A seagrass seedling planting system

Abstract

The application discloses a seaweed seedling planting system, which comprises a water surface seedling storage ship and an underwater planting machine, the water surface seedling storage ship tracks the movement and position of the underwater planting machine; a first seedling conveying wheel is arranged at the front end of the water surface seedling storage ship, an extendable electric scissors is 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, a walking structure for walking on the seabed is arranged on the machine body, a plurality of propellers for the underwater planting machine to float and dive and turn are arranged on the machine body, a second seedling conveying wheel and a tensioning wheel assembly are arranged above the machine body, a third seedling conveying wheel is arranged on the machine body below the second seedling conveying wheel in correspondence, a seedling rope passes through the first seedling conveying wheel, the tensioning wheel assembly, the second seedling conveying wheel and the third seedling conveying wheel in sequence from the seedling storage disc, a furrow breaking front plough assembly is arranged at the front part of the machine body, and a soil covering structure is arranged at the rear part of the machine body; and the seaweed seedling planting system improves the seedling storage capacity and planting efficiency of the system, and more and faster seaweed seedling planting can be realized in single planting.

Description

Technical Field

[0001] This invention relates to the field of seagrass ecological restoration technology, and in particular to a seagrass seedling planting system. Background Technology

[0002] Seagrass is the only type of higher angiosperm on Earth that can live entirely in seawater. It consists of leaves, rhizomes, and roots, and inhabits tropical and temperate nearshore waters or estuarine areas, growing on silty or sandy sediments. Seagrass is another important marine ecosystem after mangroves and coral reefs. Large, contiguous areas of seagrass, known as seagrass beds, are habitats for many large marine organisms and even mammals, and are of significant ecological importance.

[0003] Seagrass beds are easily damaged by human activities. For example, eutrophication caused by indiscriminate dumping and the resulting suspended matter greatly reduce sunlight penetration into the seagrass beds, decrease the photosynthetic capacity of the seagrass, severely hinder its growth, and even lead to the decline of the entire seagrass population. Other human activities such as shrimp farming, mud dredging, trawling, and dredging of harbor basins and channels cause varying degrees of damage to the leaves, rhizomes, and roots of the seagrass, resulting in the shrinkage and destruction of the entire seagrass bed.

[0004] Seagrass bed restoration is fastest achieved through artificial planting of seagrass seedlings. There are various planting methods, such as seedling transplantation by pinching, seedling-tethered transplantation, and frame transplantation. These methods are all highly dependent on manual labor, resulting in small planting volumes and low efficiency. While existing technologies utilize seagrass planting robots, which improve efficiency to some extent, these robots also have limited seedling capacity per planting run, leading to low overall efficiency. Summary of the Invention

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

[0006] The technical solution adopted by the present invention to solve its technical problem is: a seagrass seedling planting system, including a surface seedling storage vessel and an underwater planting machine. The surface seedling storage vessel and the underwater planting machine are connected by a cable. The surface seedling storage vessel tracks the movement and position of the underwater planting machine. Both the underwater planting machine and the surface seedling storage vessel are equipped with attitude sensors so that the underwater planting machine and the surface seedling storage vessel always maintain the same direction of movement. The surface seedling storage vessel communicates wirelessly with a land base station.

[0007] The front end of the surface seedling storage vessel is equipped with a first seedling conveying wheel, and an electric shear is installed below the first seedling conveying wheel. The electric shear is extended and retracted through a telescopic structure. A seedling storage tray is installed above the surface seedling storage vessel, and a light strip, a camera for position tracking, and a propeller for adjusting the relative position of the surface seedling storage vessel and the underwater planting machine are installed at the bottom of the surface seedling storage vessel.

[0008] The underwater planting machine includes a body on which a walking structure for seabed movement and multiple propellers for surfacing, diving, and steering are installed. A second seedling conveying wheel and a tensioning wheel assembly are located on the top of the body. A third seedling conveying wheel is located on the body below the second seedling conveying wheel. The seedling rope passes sequentially from the seedling storage tray through the first seedling conveying wheel, the tensioning wheel assembly, the second seedling conveying wheel, and the third seedling conveying wheel. A ditch-breaking plowing assembly is located at the front of the body, and a soil-covering structure is located at the rear of the body. A reflective marker, a laser emission source, and a depth sensor are located on the top of the tensioning wheel assembly.

