pit conveying belt 103. The main shaft motor 98 is installed on the ground drill frame 100. The output shaft of the main shaft motor 98 passes through the ground drill frame 100 upwards and is connected with the rotating sliding bearing 99. The upper end of the ground drill 95 is installed with the rotating belt pulley 96. The rotating belt pulley 96 and the rotating sliding bearing 99 are connected through the rotating conveying belt 97.

[0078] The hole drilling mechanism of the embodiment further comprises a fifth hexagonal flange self-tapping screw 101, a metal inlaid hexagonal thin nut 102, a hexagonal head nut 200 and a bearing fixing rod 201; the ground drill 95 is used to drill holes for planting seedlings; the rotating pulley 96 is connected to one end of the ground drill 95 to transmit the force of the rotating transmission belt 97 to the ground drill 95; the rotating transmission belt 97 is used to transmit the torque of the main shaft motor 98 to the rotating pulley 96; the main shaft motor 98 is used to provide the power required by the hole drilling mechanism; the rotating sliding bearing 99 is connected to the hole drilling transmission belt 103 and is used to control the lifting of the ground drill frame 100 along the machine frame; the ground drill frame 100 is used to mount the main shaft motor 98, the rotating pulley 96, the ground drill 95, the rotating transmission belt 97 and the rotating sliding bearing 99 together; the fifth hexagonal flange self-tapping screw 101 is used to fix the main shaft motor 98 on the ground drill frame 100; the metal inlaid hexagonal thin nut 102 is used in cooperation with the fifth hexagonal flange self-tapping screw 101 to fix the main shaft motor 98; the hole drilling transmission belt 103 is used to transmit the power of the DC speed reduction servo motor 104 to the rotating sliding bearing 99; the DC speed reduction servo motor 104 is used to provide lifting power for the hole drilling mechanism; the motor fixing base 105 is used to fix the DC speed reduction servo motor 104 on the machine frame to make it work stably; the bearing pulley 106 is connected to the hole drilling transmission belt 103; the left lifting pulley 107 and the right lifting pulley 108 are located in the ground drill frame 100 and are used for the up-and-down movement of the ground drill 95; the pulley fixing rod 109 is used to fix the left lifting pulley 107 and the right lifting pulley 108 on the ground drill frame 100; the hexagonal head nut 200 cooperates with the pulley fixing rod 109 to play a fixing role; and the bearing fixing rod 201 is used to fix the rotating sliding bearing 99.

[0079] In combination Figure 15 The track type mobile walking mechanism of the present application comprises a speed reduction DC servo motor 203, a track fixing frame 204, a driving wheel 205, a track 206, a transmission wheel 207, a suspension, a shock absorbing spring 301 and a load bearing wheel,

[0080] The speed reduction DC servo motor 203 is installed on the track fixing frame 204, the output shaft of the speed reduction DC servo motor 203 is connected to the driving wheel 205, the transmission wheel 207 is arranged in parallel with the driving wheel 205, the load bearing wheel is installed side by side below the transmission wheel 207 and the driving wheel 205, the suspension is installed on the track fixing frame 204, the driving wheel 205, the transmission wheel 207 and the load bearing wheel are connected through the track 206, and the shock absorbing spring 301 is connected in series on the load bearing wheel and is installed on the track fixing frame 204.

[0081] In this way, stable walking in the desert is facilitated. The other components and connection relationships are the same as those in any one of the first to seventh embodiments.

