Sea grass seedling planting system

Abstract

The invention discloses a sea grass seedling planting system which comprises a water surface seedling storage ship and an underwater planter, and the water surface seedling storage ship tracks the movement and position of the underwater planter; a first seedling conveying wheel is arranged at the front end of the water surface seedling storage ship, telescopic electric scissors are arranged below the first seedling conveying wheel, a seedling storage disc is arranged above the water surface seedling storage ship, and a lamp strip, a camera and a propeller are arranged at the bottom of the water surface seedling storage ship; the underwater planting machine comprises a machine body, the machine body is provided with a walking structure for walking on the seabed and a plurality of propellers for enabling the underwater planting machine to float and dive to steer, a second seedling conveying wheel and a tensioning wheel assembly are arranged above the machine body, and a third seedling conveying wheel is arranged on the machine body corresponding to the lower portion of the second seedling conveying wheel; the seedling rope sequentially passes through the first seedling conveying wheel, the tensioning wheel assembly, the second seedling conveying wheel and the third seedling conveying wheel from the seedling storage disc; a ditching front plough assembly is arranged at the front part of the machine body; a soil covering structure is arranged at the rear part of the machine body. According to the invention, the seedling storage amount and the planting efficiency of the system are improved, and more and faster sea grass seedling planting can be realized through single planting.

Description

Technical Field

[0001] The invention relates to the technical field of seaweed ecological restoration, in particular to a seaweed seedling planting system. Background Art

[0002] Seagrass is the only type of higher angiosperm on Earth that can live completely in seawater. It consists of leaves, rhizomes and roots. It lives in tropical and temperate coastal waters or coastal estuary waters and grows on muddy or sandy sediments. Seagrass is another important marine ecosystem after mangroves and coral reefs. Large areas of continuous seagrass are called seagrass beds. They are habitats for many large marine organisms and even mammals, and are of great ecological significance.

[0003] Seagrass beds are easily damaged by human activities. For example, eutrophication of seawater caused by indiscriminate discharge and the resulting suspended matter greatly reduce the light input to the seagrass beds, reducing the seagrass's photosynthesis capacity, seriously hindering the growth of seagrass and even leading to the decline of the entire seagrass population. In addition, human activities such as enclosing the sea to raise shrimp, dredging, trawling, and excavating harbor channels have caused varying degrees of damage to seagrass leaves, rhizomes, and roots, causing the entire seagrass bed to shrink and be destroyed.

[0004] The fastest way to restore seagrass beds is to plant seagrass seedlings manually. There are many ways to plant seagrass seedlings, such as the transplanting method of planting plants with fixed plants, the transplanting method of plantlets with ropes, and the transplanting method of plantlets with frames. These methods are all highly dependent on manual labor, with small single planting quantities and low planting efficiency. Seagrass planting robots are also used in the prior art to plant, which improves the planting efficiency to a certain extent. However, the seagrass planting robots in the prior art have a small single seedling storage capacity, so the single planting quantity is small and the planting efficiency is still low. Summary of the invention

[0005] In order to overcome the above problems existing in the prior art, the present invention proposes a seaweed seedling planting system.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a seaweed seedling planting system, including a surface seedling storage ship and an underwater planting machine, the surface seedling storage ship and the underwater planting machine are connected by a cable, the surface seedling storage ship tracks the movement and position of the underwater planting machine, the underwater planting machine and the surface seedling storage ship are both provided with a posture sensor, so that the underwater planting machine and the surface seedling storage ship always keep moving in the same direction, and the surface seedling storage ship wirelessly communicates with a land base station; A first seedling delivery wheel is arranged at the front end of the surface seedling storage boat, an electric scissors is arranged below the first seedling delivery wheel, and the electric scissors are retracted by a telescopic structure, a seedling storage tray is arranged above the surface seedling storage boat, and a light strip, a camera for position tracking, and a propeller for adjusting the relative position of the surface seedling storage boat and the underwater planting machine are arranged at the bottom of the surface seedling storage boat; The underwater planting machine includes a body, on which are installed a walking structure for walking on the seabed and multiple propellers for the underwater planting machine to float, dive and turn; a second seedling delivery wheel and a tensioning wheel assembly are arranged above the body; a third seedling delivery wheel is arranged on the body corresponding to the second seedling delivery wheel; the seedling rope passes through the first seedling delivery wheel, the tensioning wheel assembly, the second seedling delivery wheel and the third seedling delivery wheel from the seedling storage tray in sequence; a furrow-breaking front plow assembly is arranged at the front of the body, a soil covering structure is arranged at the rear of the body, and a reflective mark, a laser emission source and a depth sensor are arranged on the top of the tensioning wheel assembly.

