Intelligent efficient mechanical transplanting system and method for watermelon and melon pot seedlings

Abstract

The invention provides an intelligent efficient mechanical transplanting system and method for watermelon and melon pot seedlings, and relates to the technical field of agricultural instrument control. The intelligent efficient mechanical transplanting system for the watermelon and melon pot seedlings comprises a flexible grabbing and water injection module, a transplanting driving module, a humidity monitoring module and a control module, wherein the flexible grabbing and water injection module is used for grabbing or placing the watermelon and melon pot seedlings and performing water injection treatment on transplanting positions of the watermelon and melon pot seedlings; the transplanting driving module is used for driving the flexible grabbing water injection module to move in the space; the humidity monitoring module is used for detecting the soil humidity at the position of the watermelon pot seedling; and the control module is used for generating a control instruction according to the pot seedling image and the soil humidity information so as to complete transplanting treatment of the watermelon and melon pot seedlings through the control instruction. According to the technical scheme, the problem that pot seedlings are prone to damage in the mechanical grabbing process can be effectively solved, the survival rate of the pot seedlings is increased, automatic operation of the pot seedlings is achieved, and the transplanting efficiency is improved.

Description

Background Art

[0002] In agricultural production, mechanized transplanting of cantaloupe helps improve work efficiency and survival rate. However, due to the fragile stems, large plant shape and poor uprightness of cantaloupe seedlings, the traditional mechanical transplanting process is prone to damage to the seedlings and inaccurate transplanting due to mechanical operation. Especially in dryland conditions, it is difficult for the seedlings to quickly adapt to the environment after transplanting, and the survival rate is low.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The purpose of the embodiments of the present disclosure is to provide an intelligent and efficient mechanized transplanting system and method for watermelon seedlings in pots, thereby ensuring the transplanting efficiency while improving the accuracy of transplanting and increasing the transplanting survival rate of watermelon seedlings in pots.

[0005] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0006] According to a first aspect of an embodiment of the present disclosure, there is provided an intelligent and efficient mechanized transplanting system for watermelon seedlings in pots, comprising: A flexible grabbing and watering module is used to grab or place the cantaloupe seedlings to be transplanted, and to perform watering treatment on the transplanting positions corresponding to the cantaloupe seedlings; A transplanting drive module is mechanically connected to the flexible grabbing and watering module, and is used to obtain the seedling image of the muskmelon seedling, and drive the flexible grabbing and watering module to move in space, so that the flexible grabbing and watering module reaches the transplanting position to perform a transplanting operation on the muskmelon seedling; A humidity monitoring module, arranged on the flexible grabbing and water injection module, for detecting soil humidity information at a transplanting position corresponding to the muskmelon seedlings in pots; The control module is electrically connected to the flexible grabbing and watering module, the transplanting drive module and the humidity monitoring module, and is used to generate control instructions according to the received seedling image and the soil moisture information, so as to control the flexible grabbing and watering module and the transplanting drive module through the control instructions to complete the transplanting process of the watermelon seedlings in the pot.

[0007] In some exemplary embodiments of the present disclosure, based on the aforementioned solution, the flexible grabbing water injection module includes: A flexible clamping claw, one end of which is mechanically connected to the transplanting drive module, and is used to grab or place the muskmelon seedling in the pot after the transplanting drive module moves to the transplanting position; A water injection nozzle is arranged on one end of the flexible clamping claw away from the transplanting drive module and is connected to the water injection channel pipe in the flexible clamping claw. It is used to inject water into the transplanting position when the flexible clamping claw grabs or places the watermelon seedling in the pot to soften the soil at the transplanting position.

[0008] In some exemplary embodiments of the present disclosure, based on the aforementioned solution, the flexible clamping claw includes: A support frame body, one end of which is mechanically connected to the transplant drive module; At least three flexible grasping fingers are hingedly mounted on the support frame body at a side away from the transplanting drive module, each of the flexible grasping fingers is made of elastic silicone, and is embedded with an air bag capable of adjusting the stiffness of the flexible grasping fingers, and the flexible grasping fingers are opened and closed synchronously or independently, so as to complete the grasping or placing of the muskmelon seedlings in the pot through the coordinated work between the flexible grasping fingers; The pressure sensor is arranged on the inner side of the flexible grasping fingers, and is used to monitor the current clamping force of each flexible grasping finger on the watermelon seedling in real time, and feed back the current clamping force to the control module, so that the control module adjusts the clamping force of the flexible grasping fingers on the watermelon seedling according to the control instructions.

[0009] In some exemplary embodiments of the present disclosure, based on the aforementioned solution, the flexible clamping claw further includes: A pneumatic hydraulic driver, fixed on the support frame body and in driving connection with the flexible clamping claw, for inflating and deflating the airbag in the flexible grasping finger to adjust the rigidity of the flexible grasping finger and control the opening and closing of each flexible grasping finger; An adaptive angle adjuster is arranged between the flexible grasping fingers and the support frame body, and includes an angle adjuster driven by a motor, which is transmission-connected to the hinge between the flexible grasping fingers and the support frame body through a transmission gear set, and is used to adjust the relative angle between the flexible grasping fingers according to the volume and shape of the watermelon seedlings in the pot.