[0082] The mobile walking mechanism in the embodiment further comprises a first internal hexagonal screw 202, a second internal hexagonal screw 308, a third internal hexagonal screw 309, a fourth internal hexagonal screw 400, a fifth internal hexagonal screw 401, a sixth internal hexagonal screw 406, a seventh internal hexagonal screw 407, an eighth internal hexagonal screw 408, a reduction DC servo motor 203, a track fixing frame 204, a driving wheel 205, a track 206, a transmission wheel 207, a first suspension 208, a second suspension 209, a third suspension 300, a shock absorbing spring 301, a first load wheel 302, a second load wheel 304, a third load wheel 306, a first auxiliary load wheel 303, a second auxiliary load wheel 305, a third auxiliary load wheel 307, a first hexagonal head self-tapping locking screw 402, a second hexagonal head self-tapping locking screw 403, a third hexagonal head self-tapping locking screw 404, and a fourth hexagonal head self-tapping locking screw 405. The first internal hexagonal screw 202 is used to fix the reduction DC servo motor 203 and the track fixing frame 204. The reduction DC servo motor 203 is used to provide power for the driving wheel 205. The track fixing frame 204 provides a supporting and fixing function, and is used to fix the reduction DC servo motor 203, the driving wheel 205, the transmission wheel 207, and the first suspension 208, the second suspension 209, the third suspension 300, and the shock absorbing spring 301 together. The driving wheel 205 transmits the force output by the reduction DC servo motor 203 to the track 206, so as to realize rapid walking on complex terrain. The track 206 is used to contact the ground and walk the planting vehicle. The transmission wheel 207 is used to transmit power, guide direction, prevent the track 206 from deviating and derailing, and keep the tension of the track 206. The first suspension 208 is used to fix the first load wheel 302 and the first auxiliary load wheel 303. The second suspension 209 is used to fix the load wheel 304 and the auxiliary load wheel 305. The third suspension 300 is used to fix the load wheel 306 and the auxiliary load wheel 307. The shock absorbing spring 301 is used to keep the planting vehicle body balanced, stable, and shock-absorbed. The first load wheel 302 supports the track chain, bears weight, and transmits power to the track 206. The first auxiliary load wheel 303, the second auxiliary load wheel 305, and the third auxiliary load wheel 307 are used to assist the load wheels to bear weight. The load wheel 304 and the load wheel 306 support the track chain, bear weight, and transmit power to the track 206. The second internal hexagonal screw 308 is used to fix the first load wheel 302 and the first auxiliary load wheel 303 on the first suspension 208. The third internal hexagonal screw 309 is used to fix the load wheel 304 and the auxiliary load wheel 305 on the second suspension 209.The fourth hexagonal socket screw 400 is used to fix the third load wheel 306 and the third auxiliary load wheel 307 on the third suspension 300; the fifth hexagonal socket screw 401 is used to fix the speed reduction direct current servo motor 203 and the track fixing frame 204; the first hexagonal head self-tapping locking screw 402 is used to connect the first load wheel 302 and the auxiliary load wheel 303; the second hexagonal head self-tapping locking screw 403 is used to connect the second load wheel 304 and the second auxiliary load wheel 305; the third hexagonal head self-tapping locking screw 404 is used to connect the third load wheel 306 and the third auxiliary load wheel 307; the fourth hexagonal head self-tapping locking screw 405 is used to fix the transmission wheel 207 on the fixing frame 204; the sixth hexagonal socket screw 406, the seventh hexagonal socket screw 407 and the eighth hexagonal socket screw 408 are used to fix the mobile walking mechanism on the body frame.

[0083] Specific embodiment nine: combination Figure 16 In this embodiment, the visual device includes a plurality of high-definition wireless cameras and a plurality of explosion-proof wireless cameras, the plurality of high-definition wireless cameras are installed around the body frame of the body frame, and the plurality of explosion-proof wireless cameras are installed in the wind rotation filling mechanism and the hole drilling mechanism.

[0084] The visual device of this embodiment mainly includes a first high-definition wireless camera 501, a second high-definition wireless camera 502, a third high-definition wireless camera 503, a fourth high-definition wireless camera 504, and a first explosion-proof wireless camera 505 and a second explosion-proof wireless camera 506; the first high-definition wireless camera 501, the second high-definition wireless camera 502, the third high-definition wireless camera 503, and the fourth high-definition wireless camera 504 are installed around the body frame, and are used to observe the surrounding environment; the first explosion-proof wireless camera 505 and the second explosion-proof wireless camera 506 are installed in the hole drilling mechanism and the wind rotation filling mechanism, and are used to observe the drilling position and the filling effect, and transmit data to the server.