[0007] In the above-mentioned seaweed seedling planting system, electromagnets for adsorbing underwater planting machines are arranged on both sides of the bottom of the surface seedling storage ship, and magnetic blocks are arranged on both sides of the top of the underwater planting machine. The unmanned water boat realizes the deployment and recovery of the underwater planting machine through the adsorption of the electromagnets and the magnetic blocks.

[0008] In the above-mentioned seaweed seedling planting system, the electric scissors are installed in a scissor box, and the two sides of the scissor box are installed on the surface seedling storage ship through a telescopic structure.

[0009] In the above-mentioned seaweed seedling planting system, the furrow-breaking front plow assembly is installed on the front part of the machine body through a mounting plate, and the furrow-breaking front plow assembly includes a front plow, a lifting structure, and a mounting box. The front plow is lifted and lowered by the lifting structure, and the lifting structure is located in the mounting box. A limiting hole is provided on the top of the mounting box for limiting the seedling rope.

[0010] In the above-mentioned seaweed seedling planting system, the soil covering structure includes a bracket and two rotating discs, one end of the bracket is installed on the rear side of the bottom of the body, and the two rotating discs are arranged in a V shape.

[0011] The above-mentioned seaweed seedling planting system has a chassis at the bottom of the body, and the walking structure is installed on the chassis. The walking structure includes a rubber track and at least two left-right symmetrical driving motors. The driving motor drives the driving wheel to rotate through the transmission structure, and the driving wheel cooperates with the rubber track to drive the driven wheel to rotate. The driven wheels are provided with at least four left-right symmetrical driven wheels, and the four driven wheels are installed on the chassis through shock-absorbing suspension.

[0012] In the above-mentioned seaweed seedling planting system, at least four propellers for ascending or descending are installed in pairs on the left and right outer walls of the machine body, and at least four propellers for steering are installed in pairs on the left and right inner walls of the machine body.

[0013] In the above-mentioned seaweed seedling planting system, the first seedling transport wheel, the second seedling transport wheel and the third seedling transport wheel have the same structure and all include a motor, a threaded shaft and a seedling transport wheel. The seedling transport wheel is sleeved on the threaded shaft, and the threaded shaft is fixedly connected to the output end of the motor. The seedling transport wheel is self-locking along the rotation direction through the threaded shaft, and the outer surface of the seedling transport wheel is wrapped with a flexible rubber structure, and the surface of the flexible rubber structure is provided with protrusions.

[0014] The beneficial effects of the present invention are as follows: through the coordinated work of the surface seedling storage ship and the underwater planting machine, the seedling rope is stored on the surface seedling storage ship, the weight of the underwater planting machine is reduced, the seedling storage capacity of the system is expanded, and more seaweed seedlings can be planted in a single planting; and the surface seedling storage ship tracks the movement and position of the underwater planting machine to prevent the problem of the ship and the machine being lost; the seaweed seedlings are inserted upside down on the hemp rope, and through the design of multiple seedling delivery wheels, the seaweed is finally put into the soil in the positive direction, thereby improving the survival rate of the seaweed; by setting a tensioning wheel, the length of the seedling rope can be released, and the sudden drag force caused by the sudden change in the relative position of the surface seedling storage ship and the underwater planting machine can be effectively buffered; by setting a retractable electric scissors, the seedling rope can be prevented from being accidentally damaged by the scissors during non-working hours; through the design of the soil covering structure, the bracket can buffer the sudden stress change and ensure that the soil covering is flat, and the rotating disc can buffer the force acting on the machine due to the uneven road surface; the shock-absorbing suspension of the walking mechanism can absorb and disperse the impact and vibration caused by the uneven terrain, thereby improving the obstacle crossing ability of the underwater planting machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the present invention; Figure 2 It is a schematic diagram of the water seedling storage boat of the present invention; Figure 3 This is a bottom view of the water seedling storage boat of the present invention; Figure 4 The underwater planting machine of the present invention is a three-dimensional Figure 1 ; Figure 5 The underwater planting machine of the present invention is a three-dimensional Figure 2 ; Figure 6 It is a side view of the underwater planting machine of the present invention; Figure 7 This is a schematic diagram of the soil covering structure of the underwater planting machine of the present invention; Figure 8 It is a schematic diagram of the furrow breaking front plow of the underwater planting machine of the present invention.