[0010] In some example embodiments of the present disclosure, based on the above solution, the control module is configured as follows: Get the current clamping force and current stiffness fed back by the pressure sensor; Inputting the current clamping force and the current stiffness into a preset clamping control model, outputting a target clamping force and a target stiffness, and transmitting the target clamping force and the target stiffness to the pneumatic hydraulic driver to control the clamping force of the flexible clamping claw and the stiffness of the flexible grasping finger; The clamping control model is expressed by the following expression: ; in, Indicates time, represents the current clamping force, represents the current pressure currently applied by the pneumatic hydraulic actuator, represents the effective clamping area of ​​the flexible clamping claw, represents the target pressure of the pneumatic and hydraulic actuator when the target clamping force is reached, represents the target clamping force, and They represent proportional gain and integral increase respectively, which are used to adjust the clamping force; represents the gas pressure delivered to the interior of the airbag of the flexible gripping finger, represents the current stiffness, represents the target stiffness, Represents the proportional gain of stiffness control, which is used to adjust the response speed of stiffness adjustment. Represents the differential gain of the stiffness control, which is used to adjust the stability during the stiffness change process.

[0011] In some exemplary embodiments of the present disclosure, based on the above solution, the transplanting drive module includes: A seedling pot identification unit, comprising an image sensor, is disposed on one end of the transplanting drive module close to the flexible grabbing and water injection module, and is used to collect a seedling pot image corresponding to the muskmelon seedling pot; A multi-degree-of-freedom mechanical arm, one end of the flexible grasping and watering module is fixedly connected to the free moving end of the multi-degree-of-freedom mechanical arm, and is used to drive the flexible grasping and watering module to move in space, so that the flexible grasping and watering module reaches the transplanting position to perform a transplanting operation on the muskmelon seedlings; The multi-degree-of-freedom robotic arm comprises a position sensor, which is arranged at each motion joint of the multi-degree-of-freedom robotic arm and is used to provide real-time feedback of the motion posture of the multi-degree-of-freedom robotic arm to the control module.

[0012] In some exemplary embodiments of the present disclosure, based on the above solution, the transplanting position includes a grabbing position and a placing position, and the control module includes: Determining the grabbing position according to the seedling pot image, and acquiring the preset placement position; Determine a grasping path by the current motion posture of the multi-degree-of-freedom robotic arm and the grasping position, and control the multi-degree-of-freedom robotic arm to drive the flexible grasping and water injection module to the grasping position to grasp the muskmelon seedling according to the grasping path; and Determine a placement path through the grasping position and the placement position, and control the multi-degree-of-freedom mechanical arm to drive the flexible grasping and water injection module to the placement position to place the muskmelon seedlings in the pot according to the placement path, and complete the transplanting; The grabbing path and placement path are obtained by solving the following relationship group: ; ; ; ; ; ; in, represents the state vector of the multi-DOF manipulator, represents the joint angle of the i-th robot joint, represents the angular velocity of the i-th robot joint, represents the position coordinates of the free moving end of the multi-degree-of-freedom manipulator, Represents the forward kinematics equation, which determines the end position of the robot arm by the given joint angles of the robot arm joints. represents the coordinates of the grasping position, represents the coordinates of the placement position, represents the target joint angle of each robot arm joint calculated by the coordinates of the grasping position or the coordinates of the placement position, so that the end position of the robot arm can reach the grasping position or the placement position, represents the input data of the i-th robot joint, The proportional gain representing the position error is used to adjust the response speed of the robot arm towards the target position. It represents the differential gain of velocity feedback, which is used to suppress oscillation to improve the motion stability of the robot arm. Represents the solved grabbing path and placement path, Represents the system matrix, which is used to describe the internal relationship of the robot arm dynamics system. Represents the input matrix, which is used to describe the impact of the control input on the motion state of the robot.

[0013] In some example embodiments of the present disclosure, based on the above solution, the control module is configured as follows: Get the preset soil moisture threshold; In response to detecting that the soil moisture information fed back by the humidity monitoring module is less than the soil moisture threshold, the grasping action is suspended, and the water injection nozzle of the flexible grasping and water injection module is controlled to inject water to the transplanting position corresponding to the watermelon seedlings in the pot until the latest feedback soil moisture information is greater than or equal to the soil moisture threshold, and then the grasping action on the watermelon seedlings is continued.

[0014] In some example embodiments of the present disclosure, based on the above solution, the control module is configured as follows: Determining the water injection amount of the flexible grabbing water injection module according to the soil moisture threshold; Wherein, the water injection volume is expressed by the following relationship: ; in, represents the water injection volume of the flexible grabbing water injection module, represents the soil moisture information at the current moment detected by the humidity monitoring module, represents the soil moisture threshold, and Represents proportional gain and integral gain.

[0015] According to a second aspect of the embodiments of the present disclosure, there is provided a method for intelligent and efficient mechanized transplanting of muskmelon seedlings in pots, which is applied to the intelligent and efficient mechanized transplanting system for muskmelon seedlings in pots in the first aspect, and the method comprises: The transplanting drive module is used to obtain a seedling image of the muskmelon seedling to be transplanted, and a movement control instruction is generated according to the seedling image. The movement control instruction is used to control the transplanting drive module to drive the flexible grasping and water injection module to move in space, so that the flexible grasping and water injection module reaches the transplanting position to transplant the muskmelon seedling, and controls the clamping force of the flexible grasping and water injection module on the muskmelon seedling; The soil moisture information at the transplanting position corresponding to the muskmelon seedlings is collected through the humidity monitoring module, and a soil softening control instruction is generated according to the soil moisture information. The soil softening control instruction is used to control the flexible grasping and watering module to suspend the grasping action when it detects that the soil moisture information is less than the soil moisture threshold, and continue the grasping action for the muskmelon seedlings after injecting water into the transplanting position corresponding to the muskmelon seedlings.