[0085] Specific embodiment ten: combination Figure 17 In this embodiment, the planting method is characterized in that it comprises the following steps:

[0086] Step one, start the multifunctional integrated automatic desert planting vehicle, and perform self-checking on the equipment; if the self-checking is unqualified, the equipment needs to be manually maintained until the maintenance is qualified and the next step is performed;

[0087] Step two, the multifunctional automatic desert planting vehicle reaches the designated location in the desert, at which time the surrounding environment is observed by the high-definition wireless camera around the planting vehicle to determine whether the planting conditions are met;

[0088] Step three, the device self-checks the supplies, if one of the water source, sapling or nutrient solution is missing, the planting vehicle sends a signal through the antenna, and the unmanned aerial vehicle transports the signal in a targeted manner according to the positioning of the planting vehicle, if the supplies are not missing, the next step is performed;

[0089] Step four, the explosion-proof wireless camera in the hole drilling mechanism finds the hole drilling position, when no suitable position is found, the planting vehicle moves to complete the fine adjustment, when a suitable position is found, the hole drilling is started, and after the hole drilling is completed, the explosion-proof wireless camera records the position;

[0090] Step five, the planting vehicle translates to move the hole drilling position to the position directly below the wind-rotating filling mechanism, at which time the explosion-proof wireless camera in the wind-rotating filling mechanism is positioned and corrected according to the data of the explosion-proof wireless camera in the hole drilling mechanism;

[0091] Step six, after the position is confirmed, the wind cover moves down, the clamping mechanism clamps the sapling and sends it into the sapling conveying pipe, and the sapling is inserted into the hole drilled in step four;

[0092] Step seven, the wind-rotating filling mechanism operates, and after the filling action is completed, water and nutrient solution are sprayed;

[0093] Step eight, the explosion-proof wireless camera in the wind-rotating filling mechanism takes a photo, uploads the server, automatically compares, and confirms whether the planted sapling is qualified, if not, the filling needs to be performed again, that is, step seven is repeated. If it is qualified, the wind cover moves up, and the planting vehicle moves to find the next station;

[0094] Step nine, steps three to eight are repeated to realize the automatic planting of the specified desert area.

[0095] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-functional integrated automated desert planting vehicle, comprising a body frame, characterized in that: It also includes solar energy mechanisms, seedling storage mechanisms, clamping mechanisms, wind-driven landfill mechanisms, water storage mechanisms, drilling mechanisms, tracked mobile walking mechanisms, and vision devices. The tracked mobile walking mechanism is installed at the four corners of the lower end of the body frame to drive the body frame to move. The wind vortex landfill mechanism, water storage mechanism and drilling mechanism are installed at the bottom of the body frame from left to right. The vision device is arranged around the lower part of the body frame. The seedling storage mechanism is located above the drilling mechanism, and the water storage mechanism continuously replenishes water to the roots of the seedling storage mechanism and waters the newly planted seedlings. The clamping mechanism is installed on the upper part of the machine frame and can move in both horizontal and vertical directions. The solar energy mechanism is installed outside the machine frame, and the upper part of the solar energy mechanism has an openable cover installed on the upper end of the machine frame to shade the seedlings. The wind-driven landfill mechanism includes a lifting drive mechanism, a fan box (72), a duct fan (73), a wind pressure pipe (74), a seedling delivery pipe (75), a discharge port (76), a nutrient solution valve (77), a nozzle valve (78), a wind-fixing hood (409), and a pulley (79). The fixed wind cover (409) has multiple wind pressure pipes (74) installed in the circumferential direction. Each wind pressure pipe (74) has a fan box (72) installed inside, and a ducted fan (73) is installed inside the fan box (72). The rotation of the ducted fan (73) generates wind power for landfilling. The seedling delivery pipe (75) is vertically installed in the center of the fixed wind cover (409). The lower part of the seedling delivery pipe (75) is provided with a discharge port (76). The nutrient solution valve (77) and the nozzle valve (78) are installed on the fixed wind cover (409). The nutrient solution valve (77) is connected to the copper water pipe (86) of the second discharge port of the water storage mechanism. The sliding wheel (79) is installed on the side wall of the fixed wind cover (409). The lifting drive mechanism is fixedly connected to the fixed wind cover (409) and drives the fixed wind cover (409) to lift as a whole.