[0016] Among them, 1. Surface seedling storage boat, 2. Underwater planting machine, 3. Electric scissors, 4. Electromagnet, 5. Camera, 6. Scissor box, 7. Electric push rod, 8. Seedling storage tray, 9. First seedling delivery wheel, 10. Magnetic block, 11. Tension wheel assembly, 12. Propeller 1, 13. Mounting plate, 14. Limiting hole, 15. Propeller 2, 16. Second seedling delivery wheel, 17. Front furrow breaking plow assembly, 18. Third seedling delivery wheel, 19. Rubber track, 20. Soil covering structure, 21. Driving wheel, 22. First driven wheel, 23. Second driven wheel 24. Third driven wheel, 25. First support wheel, 26. Mounting box, 27. Shock-absorbing suspension, 28. Second support wheel.

[0017] 17-1. The first motor, 17-2. The fixed sleeve, 17-3. The slider, 17-4. The front plow, 17-5. The screw.

[0018] 20-1. Bracket, 20-2. Rotating disc. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0020] The present invention discloses a seaweed seedling planting system, such as Figure 1 As shown, it includes a surface seedling storage ship 1 and an underwater planting machine 2. The surface seedling storage ship 1 provides power to the underwater planting machine 2 and transmits signals through cables. The surface seedling storage ship tracks the movement and position of the underwater planting machine. Both the underwater planting machine 2 and the surface seedling storage ship 1 are provided with attitude sensors, so that the underwater planting machine and the surface seedling storage ship always keep moving in the same direction. The surface seedling storage ship wirelessly communicates with a land base station.

[0021] The structures of surface seed storage vessels are as follows: Figure 2 and Figure 3 As shown, a first seedling transport wheel 9 is arranged at the front end of the surface seedling storage boat, an electric scissors 3 is arranged below the first seedling transport wheel, a seedling storage tray 8 is arranged above the surface seedling storage boat, a cable drum (not shown in the figure) for adjusting the cable length is arranged at the rear end of the surface seedling storage boat, a light strip (not shown in the figure), a camera 5 for position tracking, and a propeller for adjusting the relative position of the surface seedling storage boat and the underwater planting machine are arranged at the bottom of the surface seedling storage boat.

[0022] The electric scissors are installed in the scissor box 6, and the two scissor blades extend out of the scissor box 6. In the normal state, the two scissor blades of the electric scissors 3 are open and located at the rear side of the seedling rope. When the underwater planting machine is abnormal, a signal is sent to the control module of the surface seedling storage ship. The control module controls the electric push rods 7 on both sides of the scissor box to extend and push the scissor box out. At this time, the seedling rope is stuck between the two scissor blades. A steering gear is provided in the scissor box, and a magnet is provided above the steering gear. The control module controls the steering gear to rotate, and the magnet above the steering gear triggers the Hall element. The Hall element sends a signal to the brushless motor, and the brushless motor drives the two scissor blades to close through the gear set to cut the seedling rope. The setting of the retractable scissors can prevent the scissors from damaging the seedling rope when the machine is working normally. At the same time, based on controlling the steering gear to drive the magnet, the electric scissors are stimulated to work, and the seedling rope can be cut in a short time of less than 5s.

[0023] The cable drum is controlled by a central motor to rotate and recycle the cable. The cable length is reasonably controlled according to the depth sensor data on the underwater planter. The surface seedling storage ship is equipped with a cable drum for cable retraction and release. The cable length can be adjusted according to the depth sensor data to avoid the cable being too long or too short in the water and affecting the transplanting process.