[0016] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device comprising: a processor; and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method for intelligent and efficient mechanized transplanting of cantaloupe seedlings in pots in the second aspect is implemented.

[0017] According to a fourth aspect of an embodiment of the present disclosure, there is provided a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the intelligent and efficient mechanized transplanting method for cantaloupe seedlings in pots in the second aspect.

[0018] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: The intelligent and efficient mechanized transplanting system for cantaloupe seedlings in pots in the example embodiments of the present disclosure can effectively reduce the problem of the cantaloupe seedlings being easily damaged during the mechanical grasping process by grasping or placing the cantaloupe seedlings to be transplanted, and injecting water into the transplanting positions corresponding to the cantaloupe seedlings, thereby reducing the damage rate of the cantaloupe seedlings during the transplanting process. At the same time, the water injection treatment can effectively avoid the problem of damaging the stems and roots of the cantaloupe seedlings when grasping the cantaloupe seedlings in pots when the soil is dry, thereby improving the transplanting survival rate of the cantaloupe seedlings. The transplanting drive module can acquire the seedling image of the cantaloupe seedlings, and drive the flexible grasping and water injection module to move in space, so as to achieve the goal of The combined seedling image can effectively improve the accuracy of the flexible grasping and watering module moving to the transplanting position, thereby improving the accuracy of the transplanting position of the watermelon seedlings; the humidity monitoring module collects the soil moisture information at the transplanting position corresponding to the watermelon seedlings, which can reduce the amount of water injection while ensuring the soft grasping of the watermelon seedlings, saving water resources and reducing the loss of seedlings from the soil; and the control module generates control instructions according to the seedling image and soil moisture information, and controls the flexible grasping and watering module and the transplanting drive module through the control instructions to collaboratively complete the transplanting of the watermelon seedlings, which can greatly improve the transplanting efficiency and further improve the transplanting survival rate of the seedlings.

[0019] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0021] Figure 1 The present invention schematically shows the composition of an intelligent and efficient mechanized transplanting system for cantaloupe seedlings in pots according to some embodiments of the present disclosure.

[0022] Figure 2 The schematic diagram shows the composition of a flexible grabbing and water injection module according to some embodiments of the present disclosure.

[0023] Figure 3 The figure schematically shows the composition of the transplanting drive module according to some embodiments of the present disclosure.

[0024] Figure 4 The present invention schematically shows a flow chart of a method for intelligent and efficient mechanized transplanting of cantaloupe seedlings in pots according to some embodiments of the present disclosure.

[0025] Figure 5 A schematic diagram of the structure of a computer system of an electronic device according to some embodiments of the present disclosure is schematically shown.

[0026] Figure 6 A schematic diagram of a computer-readable storage medium according to some embodiments of the present disclosure is schematically shown.

[0027] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0028] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this specification. Instead, they are merely examples of devices and methods consistent with some aspects of this specification as detailed in the appended claims.

[0029] It should be understood that although the terms first, second, third, etc. may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this specification, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0030] In addition, the described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the present disclosure.

[0031] Furthermore, the drawings are only schematic illustrations and are not necessarily drawn to scale. The block diagrams shown in the drawings are only functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0032] In this exemplary embodiment, firstly, a system for intelligent and efficient mechanized transplanting of cantaloupe seedlings in pots is provided. Figure 1 The following schematically shows the components of an intelligent and efficient mechanized transplanting system for cantaloupe seedlings in pots according to some embodiments of the present disclosure. Figure 1 As shown, the watermelon seedling intelligent and efficient mechanized transplanting system 100 may include a flexible grabbing and watering module 110, a transplanting driving module 120, a humidity monitoring module 130 and a control module 140. Among them: The flexible grabbing and watering module 110 can be used to grab or place the muskmelon seedlings to be transplanted, and to perform watering treatment on the transplanting position corresponding to the muskmelon seedlings; the transplanting drive module 120 can be mechanically connected to the flexible grabbing and watering module 110, and is used to obtain the seedling image of the muskmelon seedlings, and drive the flexible grabbing and watering module to move in space, so that the flexible grabbing and watering module reaches the transplanting position to perform the transplanting operation on the muskmelon seedlings; the humidity monitoring module 130 can be arranged on the flexible grabbing and watering module 110, and is used to detect the soil moisture information at the transplanting position corresponding to the muskmelon seedlings; the control module 140 can be electrically connected to the flexible grabbing and watering module 110, the transplanting drive module 120 and the humidity monitoring module 130, and is used to generate a control instruction according to the received seedling image and soil moisture information, so as to control the flexible grabbing and watering module and the transplanting drive module through the control instruction, and complete the transplanting treatment of the muskmelon seedlings.

[0033] By using the flexible grasping and watering module 110 to grasp or place the cantaloupe seedlings to be transplanted and injecting water at the transplanting position corresponding to the cantaloupe seedlings, the problem of the cantaloupe seedlings being easily damaged during the mechanical grasping process can be effectively reduced, and the damage rate of the cantaloupe seedlings during the transplanting process can be reduced. At the same time, the watering treatment can effectively avoid the problem of damaging the stems and roots of the cantaloupe seedlings when grasping the cantaloupe seedlings in dry soil, thereby improving the transplanting survival rate of the cantaloupe seedlings.