2. The multi-functional integrated automated desert planting vehicle according to claim 1, characterized in that: The solar energy mechanism includes a signal receiving antenna (1), a large solar panel (2), two small solar panels (3), a solar connecting rod (4), a rocker arm (5), a large gear (7), a small gear (8), and a DC geared stepper motor (9). Two small solar panels (3) are mounted on opposite upper edges of the upper surface of the frame, and the two small solar panels (3) are opened and closed manually. One end of the large solar panel (2) is horizontally slidably mounted on the upper edge of the upper surface of the frame and located on one side of the two small solar panels (3). The other end of the large solar panel (2) is supported by the frame. The DC geared stepper motor (9) is mounted on the lower part of the outer side of the frame. The output shaft of the DC geared stepper motor (9) is connected to the small gear (8) after being rotated. The large gear (7) is rotatably mounted on the lower part of the outer side of the frame and meshes with the small gear (8). One end of the rocker arm (5) is fixed by a hexagonal head screw (6). The lower end of the solar connecting rod (4) is rotatably mounted on the frame of the machine body on the axle of the large gear (7). The lower middle and upper parts of the solar connecting rod (4) are respectively provided with elongated holes. The other end of the connecting rocker arm (5) is slidably inserted into the elongated hole in the lower middle part of the solar connecting rod (4). The actuating shaft at one end of the large solar panel (2) is inserted into the elongated hole in the upper part of the solar connecting rod (4). During the swing of the lower part of the solar connecting rod (4), the large solar panel (2) is driven to slide horizontally, thereby realizing the opening and closing of the large solar panel (2) on the upper surface of the frame of the machine body.

3. The multi-functional integrated automated desert planting vehicle according to claim 2, characterized in that: The gripping mechanism includes a lateral moving component, two longitudinal moving components, and a gripping unit. The gripping unit is slidably mounted on the transverse moving assembly via pulleys, and moves laterally on the transverse moving assembly under the drive of the belt drive; both ends of the transverse moving assembly are respectively mounted on a longitudinal moving assembly, and the two longitudinal moving assemblies together drive the transverse moving assembly and the gripping unit to move longitudinally. The gripping unit includes a left gripper (26), a right gripper (27), a linkage rod (28), a gripper disc (29), a main cylinder (32), a gripping pulley (33), a middle cylinder shaft (34), a left cylinder shaft (35), a right cylinder shaft (36), a left connecting rod (42), and a right connecting rod (43). The upper part of the main cylinder (32) is mounted on the lower part of the clamping plate, which is slidably mounted on the transverse moving assembly by the clamping pulley (33) mounted on its upper part, and is able to move laterally on the transverse moving assembly; The lower end of the main cylinder (32) is connected to the upper end of the intermediate cylinder shaft (34), and the lower end of the intermediate cylinder shaft (34) slides through the gripper disk (29) and is connected to a linkage rod (28) on the left and right sides respectively. The left cylinder shaft (35) and the right cylinder shaft (36) are located on the left and right sides of the main cylinder (32) and are connected to the gripper disk (29) to drive the gripper disk (29) to lift. The upper ends of the left gripper (26) and the right gripper (27) are rotatably connected to the gripper disk (29). Under the extension and retraction of the main cylinder (32), the middle part of the left gripper (26) and the right gripper (27) are driven by the linkage rod (28) to move inward or outward at the same time to achieve the gripping action.