[0024] In a specific embodiment, the seedling storage tray 8 is installed in the middle position of the surface seedling storage boat through a fixed support, a rotating shaft is arranged above the fixed support, the seedling storage tray is sleeved on the rotating shaft, and a thrust ball bearing is arranged between the seedling storage tray and the rotating shaft. To replace the seedling storage tray, you only need to lift the seedling storage tray upward to pull it out. The design of the seedling storage tray that is easy to replace / disassemble provides a basis for the large-scale and industrialized seaweed transplantation. Workers can complete the production of the seedling storage tray in advance, and the transported seedling storage tray can be easily replaced, which improves work efficiency.

[0025] The structures of underwater planting machines are as follows: Figure 4 , Figure 5 and Figure 6 As shown, the underwater planting machine includes a body, on which a walking structure for walking on the seabed and multiple propellers for the underwater planting machine to float, dive and turn are installed; a second seedling delivery wheel 16 and a tensioning wheel assembly 11 are arranged above the body; a third seedling delivery wheel 18 is arranged on the body corresponding to the second seedling delivery wheel 16; the seedling rope passes through the first seedling delivery wheel 9, the electric scissors 3, the tensioning wheel assembly 11, the second seedling delivery wheel 16 and the third seedling delivery wheel 18 from the seedling storage tray 8 in sequence; a furrow-breaking front plow assembly 17 is arranged at the front of the body, a soil covering structure 20 is arranged at the rear of the body, and a reflective mark, a laser emission source and a depth sensor are arranged on the top of the tensioning wheel assembly.

[0026] The tension wheel assembly includes a tension wheel box and multiple tension wheels arranged inside the box. Laser emission sources are arranged at the four corners of the top of the tension wheel box, a reflective mark is arranged in the middle of the top of the tension wheel box, and a depth sensor is installed at any position on the top of the tension wheel box. The seedling rope passes through the tension wheel box, and the tension wheel can release the length of the seedling rope to buffer the sudden drag force caused by the sudden change in the relative position of the surface seedling storage ship and the underwater planting machine.

[0027] In a specific embodiment, electromagnets 4 for adsorbing underwater planters are arranged on both sides of the bottom of the surface seedling storage boat, and magnetic blocks 10 are arranged on both sides of the top of the underwater planter. The unmanned water boat realizes the deployment and recovery of the underwater planter through the adsorption of the electromagnets and the magnetic blocks.

[0028] Specifically, the structure of the furrow breaking front plow assembly 17 is as follows: Figure 8 As shown, the furrow breaking front plow assembly is installed on the front part of the machine body through the mounting plate 13, and the furrow breaking front plow assembly includes a front plow 17-4, a lifting structure, and a mounting box 26. The front plow 17-4 is lifted and lowered by the lifting structure, and the lifting structure is located in the mounting box 26. The top of the mounting box 26 is provided with a limiting hole 14 for limiting the position of the seedling rope. The lifting structure includes a first motor 17-1, a screw rod 17-5, and a slider 17-3. The output end of the first motor is fixedly connected to the screw rod, and the slider is sleeved on the screw rod and can slide along the screw rod. The front plow 17-4 is fixed on the slider, and the screw rod is installed on the mounting box 26 through a fixing sleeve 17-2.

[0029] Specifically, the soil cover structure is Figure 7 As shown, the soil covering structure includes a bracket 20-1 and two rotating discs 20-2. One end of the bracket is mounted on the rear side of the bottom of the machine body, and the two rotating discs are arranged in a V shape. The bracket 20-1 is a flexible bracket that can buffer stress mutations and ensure that the soil covering is flat; the rotating disc 20-2 has a stable soil covering operation, and utilizes the rotation of the disc to buffer the force acting on the machine due to the uneven road surface. The two rotating discs arranged in a V shape can push the soil on both sides of the groove to cover the seaweed roots and compact them.

[0030] A chassis is provided at the bottom of the machine body, and the walking structure is installed on the chassis. Figure 6 As shown, the walking structure includes a rubber track 19 and at least two left-right symmetrical driving motors. The driving motor drives the driving wheel 21 to rotate through a transmission structure. The driving wheel 21 cooperates with the rubber track 19 to drive the driven wheel to rotate. The driven wheels are provided with at least four left-right symmetrical wheels, and the four driven wheels are installed on the chassis through a shock-absorbing suspension 27.