[0034] The transplanting drive module 120 can obtain the seedling image of the watermelon seedling and drive the flexible grasping and watering module 110 to move in space. The accuracy of the flexible grasping and watering module 110 moving to the transplanting position can be effectively improved in combination with the seedling image, thereby improving the accuracy of the transplanting position of the watermelon seedling.

[0035] The humidity monitoring module 130 can be used to collect soil humidity information at the transplanting position corresponding to the watermelon seedlings in the pot, so as to ensure the gentle grasping of the watermelon seedlings in the pot, reduce the amount of water injection, save water resources and reduce the loss of the seedlings from the soil.

[0036] The control module 140 can generate control instructions based on the seedling pot image and soil moisture information, and control the flexible gripping and water injection module 110 and the transplanting drive module 120 through the control instructions to collaboratively complete the transplanting of the watermelon seedlings in the pot, which can greatly improve the transplanting efficiency and further improve the transplanting survival rate of the seedlings in the pot.

[0037] Next, the intelligent and efficient mechanized transplanting system 100 for cantaloupe seedlings in pots in this exemplary embodiment will be further described.

[0038] In an exemplary embodiment of the present disclosure, reference Figure 2 As shown, the flexible gripping water injection module 110 may include a flexible clamping claw 111 and a water injection nozzle 112, wherein: The flexible clamping claw 111 can be mechanically connected to the transplanting drive module 120 at one end, and is used to grab or place the watermelon seedlings in the pot after the transplanting drive module 120 moves to the transplanting position; the water injection nozzle 112 can be set on the end of the flexible clamping claw 111 away from the transplanting drive module 120, and is connected to the water injection channel pipe in the flexible clamping claw 111, and is used to inject water into the transplanting position when the flexible clamping claw 111 grabs or places the watermelon seedlings in the pot, so as to soften the soil at the transplanting position.

[0039] The flexible clamping claws 111 can be used to provide flexible protection for the watermelon seedlings when they are grabbed, thereby reducing mechanical damage caused by the flexible clamping claws when clamping the watermelon seedlings and reducing the damage rate of the seedlings. At the same time, the water injection nozzles 112 can be used to accurately inject water into the root soil of the watermelon seedlings, thereby reducing mechanical damage to the roots of the seedlings caused by dry soil when grabbing the seedlings, and effectively improving the survival rate of the transplanted watermelon seedlings.

[0040] Optionally, the flexible clamping claw may be provided with a support frame body, at least three flexible gripping fingers and a pressure sensor. The support frame body can be mechanically connected to the transplant drive module 120 at one end; at least three flexible grasping fingers can be installed on the side of the support frame body away from the transplant drive module 120 in a hinged manner, and each flexible grasping finger can be made of elastic silicone. It can be understood that the flexible grasping finger can be made entirely of elastic silicone, or can be partially made of elastic silicone and partially made of metal. This example embodiment does not specifically limit the detailed structure of the flexible grasping finger.

[0041] The flexible grasping finger can be embedded with an air bag that can adjust the stiffness of the flexible grasping finger. By filling the air bag with different gas pressures, different stiffness of the flexible grasping finger can be achieved. For example, the greater the gas pressure filled into the air bag, the greater the stiffness of the flexible grasping finger; similarly, the smaller the gas pressure filled into the air bag, the smaller the stiffness of the flexible grasping finger. The flexible grasping fingers can be opened and closed synchronously or independently, so as to complete the grasping or placing of the melon seedlings in the pot through the coordinated work of the flexible grasping fingers.

[0042] The pressure sensor can be set on the inner side of the flexible gripping fingers to monitor the current clamping force of each flexible gripping finger on the watermelon seedlings in real time, and feed back the current clamping force to the control module 140 so that the control module 140 adjusts the clamping force of the flexible gripping fingers on the watermelon seedlings according to the control instructions.

[0043] By adjusting the clamping force and stiffness, the flexible clamping claw can automatically adjust the gripping clamping force and stiffness according to the characteristics of the cantaloupe seedlings, thereby better protecting the cantaloupe seedlings, achieving flexible gripping, and effectively reducing the mechanical damage of the flexible clamping claws to the cantaloupe seedlings during the gripping process. At the same time, it can also ensure the stability of the gripping and prevent the cantaloupe seedlings from falling during the transplanting process.

[0044] Optionally, the flexible clamping claw may also include a pneumatic hydraulic drive and an adaptive angle adjuster, wherein: The pneumatic hydraulic driver can be fixed on the support frame body and is transmission-connected to the flexible clamping claw to inflate and deflate the airbag in the flexible grasping finger to adjust the rigidity of the flexible grasping finger and control the opening and closing of each flexible grasping finger.

[0045] An adaptive angle adjuster can be arranged between the flexible grasping fingers and the support frame body, including an angle adjuster driven by a motor, which can be connected to the hinge between the flexible grasping fingers and the support frame body through a transmission gear set, and is used to adjust the relative angle between the flexible grasping fingers according to the volume and shape of the watermelon seedlings in the pot.