4. The multi-functional integrated automated desert planting vehicle according to claim 3, characterized in that: The lateral movement assembly includes a long slide rail (10), a limit plate (12), a limit switch (13), a fixed plate (14), a first pulley (15), a lateral movement drive motor (23), a second pulley (19), a left sliding wheel of the long slide rail (20), a long transmission belt (21), a right sliding wheel of the long slide rail (22), and a sliding plate (18). The left sliding wheel (20) of the long slide rail is installed on the left end of the long slide rail (10) via a sliding plate (18), and the right sliding wheel (22) of the long slide rail is installed on the output shaft of the lateral movement drive motor (23) located on the right side of the long slide rail (10). The left sliding wheel (20) and the right sliding wheel (22) of the long slide rail are connected by a long transmission belt (21). The clamping unit is connected to the long transmission belt (21) and moves laterally under the movement of the long transmission belt (21). The second pulley (19) and the first pulley (15) are respectively installed on the lower left and lower right sides of the long slide rail (10) for longitudinal movement of the long slide rail (10). The limit plate (12) is fixedly installed on the right side of the long slide rail (10) by the fixing plate (14), and the limit switch (13) is installed on the left side of the limit plate (12).

5. The multi-functional integrated automated desert planting vehicle according to claim 4, characterized in that: The two longitudinal moving components have the same structure and are arranged opposite to each other. The longitudinal moving components include a left longitudinal moving drive motor (44), a left short slide rail (45), a left short transmission belt (46), a left sliding wheel of the left short slide rail (47), and a right sliding wheel of the left short slide rail (48). The left longitudinal movement drive motor (44) is installed on the left side of the left short slide rail (45), the left slide wheel (47) of the left short slide rail is installed on the output shaft of the left longitudinal movement drive motor (44), and the left slide wheel (47) of the left short slide rail and the right slide wheel (48) of the left short slide rail located on the right side of the left short slide rail (45) are connected by the left short transmission belt (46).

6. The multi-functional integrated automated desert planting vehicle according to claim 5, characterized in that: in, The lifting drive mechanism includes a rack (62), a rack and pinion (63), a worm gear (64), a worm (65), a transmission wheel (66), a transmission belt (69), a rotating wheel (70), and a first stepper motor (71). The first stepper motor (71) is installed inside the machine frame. The output shaft of the first stepper motor (71) is connected to the rotating wheel (70). The transmission wheel (66) and the worm gear (65) are arranged coaxially, and the transmission wheel (66) and the rotating wheel (70) are connected by a transmission belt (69). The first stepper motor (71) transmits rotational power to the rotating wheel (70), which drives the transmission wheel (66) to rotate via the transmission belt (69). The transmission wheel (66) transmits power to the worm (65), which meshes with the worm gear (64), which meshes with the rack gear (63), which meshes with the rack (62), thereby driving the overall lifting and lowering of the air shroud (409).

7. A multi-functional integrated automated desert planting vehicle according to claim 6, characterized in that: The water storage mechanism includes a water tank wall (81), a water pump (82), a filter port (83), a bottom copper water pipe (84), a first outlet copper water pipe (85), a second outlet copper water pipe (86), and a water tank pull-out sliding assembly; The water pump (82) is installed on the water tank wall (81), the filter port (83) is installed on the water suction side of the water pump (82), and the bottom copper water pipe (84) is horizontally arranged inside the water tank wall (81) and supplies water to the plant chamber (61) of the seedling storage mechanism to maintain the activity of the plants. One end of the first outlet copper water pipe (85) and the second outlet copper water pipe (86) are both connected to the water tank wall (81). The other ends of the first outlet copper water pipe (85) and the second outlet copper water pipe (86) are respectively connected to the nutrient solution valve (77) and the nozzle valve (78) for spraying water and nutrient solution onto the plants. The water tank pull-out sliding assembly is slidably inserted into the machine frame. The water tank sliding assembly includes a water tank base (87), a water tank bottom cylinder push rod (88), a guide wheel (89), and a guide wheel connecting rod (90). The water tank bottom cylinder push rod (88) is installed inside the machine frame, the water tank base (87) is installed on the lower end of the water tank wall (81), and the guide wheel (89) is installed on both sides of the water tank base (87) through the guide wheel connecting rod (90). The water tank base (87) and the water tank wall (81) are slidably installed inside the machine frame under the extension and retraction action of the water tank bottom cylinder push rod (88).