[0031] In a specific embodiment, three driven wheels are provided, including a first driven wheel 22, a second driven wheel 23, and a third driven wheel 24. The first driven wheel 22, the second driven wheel 23, and the third driven wheel 24 are all connected to the chassis through a shock-absorbing suspension 27, and the shock-absorbing suspension can absorb and disperse the impact and vibration caused by uneven terrain. The walking structure also includes a first support wheel 25 and a second support wheel 28. The first support wheel 25 is connected to the chassis, and the second support wheel 28 is connected to the third driven wheel 24 through a support rod. The rubber track is parallelogram-shaped through the cooperation of the driven wheel, the support wheel, and the driving wheel, thereby improving the obstacle crossing ability of the underwater planting machine.

[0032] In a specific embodiment, at least four propellers 12 for ascending or descending are installed in pairs on the left and right outer side walls of the body, and at least four propellers 15 for steering are installed in pairs on the left and right inner side walls of the body.

[0033] In a specific embodiment, the first seedling feeding wheel, the second seedling feeding wheel, and the third seedling feeding wheel have the same structure and all include a second motor, a threaded shaft, and a seedling feeding wheel. The seedling feeding wheel is sleeved on the threaded shaft, and the threaded shaft is fixedly connected to the output end of the second motor. The seedling feeding wheel is self-locking along the rotation direction through the threaded shaft, and the outer surface of the seedling feeding wheel is wrapped with a flexible rubber structure, and a protrusion is provided on the surface of the flexible rubber structure.

[0034] When planting seaweed seedlings, the seaweed seedlings are inserted upside down on the hemp rope to obtain a seedling rope, which is stored on a seedling storage tray. The seedling rope is transported from the surface seedling storage ship, passes through the first seedling transport wheel, the second seedling transport wheel, the limiting hole, and the third seedling transport wheel, so that the seedling rope rotates 180 degrees, allowing the seaweed seedlings to enter the soil forwardly, effectively improving the survival rate of the seaweed seedlings.

[0035] Based on the above-mentioned seaweed seedling planting system, the specific seaweed seedling planting method is as follows: Step 1, the surface seedling storage ship uses an electromagnet to absorb the underwater planting machine and moves to the planting target position. After reaching the planting target position, the electromagnet loses its magnetic force, and the surface seedling storage ship is separated from the underwater planting machine; Step 2: The underwater planter works to plant seaweed seedlings. At the same time, a depth sensor on the underwater planter detects the depth of the underwater planter and feeds the data back to the control module of the surface seedling storage ship. Step 3, the control module controls the length of the cable released by the cable drum according to the data fed back by the depth sensor, and at the same time controls the target recognition algorithm to recognize the logo of the underwater planting machine according to the depth information, and adjusts the movement speed and direction of the surface seedling storage ship according to the recognition result, so as to realize the coordination between the surface seedling storage ship and the underwater planting machine; Step 4, after the planting is completed, the underwater planting machine floats up, and the surface seedling storage ship is aligned with the underwater planting machine through the target recognition algorithm. The electromagnet on the surface seedling storage ship has magnetic force, and the underwater planting machine is adsorbed by the electromagnet and recovered as a whole.

[0036] In a specific embodiment, the surface seedling storage vessel is equipped with a Jetson Nano minicomputer for image reasoning. The target recognition algorithm in step 3 is a Yolov5n model. By using TensorRT technology, the reasoning of Yolov5n on Jetson Nano is accelerated, so that the algorithm can run in real time on Jetson Nano.

[0037] The Yolov5n model is trained with a specific data set collected during the operation of the ship engine. It can identify the blue-green laser emission source and the reflective stickers of a specific shape in the image. Jetson Nano processes the target pixel coordinates identified by the Yolov5n model and sends them to the control module of the surface seedling storage ship for feedback control of the ship's movement, thereby realizing the tracking function.

[0038] Step 3 is specifically as follows: determine the distance between the surface seedling storage vessel and the underwater planting machine based on the depth data fed back by the depth sensor. If it is a long distance, the target recognition algorithm prioritizes obtaining the relative position information of the underwater planting machine and the surface seedling storage vessel by identifying the laser emission sources at the four corners above the underwater planting machine; if it is a close distance, the target recognition algorithm prioritizes locating the position of the underwater planting machine by identifying the reflective mark in the middle position above the underwater planting machine.