[0009] In the aforementioned seaweed seedling planting system, electromagnets for adsorbing underwater planting machines are installed on both sides of the bottom of the surface seedling storage vessel, and magnetic blocks are installed on both sides of the top of the underwater planting machine. The unmanned surface vessel achieves the deployment and retrieval of the underwater planting machine by adsorbing the electromagnets and magnetic blocks.

[0010] In the aforementioned seaweed seedling planting system, the electric shears are installed inside a shear box, and the shear box is mounted on both sides of a seedling storage boat on the water surface via a telescopic structure.

[0011] In the aforementioned seaweed seedling planting system, the trench-breaking front plow assembly is installed at the front of the machine body via an installation plate. The trench-breaking front plow assembly includes a front plow, a lifting structure, and an installation box. The front plow is raised and lowered via the lifting structure, which is located inside the installation box. The top of the installation box has a limiting hole for limiting the seedling rope.

[0012] The above-mentioned seaweed seedling planting system includes a soil covering structure comprising a support frame and two rotating discs. One end of the support frame is installed on the rear side of the bottom of the machine body, and the two rotating discs are arranged in a V-shape.

[0013] The aforementioned seaweed seedling planting system includes a chassis at the bottom of the machine body, a walking structure mounted on the chassis, and a walking structure comprising rubber tracks and at least two drive motors symmetrically arranged on the left and right. The drive motors drive the drive wheel to rotate through a transmission structure, and the drive wheel cooperates with the rubber tracks to drive the driven wheel to rotate. At least four driven wheels are arranged symmetrically on the left and right, and the four driven wheels are mounted on the chassis through a shock-absorbing suspension.

[0014] The aforementioned seaweed seedling planting system has at least four propellers (I) symmetrically arranged in pairs on the left and right outer side walls of the machine body for ascending or descending, and at least four propellers (II) symmetrically arranged in pairs on the left and right inner side walls of the machine body for steering.

[0015] The above-mentioned seaweed seedling planting system has the same structure for the first seedling conveying wheel, the second seedling conveying wheel, and the third seedling conveying wheel, each including a motor, a threaded shaft, and a seedling conveying wheel. The seedling conveying wheel is sleeved on the threaded shaft, and the threaded shaft is fixedly connected to the output end of the motor. The seedling conveying wheel achieves self-locking along the rotation direction through the threaded shaft. The outer surface of the seedling conveying wheel is covered with a flexible rubber structure, and the surface of the flexible rubber structure is provided with protrusions.

[0016] The beneficial effects of this invention are as follows: through the coordinated work of the surface seedling storage vessel and the underwater planting machine, the seedling rope is stored on the surface seedling storage vessel, reducing the weight of the underwater planting machine and increasing the system's seedling storage capacity, allowing for the planting of more seaweed seedlings in a single planting operation; the surface seedling storage vessel tracks the movement and position of the underwater planting machine, preventing the vessel from losing track of the machine; the seaweed seedlings are inverted onto the hemp rope, and through the design of multiple seedling conveying wheels, the seaweed is ultimately planted upright in the soil, improving the survival rate of the seaweed; by setting tensioning wheels, the length of the seedling rope can be released, effectively buffering the sudden drag force caused by sudden changes in the relative position of the surface seedling storage vessel and the underwater planting machine; by setting retractable electric shears, the seedling rope is prevented from being accidentally damaged by the shears when not in use; through the design of the soil covering structure, the support can buffer sudden stress changes, ensuring that the soil covering is flat and compact, and the rotating disc can buffer the force acting on the machine due to uneven road surfaces; the shock-absorbing suspension of the walking mechanism can absorb and disperse the impact and vibration caused by uneven terrain, improving the obstacle-crossing ability of the underwater planting machine. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the present invention;

[0018] Figure 2 This is a schematic diagram of the waterborne seed storage vessel of the present invention;

[0019] Figure 3 This is a bottom view of the waterborne seed storage vessel of the present invention;

[0020] Figure 4 This invention is a three-dimensional underwater planting machine. Figure 1 ;

[0021] Figure 5 This invention is a three-dimensional underwater planting machine. Figure 2 ;

[0022] Figure 6 This is a side view of the underwater planting machine of the present invention;

[0023] Figure 7 This is a schematic diagram of the soil covering structure of the underwater planting machine of the present invention;

[0024] Figure 8 This is a schematic diagram of the underwater planting machine of the present invention before plowing the trench.