[0046] The pneumatic hydraulic drive can be used to control the stiffness and clamping force of each flexible gripping finger on the flexible gripping claw, further improving the control accuracy of the gripping, clamping force and stiffness of the flexible gripping fingers, and effectively protecting the watermelon seedlings in the pots with the flexible gripping claws. At the same time, combined with the adaptive angle adjuster, the relative angle between the flexible gripping fingers can be adjusted according to the size and shape of the watermelon seedlings in the pots, thereby ensuring that the watermelon seedlings in the pots are stably grasped without being damaged, effectively reducing the mechanical damage to the watermelon seedlings in the pots, and improving the survival rate of the transplanted watermelon seedlings.

[0047] In an optional embodiment, the control module 140 may be configured to implement the following control process: The current clamping force and current stiffness fed back by the pressure sensor can be obtained, and the current clamping force and current stiffness are input into a preset clamping control model, and the target clamping force and target stiffness are output, and the target clamping force and target stiffness are transmitted to the pneumatic hydraulic driver to control the clamping force of the flexible clamping claw and the stiffness of the flexible grasping finger; wherein the clamping control model can be expressed by the relationship group (1): ; (1) in, Can indicate time, Can indicate the current clamping force, It can indicate the current pressure currently applied by the pneumatic and hydraulic actuator. It can represent the effective clamping area of ​​the flexible clamping claw. It can indicate the target pressure of the pneumatic and hydraulic actuator when the target clamping force is reached. can represent the target clamping force, and It can represent proportional gain and integral increase respectively, which are used to adjust the clamping force; It can represent the gas pressure inside the airbag delivered to the flexible gripper finger. It can represent the current stiffness, can represent the target stiffness, It can represent the proportional gain of stiffness control, which is used to adjust the response speed of stiffness adjustment. It can represent the differential gain of stiffness control, which is used to adjust the stability during stiffness change.

[0048] The applied pressure and gas pressure of the pneumatic hydraulic drive are determined by the clamping control model, the current clamping force and the current stiffness, as well as the preset target clamping force and the target stiffness to be achieved. This can effectively improve the control accuracy and stability of the pneumatic hydraulic drive over the clamping force and stiffness of the flexible clamping claws, thereby effectively improving the clamping stability of the flexible clamping claws on the watermelon seedlings and reducing the mechanical damage of the flexible clamping claws to the watermelon seedlings.

[0049] In an exemplary embodiment of the present disclosure, referring to Figure 3 As shown, the transplanting driving module 120 may include a seedling identification unit 121 and a multi-degree-of-freedom robotic arm 122, wherein: The seedling identification unit 121 may include an image sensor, which is arranged on one end of the transplanting drive module 120 close to the flexible grasping and watering module 110, and is used to collect the seedling image corresponding to the watermelon seedling; one end of the flexible grasping and watering module 110 is fixedly connected to the free moving end of the multi-degree-of-freedom robotic arm 122, and is used to drive the flexible grasping and watering module 110 to move in space, so that the flexible grasping and watering module 110 reaches the transplanting position to perform the transplanting operation on the watermelon seedling; wherein the multi-degree-of-freedom robotic arm 122 may include a position sensor, which is arranged at each moving joint of the multi-degree-of-freedom robotic arm 122, and is used to provide real-time feedback of the movement posture of the multi-degree-of-freedom robotic arm 122 to the control module 140.

[0050] Through the seedling identification unit on the transplanting drive module 120, the seedling image corresponding to the watermelon seedling can be accurately identified, so as to obtain the grasping position of the watermelon seedling, improve the grasping accuracy of the watermelon seedling, and effectively avoid mechanical damage to the watermelon seedling due to inaccurate grasping position; at the same time, combined with the multi-degree-of-freedom robotic arm 122, the movement accuracy and movement efficiency of the flexible grasping and watering module 110 can be effectively improved, thereby improving the grasping accuracy and transplanting efficiency of the flexible grasping and watering module 110 for the watermelon seedlings.

[0051] Optionally, the transplanting position may include a grabbing position and a placing position, and the control module 140 may be configured to perform the following control process: The grasping position can be determined according to the seedling pot image, and the pre-set placement position can be obtained; the grasping path can be determined through the current motion posture and grasping position of the multi-degree-of-freedom robotic arm, and the multi-degree-of-freedom robotic arm is controlled according to the grasping path to drive the flexible grasping and water injection module to the grasping position to grasp the watermelon seedling in the pot; and the placement path can be determined through the grasping position and the placement position, and the multi-degree-of-freedom robotic arm is controlled according to the placement path to drive the flexible grasping and water injection module to the placement position to place the watermelon seedling in the pot, and complete the transplanting.

[0052] For example, the grabbing path and the placing path are obtained by solving equations (2) to (7): ; (2) ; (3) ; (4) ; (5) ; (6) ; (7) in, It can represent the state vector of a multi-degree-of-freedom robotic arm. It can represent the joint angle of the i-th robot joint, It can represent the angular velocity of the i-th robotic arm joint, It can represent the position coordinates of the free moving end of the multi-degree-of-freedom robotic arm. The forward kinematics equation can be expressed to determine the end position of the robot arm by the given joint angles of the robot arm joints. Can represent the coordinates of the grab position, Can represent the coordinates of the placement location, It can represent the target joint angle of each robot joint calculated by the coordinates of the grasping position or the coordinates of the placement position, so that the end position of the robot arm can reach the grasping position or the placement position, It can represent the input data of the i-th robot joint, The proportional gain that can represent the position error is used to adjust the response speed of the robot arm toward the target position. It can represent the differential gain of velocity feedback, which is used to suppress oscillation to improve the motion stability of the robot arm. It can represent the solved grabbing path and placement path, The system matrix can be expressed to describe the internal relationship of the robot dynamics system. The input matrix can be represented to describe the influence of the control input on the motion state of the robot.