[0039] The specific process of obtaining relative position information at a long distance is as follows: the surface seedling storage ship first obtains the relative position information of the underwater planter and the surface seedling storage ship by identifying the four laser emission sources above the underwater planter. The coordinates of the four laser emission sources are (X i , Y i ), i=1,2,3,4; the coordinates of the reflective tape are (X5, Y5), the coordinates of the feedback position are (X', Y'), and the coordinates of the target position are (X ^ ,Y ^ ), the movement of the ship is to make the feedback position coordinates as close as possible to the target position coordinates. Considering that the recognition algorithm may fail to recognize some marks due to being blocked by some objects, the number of laser recognition is N:

[0040] When N = 0, the feedback position coordinate is (X ^ ,Y ^ ), that is, the ship will not move; When N = 1, 2, the feedback position coordinate is the mean of the identified laser coordinates; When N = 3, the feedback coordinate is the midpoint of the longest side (hypotenuse) of the identified triangle row; When N = 4, the feedback coordinate is the center point of the identified quadrilateral; Since the number of laser recognition jumps from N greater than or equal to 3 to N less than or equal to 2, the transmitted position coordinates have a large mutation, which increases the motion control range of the ship. The exponential smoothing method is used, that is: When N=1, 2, the final feedback position coordinate = α*loc1+(1-α)*loc2; When N>=3 or 0, the final feedback position coordinate = loc1; Among them, α is a parameter, loc1 is the feedback position coordinate currently calculated, and loc2 is the position coordinate of the last feedback.

[0041] The specific process of obtaining relative position information at close range is as follows: the light strip at the bottom of the surface seedling storage boat is turned on to illuminate the reflective mark above the underwater planting machine; the camera at the bottom of the surface seedling storage boat captures the reflective mark, identifies the reflective mark through the target recognition algorithm, and feeds back the coordinates of the reflective mark to the control module, thereby obtaining the coordinates of the underwater planting machine.

[0042] This embodiment completes the seaweed seedling planting by designing a ship-machine coordination method, and distributes the four main work processes of seedling storage, seedling transportation, seedling planting, and seedling cutting in the planting process in a relatively balanced manner between the surface seedling storage ship and the underwater planting machine. The surface seedling storage ship and the underwater planting machine are the two working bodies, each with its own specialization. While taking into account the realization of complex tasks, the complexity of each subsystem is reduced and the stability of the overall system is improved.

[0043] In each control mode (integrated placement, coordinated following, integrated recovery), only one person on shore is needed to achieve the coordinated ship-machine planting of seaweed seedlings, which greatly reduces the complexity of the onshore operator controlling two machines at the same time and improves the operability of the system.

[0044] The ship and machine are integrated with power supply, and the surface seedling storage boat provides power for the machine. The power supply is above the water surface, which reduces the risk of water leakage and damage to the circuit system. At the same time, since the ship is used to transport the battery, a larger capacity battery can be carried, which increases the system's working time at one time and is also convenient for replacement.

[0045] By means of wireless communication between the shore and the surface seedling storage vessel, and cable communication between the surface seedling storage vessel and the underwater planting machine, wireless remote communication and control can be achieved on shore, reducing the complexity of system communication and expanding the working scope of seaweed seedling planting.

[0046] The seedling ropes are stored on the surface seedling storage boat, which reduces the weight of the underwater planter and expands the system's seedling storage capacity, allowing more seaweed seedlings to be planted in a single planting.

[0047] The present embodiment discloses a ship-engine collaborative following system with two-level recognition based on blue-green laser and reflective material identification. The two-level recognition provides a more detailed technical solution for the two working conditions of the ship and the engine at long distance and close distance, thereby improving the accuracy of the ship-engine collaboration and reducing misidentification.

[0048] The ship engine adsorption control method based on electromagnet. The power switch of the electromagnet is controlled by a relay, which is simple and easy. At the same time, the suction force of the electromagnet is less affected by seawater. With the designed electromagnetic attraction structure and optical recognition control, accurate attraction can be achieved.