8. A multi-functional integrated automated desert planting vehicle according to claim 7, characterized in that: The drilling mechanism includes a drilling rig lifting drive unit, a drilling rig frame (100), a drilling rig (95), and a drilling rig rotation drive unit; The drilling rig lifting drive unit is installed on the machine frame. The drilling rig frame (100) is installed on the drilling rig lifting drive unit and is lifted and lowered under the action of the drilling rig lifting drive unit. The drilling rig (95) is vertically installed on the drilling rig frame (100). The drilling rig (95) is driven to rotate and complete drilling under the action of the drilling rotation drive unit installed on the bottom of the drilling rig frame (100). in, The drilling rig lifting drive unit includes a DC geared servo motor (104), a motor mounting base (105), a drilling pit conveyor belt (103), and a bearing pulley (106). The DC geared servo motor (104) is mounted on the machine frame via a motor mounting base (105). The output shaft of the DC geared servo motor (104) is connected to a pulley. The pulley and the bearing pulley (106) are connected by a drilling conveyor belt (103). The rotary drive unit for the ground drill includes a spindle motor (98), a rotary pulley (96), a rotary conveyor belt (97), a rotary sliding bearing (99), a pulley fixing rod (109), a left lifting pulley (107), and a right lifting pulley (108). The pulley fixing rod (109) passes through the center bearings of the left lifting pulley (107) and the right lifting pulley (108), and is fixed at both ends on the drilling frame (100). The left lifting pulley (107) and the right lifting pulley (108) are located inside the drilling frame (100). The pulley fixing rod (109) is connected to the drilling pit conveyor belt (103). The main shaft motor (98) is installed on the drilling frame (100), and the output shaft of the main shaft motor (98) passes through the drilling frame (100) and is connected to the rotary sliding bearing (99). The upper end of the drilling drill (95) is equipped with a rotary pulley (96), and the rotary pulley (96) and the rotary sliding bearing (99) are connected by a rotary conveyor belt (97).

9. A multi-functional integrated automated desert planting vehicle according to claim 8, characterized in that: The vision device includes multiple high-definition wireless cameras and multiple explosion-proof wireless cameras. The high-definition wireless cameras are installed around the body frame, and the explosion-proof wireless cameras are installed inside the cyclone landfill mechanism and the drilling mechanism.

10. A planting method using a multi-functional integrated automated desert planting vehicle as described in any one of claims 1-9, characterized in that: Includes the following steps: Step 1: Start the multi-functional integrated automated desert planting vehicle. The equipment will perform a self-inspection. If the self-inspection fails, the equipment needs to be manually repaired until it passes the inspection. Proceed to the next step. Step 2: Manually remotely control the multi-functional integrated automated desert planting vehicle to the designated location in the desert. At this time, use the high-definition wireless cameras around the planting vehicle to observe whether the surrounding environment meets the planting conditions. Step 3: Equipment self-checks and prepares materials. If one of the following three items—water, seedlings, or nutrient solution—is missing, the planting vehicle will send a signal via its antenna, and the drone will deliver the materials according to the planting vehicle's location. If the materials are not missing, proceed to the next step. Step 4: The explosion-proof wireless camera inside the drilling mechanism locates the drilling position. If a suitable position is not found, the planting vehicle moves to complete the fine adjustment. When a suitable position is found, drilling begins. After drilling is completed, the explosion-proof wireless camera records the position. Step 5: The planting vehicle is moved horizontally to place the drilling pit directly below the cyclone landfill mechanism. At this time, the explosion-proof wireless camera inside the cyclone landfill mechanism is positioned and corrected based on the data from the explosion-proof wireless camera inside the drilling mechanism. Step Six: After confirming the position, the windproof cover moves down, the clamping mechanism clamps the sapling and sends it into the sapling delivery pipe, inserting it into the pit drilled in Step Four. Step 7: The cyclone landfill mechanism operates and, after completing the landfilling process, begins spraying water and nutrient solution. Step 8: The explosion-proof wireless camera inside the cyclone landfill mechanism takes photos, uploads them to the server, and automatically compares them to confirm whether the planted seedlings are qualified. If they are not qualified, the landfill needs to be redone, i.e., repeat step 7; if they are qualified, the wind cover moves up and the planting vehicle moves to find the next work station. Step 9: Repeat steps 3 through 8 to achieve automated planting in the designated desert area.

Images