[0053] By determining the grasping path and the placing path, and controlling the grasping action and the placing action of the multi-degree-of-freedom robot arm respectively through the grasping path and the placing path, the accuracy and efficiency of the grasping action and the placing action of the multi-degree-of-freedom robot arm can be effectively improved, thereby improving the accuracy and efficiency of the transplanting process.

[0054] In some example embodiments of the present disclosure, the control module 140 may be configured to perform the following control process: A preset grasping soil moisture threshold can be obtained; in response to detecting that the soil moisture information fed back by the humidity monitoring module 130 is less than the soil moisture threshold, the grasping action is suspended, and the water injection nozzle of the flexible grasping water injection module 110 is controlled to inject water to the transplanting position corresponding to the muskmelon seedlings in the pot, until the latest feedback soil moisture information is greater than or equal to the soil moisture threshold, and then the grasping action on the muskmelon seedlings in the pot is continued.

[0055] The soil moisture information fed back by the humidity monitoring module 130 is used to accurately control the water injection amount of the water injection nozzle to ensure the flexible grasping of the watermelon seedlings in the pot and avoid mechanical damage to the seedlings caused by grasping the seedlings when the soil is dry. At the same time, the water is accurately supplied in an appropriate amount after transplanting to save water resources and reduce the problem of soil loss at the roots of the seedlings when the water injection amount is too large, thereby further improving the transplant survival rate of the seedlings.

[0056] Optionally, the control module 140 may be configured to perform the following control process: The water injection amount of the flexible grasping water injection module can be determined according to the soil moisture threshold. For example, the water injection amount can be determined by equation (8): ; (8) in, It can represent the water injection volume of the flexible grab water injection module. It can represent the soil moisture information detected by the humidity monitoring module at the current moment. can represent the soil moisture threshold, and They can represent proportional gain and integral gain respectively.

[0057] It should be noted that although several modules or units of the intelligent and efficient mechanized transplanting system for watermelon seedlings in pots are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be concretized in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0058] In addition, in this exemplary embodiment, a method for intelligent and efficient mechanized transplanting of melon seedlings in pots is also provided, which is applied to the intelligent and efficient mechanized transplanting system for melon seedlings in pots in the disclosed embodiment, referring to Figure 4 As shown, the method may include: Step S410, obtaining a seedling image of the muskmelon seedling to be transplanted through the transplanting drive module, and generating a movement control instruction according to the seedling image, wherein the movement control instruction is used to control the transplanting drive module to drive the flexible grasping and water injection module to move in space, so that the flexible grasping and water injection module reaches the transplanting position to transplant the muskmelon seedling, and controls the clamping force of the flexible grasping and water injection module on the muskmelon seedling; Step S420, collecting soil moisture information at the transplanting position corresponding to the muskmelon seedlings in pots through the humidity monitoring module, and generating a soil softening control instruction according to the soil moisture information, wherein the soil softening control instruction is used to control the flexible grasping and watering module to suspend the grasping action upon detecting that the soil moisture information is less than the soil moisture threshold, and continue the grasping action for the muskmelon seedlings after injecting water into the transplanting position corresponding to the muskmelon seedlings in pots.

[0059] The specific details of each step of the above-mentioned intelligent and efficient mechanized transplanting method for Chinese and western melon seedlings in pots have been described in detail in the corresponding intelligent and efficient mechanized transplanting system for western melon seedlings in pots, so they will not be repeated here.

[0060] It should be noted that, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0061] In addition, in an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above-mentioned intelligent and efficient mechanized transplanting system for muskmelon seedlings in pots is also provided.

[0062] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware embodiments, complete software embodiments (including firmware, microcode, etc.), or embodiments combining hardware and software aspects, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0063] Refer to the following Figure 5 hereinafter describes an electronic device 500 according to such an embodiment of the present disclosure. Figure 5 The electronic device 500 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0064] like Figure 5 As shown, the electronic device 500 is in the form of a general computing device. The components of the electronic device 500 may include but are not limited to: at least one processing unit 510, at least one storage unit 520, a bus 530 connecting different system components (including the storage unit 520 and the processing unit 510), and a display unit 540.

[0065] The storage unit stores program codes, which can be executed by the processing unit 510, so that the processing unit 510 performs the steps according to various exemplary embodiments of the present disclosure described in the above “Exemplary Method” section of this specification. For example, the processing unit 510 can perform the following steps: Figure 4In step S410 shown in the figure, the image of the watermelon seedlings to be transplanted is obtained through the transplanting drive module, and a movement control instruction is generated according to the seedling image, and the movement control instruction is used to control the transplanting drive module to drive the flexible grasping and watering module to move in space, so that the flexible grasping and watering module reaches the transplanting position to transplant the watermelon seedlings, and controls the clamping force of the flexible grasping and watering module on the watermelon seedlings; in step S420, the soil moisture information at the transplanting position corresponding to the watermelon seedlings is collected through the humidity monitoring module, and a soil softening control instruction is generated according to the soil moisture information, and the soil softening control instruction is used to control the flexible grasping and watering module to suspend the grasping action when it detects that the soil moisture information is less than the soil moisture threshold, and continue to execute the grasping action on the watermelon seedlings after injecting water into the transplanting position corresponding to the watermelon seedlings.