[0049] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A seaweed seedling planting system, characterized in that: It includes a surface seedling storage ship and an underwater planting machine, the surface seedling storage ship is connected to the underwater planting machine by a cable, the surface seedling storage ship tracks the movement and position of the underwater planting machine, the underwater planting machine and the surface seedling storage ship are both provided with a posture sensor, so that the underwater planting machine and the surface seedling storage ship always keep moving in the same direction, and the surface seedling storage ship wirelessly communicates with a land base station; A first seedling delivery wheel is arranged at the front end of the surface seedling storage boat, an electric scissors is arranged below the first seedling delivery wheel, and the electric scissors are retracted by a telescopic structure, a seedling storage tray is arranged above the surface seedling storage boat, and a light strip, a camera for position tracking, and a propeller for adjusting the relative position of the surface seedling storage boat and the underwater planting machine are arranged at the bottom of the surface seedling storage boat; The underwater planting machine includes a body, on which are installed a walking structure for walking on the seabed and multiple propellers for the underwater planting machine to float, dive and turn; a second seedling delivery wheel and a tensioning wheel assembly are arranged above the body; a third seedling delivery wheel is arranged on the body corresponding to the second seedling delivery wheel; the seedling rope passes through the first seedling delivery wheel, the tensioning wheel assembly, the second seedling delivery wheel and the third seedling delivery wheel from the seedling storage tray in sequence; a furrow-breaking front plow assembly is arranged at the front of the body, a soil covering structure is arranged at the rear of the body, and a reflective mark, a laser emission source and a depth sensor are arranged on the top of the tensioning wheel assembly.

2. A seaweed seedling planting system according to claim 1, characterized in that: Electromagnets for adsorbing underwater planting machines are arranged on both sides of the bottom of the surface seedling storage boat, and magnetic blocks are arranged on both sides of the top of the underwater planting machine. The unmanned water boat realizes the deployment and recovery of the underwater planting machine through the adsorption of the electromagnets and the magnetic blocks.

3. A seaweed seedling planting system according to claim 1, characterized in that: The electric scissors are installed in a scissor box, and two sides of the scissor box are installed on the surface seedling storage boat through a telescopic structure.

4. A seaweed seedling planting system according to claim 1, characterized in that: The furrow-breaking front plow assembly is installed on the front part of the machine body through a mounting plate. The furrow-breaking front plow assembly includes a front plow, a lifting structure, and a mounting box. The front plow is lifted and lowered by the lifting structure. The lifting structure is located in the mounting box. A limiting hole is provided on the top of the mounting box for limiting the seedling rope.

5. The seaweed seedling planting system according to claim 1, characterized in that: The soil covering structure comprises a bracket and two rotating discs. One end of the bracket is mounted on the rear side of the bottom of the machine body, and the two rotating discs are arranged in a V shape.

6. A seaweed seedling planting system according to claim 1, characterized in that: A chassis is provided at the bottom of the machine body, and the walking structure is installed on the chassis. The walking structure includes a rubber track and at least two left-right symmetrical driving motors. The driving motor drives the driving wheel to rotate through a transmission structure. The driving wheel cooperates with the rubber track to drive the driven wheel to rotate. The driven wheels are provided with at least four left-right symmetrical driven wheels, and the four driven wheels are installed on the chassis through a shock-absorbing suspension.

7. A seaweed seedling planting system according to claim 1, characterized in that: At least four propellers 1 for ascending or descending are installed in pairs on the left and right outer side walls of the machine body, and at least four propellers 2 for steering are installed in pairs on the left and right inner side walls of the machine body.

8. The seaweed seedling planting system according to claim 1, characterized in that: The first seedling feeding wheel, the second seedling feeding wheel and the third seedling feeding wheel have the same structure and all include a motor, a threaded shaft and a seedling feeding wheel. The seedling feeding wheel is sleeved on the threaded shaft, and the threaded shaft is fixedly connected to the output end of the motor. The seedling feeding wheel is self-locking along the rotation direction through the threaded shaft. The outer surface of the seedling feeding wheel is wrapped with a flexible rubber structure, and a protrusion is provided on the surface of the flexible rubber structure.

Images