[0066] The storage unit 520 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 521 and / or a cache memory unit 522 , and may further include a read-only memory unit (ROM) 523 .

[0067] The storage unit 520 may also include a program / utility 524 having a set (at least one) of program modules 525, such program modules 525 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0068] Bus 530 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0069] The electronic device 500 may also communicate with one or more external devices 570 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 500, and / or communicate with any device that enables the electronic device 500 to communicate with one or more other computing devices (e.g., routers, modems, etc.). This communication may be performed through an input / output (I / O) interface 550. In addition, the electronic device 500 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 560. As shown, the network adapter 560 communicates with other modules of the electronic device 500 through a bus 530. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0070] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the embodiment of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiment of the present disclosure.

[0071] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible embodiments, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to perform the steps according to various exemplary embodiments of the present disclosure described in the above "Exemplary Method" section of the present specification.

[0072] refer to Figure 6 As shown, a program product 600 for implementing the above-mentioned method for intelligent and efficient mechanized transplanting of watermelon seedlings in pots according to an embodiment of the present disclosure is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus, or a device.

[0073] The program product may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0074] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0075] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0076] Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0077] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0078] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the embodiment of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiment of the present disclosure.

[0079] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

[0080] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An intelligent and efficient mechanized transplanting system for muskmelon seedlings, characterized in that: include: A flexible grabbing and watering module is used to grab or place the cantaloupe seedlings to be transplanted, and to perform watering treatment on the transplanting positions corresponding to the cantaloupe seedlings; A transplanting drive module is mechanically connected to the flexible grabbing and watering module, and is used to obtain the seedling image of the muskmelon seedling, and drive the flexible grabbing and watering module to move in space, so that the flexible grabbing and watering module reaches the transplanting position to perform a transplanting operation on the muskmelon seedling; A humidity monitoring module, arranged on the flexible grabbing and water injection module, for detecting soil humidity information at a transplanting position corresponding to the muskmelon seedlings in pots; The control module is electrically connected to the flexible grabbing and watering module, the transplanting drive module and the humidity monitoring module, and is used to generate control instructions according to the received seedling image and the soil moisture information, so as to control the flexible grabbing and watering module and the transplanting drive module through the control instructions to complete the transplanting process of the watermelon seedlings in the pot.

2. The intelligent and efficient mechanized transplanting system for muskmelon seedlings in pots according to claim 1 is characterized in that: The flexible grabbing and water injection module comprises: A flexible clamping claw, one end of which is mechanically connected to the transplanting drive module, and is used to grab or place the muskmelon seedling in the pot after the transplanting drive module moves to the transplanting position; A water injection nozzle is arranged on one end of the flexible clamping claw away from the transplanting drive module and is connected to the water injection channel pipe in the flexible clamping claw. It is used to inject water into the transplanting position when the flexible clamping claw grabs or places the watermelon seedling in the pot to soften the soil at the transplanting position.

3. The intelligent and efficient mechanized transplanting system for muskmelon seedlings in pots according to claim 2 is characterized in that: The flexible clamping claw comprises: A support frame body, one end of which is mechanically connected to the transplant drive module; At least three flexible grasping fingers are hingedly mounted on the support frame body at a side away from the transplanting drive module, each of the flexible grasping fingers is made of elastic silicone, and is embedded with an air bag capable of adjusting the stiffness of the flexible grasping fingers, and the flexible grasping fingers are opened and closed synchronously or independently, so as to complete the grasping or placing of the muskmelon seedlings in the pot through the coordinated work between the flexible grasping fingers; The pressure sensor is arranged on the inner side of the flexible grasping fingers, and is used to monitor the current clamping force of each flexible grasping finger on the watermelon seedling in real time, and feed back the current clamping force to the control module, so that the control module adjusts the clamping force of the flexible grasping fingers on the watermelon seedling according to the control instructions.

4. The intelligent and efficient mechanized transplanting system for muskmelon seedlings in pots according to claim 3 is characterized in that: The flexible clamping claw also includes: A pneumatic hydraulic driver, fixed on the support frame body and in driving connection with the flexible clamping claw, for inflating and deflating the airbag in the flexible grasping finger to adjust the rigidity of the flexible grasping finger and control the opening and closing of each flexible grasping finger; An adaptive angle adjuster is arranged between the flexible grasping fingers and the support frame body, and includes an angle adjuster driven by a motor, which is transmission-connected to the hinge between the flexible grasping fingers and the support frame body through a transmission gear set, and is used to adjust the relative angle between the flexible grasping fingers according to the volume and shape of the watermelon seedlings in the pot.

5. The intelligent and efficient mechanized transplanting system for muskmelon seedlings in pots according to claim 4 is characterized in that: The control module is configured to: Get the current clamping force and current stiffness fed back by the pressure sensor; Inputting the current clamping force and the current stiffness into a preset clamping control model, outputting a target clamping force and a target stiffness, and transmitting the target clamping force and the target stiffness to the pneumatic hydraulic driver to control the clamping force of the flexible clamping claw and the stiffness of the flexible grasping finger; The clamping control model is expressed by the following expression: ； in, Indicates time, represents the current clamping force, represents the current pressure currently applied by the pneumatic hydraulic actuator, represents the effective clamping area of ​​the flexible clamping claw, represents the target pressure of the pneumatic and hydraulic actuator when the target clamping force is reached, represents the target clamping force, and They represent proportional gain and integral increase respectively, which are used to adjust the clamping force; represents the gas pressure delivered to the interior of the airbag of the flexible gripping finger, represents the current stiffness, represents the target stiffness, Represents the proportional gain of stiffness control, which is used to adjust the response speed of stiffness adjustment. Represents the differential gain of the stiffness control, which is used to adjust the stability during the stiffness change process.

6. The intelligent and efficient mechanized transplanting system for muskmelon seedlings in pots according to claim 1 is characterized in that: The transplanting drive module comprises: A seedling pot identification unit, comprising an image sensor, is disposed on one end of the transplanting drive module close to the flexible grabbing and water injection module, and is used to collect a seedling pot image corresponding to the muskmelon seedling pot; A multi-degree-of-freedom mechanical arm, one end of the flexible grasping and watering module is fixedly connected to the free moving end of the multi-degree-of-freedom mechanical arm, and is used to drive the flexible grasping and watering module to move in space, so that the flexible grasping and watering module reaches the transplanting position to perform a transplanting operation on the muskmelon seedlings; The multi-degree-of-freedom robotic arm comprises a position sensor, which is arranged at each motion joint of the multi-degree-of-freedom robotic arm and is used to provide real-time feedback of the motion posture of the multi-degree-of-freedom robotic arm to the control module.

7. The intelligent and efficient mechanized transplanting system for muskmelon seedlings in pots according to claim 6 is characterized in that: The transplanting position includes a grabbing position and a placing position, and the control module includes: Determining the grabbing position according to the seedling pot image, and acquiring the preset placement position; Determine a grasping path by the current motion posture of the multi-degree-of-freedom robotic arm and the grasping position, and control the multi-degree-of-freedom robotic arm to drive the flexible grasping and water injection module to the grasping position to grasp the muskmelon seedling according to the grasping path; and Determine a placement path through the grasping position and the placement position, and control the multi-degree-of-freedom mechanical arm to drive the flexible grasping and water injection module to the placement position to place the muskmelon seedlings in the pot according to the placement path, and complete the transplanting; The grabbing path and placement path are obtained by solving the following relationship group: ； ； ； ； ； ； in, represents the state vector of the multi-degree-of-freedom manipulator, represents the joint angle of the i-th robot joint, represents the angular velocity of the i-th robot joint, represents the position coordinates of the free moving end of the multi-degree-of-freedom manipulator, Represents the forward kinematics equation, which determines the end position of the robot arm by the given joint angles of the robot arm joints. represents the coordinates of the grasping position, represents the coordinates of the placement position, represents the target joint angle of each robot arm joint calculated by the coordinates of the grasping position or the coordinates of the placement position, so that the end position of the robot arm can reach the grasping position or the placement position, represents the input data of the i-th robot joint, The proportional gain representing the position error is used to adjust the response speed of the robot arm towards the target position. It represents the differential gain of velocity feedback, which is used to suppress oscillation to improve the motion stability of the robot arm. Represents the solved grabbing path and placement path, Represents the system matrix, which is used to describe the internal relationship of the robot arm dynamics system. Represents the input matrix, which is used to describe the impact of the control input on the motion state of the robot.

8. The intelligent and efficient mechanized transplanting system for muskmelon seedlings in pots according to claim 1 is characterized in that: The control module is configured to: Get the preset soil moisture threshold; In response to detecting that the soil moisture information fed back by the humidity monitoring module is less than the soil moisture threshold, the grasping action is suspended, and the water injection nozzle of the flexible grasping and water injection module is controlled to inject water to the transplanting position corresponding to the watermelon seedlings in the pot until the latest feedback soil moisture information is greater than or equal to the soil moisture threshold, and then the grasping action on the watermelon seedlings is continued.

9. The intelligent and efficient mechanized transplanting system for muskmelon seedlings in pots according to claim 8, characterized in that: The control module is configured to: Determining the water injection amount of the flexible grabbing water injection module according to the soil moisture threshold; Wherein, the water injection volume is expressed by the following relationship: ; in, represents the water injection volume of the flexible grabbing water injection module, represents the soil moisture information at the current moment detected by the humidity monitoring module, represents the soil moisture threshold, and Represents proportional gain and integral gain.

10. An intelligent and efficient mechanized transplanting method for muskmelon seedlings in pots, characterized in that: Applied to the intelligent and efficient mechanized transplanting system for muskmelon seedlings in pots as claimed in any one of claims 1 to 9, the method comprising: The transplanting drive module is used to obtain a seedling image of the muskmelon seedling to be transplanted, and a movement control instruction is generated according to the seedling image. The movement control instruction is used to control the transplanting drive module to drive the flexible grasping and water injection module to move in space, so that the flexible grasping and water injection module reaches the transplanting position to transplant the muskmelon seedling, and controls the clamping force of the flexible grasping and water injection module on the muskmelon seedling; The soil moisture information at the transplanting position corresponding to the muskmelon seedlings is collected through the humidity monitoring module, and a soil softening control instruction is generated according to the soil moisture information. The soil softening control instruction is used to control the flexible grasping and watering module to suspend the grasping action when it detects that the soil moisture information is less than the soil moisture threshold, and continue the grasping action for the muskmelon seedlings after injecting water into the transplanting position corresponding to the muskmelon seedlings.

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