[0025] The components include: 1. Surface seedling storage boat; 2. Underwater planting machine; 3. Electric shears; 4. Electromagnet; 5. Camera; 6. Shear box; 7. Electric push rod; 8. Seedling storage tray; 9. First seedling conveying wheel; 10. Magnetic block; 11. Tensioner wheel assembly; 12. Propeller one; 13. Mounting plate; 14. Limiting hole; 15. Propeller two; 16. Second seedling conveying wheel; 17. Furrow-breaking plow assembly; 18. Third seedling conveying wheel; 19. Rubber track; 20. Soil covering structure; 21. Drive 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.

[0026] 17-1. First motor, 17-2. Fixed sleeve, 17-3. Slider, 17-4. Front plow, 17-5. Screw.

[0027] 20-1. Support; 20-2. Rotating disc. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] This invention discloses a seagrass seedling cultivation system, such as Figure 1 As shown, the device includes a surface seedling storage vessel 1 and an underwater planting machine 2. The surface seedling storage vessel 1 provides power to the underwater planting machine 2 and transmits signals through a cable. The surface seedling storage vessel tracks the movement and position of the underwater planting machine. Both the underwater planting machine 2 and the surface seedling storage vessel 1 are equipped with attitude sensors, which ensure that the underwater planting machine and the surface seedling storage vessel always move in the same direction. The surface seedling storage vessel communicates wirelessly with a land base station.

[0030] The structures of the surface seed storage vessels are as follows: Figure 2 and Figure 3 As shown, the front end of the surface seedling storage vessel is equipped with a first seedling conveying wheel 9, and an electric shears 3 is installed below the first seedling conveying wheel. A seedling storage tray 8 is installed above the surface seedling storage vessel, and a cable tray (not shown in the figure) for adjusting the cable length is installed at the rear end of the surface seedling storage vessel. 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 vessel and the underwater planting machine are installed at the bottom of the surface seedling storage vessel.

[0031] The electric shears are installed in the shear box 6, with two shear blades extending out of the shear box 6. Under normal conditions, the two shear blades of the electric shears 3 are open and located behind the seedling rope. When the underwater planter malfunctions, it sends a signal to the control module of the seedling storage vessel on the surface. The control module then controls the electric push rods 7 on both sides of the shear box to extend, pushing the shear box out. At this point, the seedling rope is caught between the two shear blades. A servo motor is installed inside the shear box, with a magnet above it. The control module controls the servo motor to rotate, and the magnet above the servo motor triggers a Hall element. The Hall element sends a signal to the brushless motor, which, through a gear set, drives the two shear blades to close, cutting the seedling rope. The retractable shears design prevents damage to the seedling rope during normal machine operation. Furthermore, by controlling the servo motor to drive the magnet, the electric shears can cut the seedling rope in a short time of less than 5 seconds.

[0032] The cable reel rotates under the control of a central motor, enabling the retrieval and deployment of the cable. The cable length is precisely controlled based on data from depth sensors on the underwater planting machine. The seedling storage vessel on the surface is equipped with a cable reel for both cable deployment and retrieval, allowing for adjustments to the cable length based on depth sensor data. This prevents the cable from being too long or too short in the water, which could negatively impact the transplanting process.

[0033] In one specific embodiment, the seedling tray 8 is installed in the middle of the seedling storage vessel on the water surface via a fixed support. A rotating shaft is provided above the fixed support, and the seedling tray is fitted onto the rotating shaft. A thrust ball bearing is provided between the seedling tray and the rotating shaft. Replacing the seedling tray only requires lifting it upwards to remove it. The design of the seedling tray, which facilitates replacement and disassembly, provides a foundation for the large-scale and industrialized transplantation of seagrass. Workers can pre-fabricate the seedling trays, and the transported trays can be easily replaced, improving work efficiency.

[0034] The structure of the underwater planting machine is as follows: Figure 4 , Figure 5 and Figure 6 As shown, the underwater planting machine includes a body on which a walking structure for seabed movement and multiple propellers for surfacing, diving, and steering are installed. A second seedling conveying wheel 16 and a tensioning wheel assembly 11 are arranged on the top of the body. A third seedling conveying wheel 18 is arranged on the body below the second seedling conveying wheel 16. The seedling rope passes sequentially from the seedling storage tray 8 through the first seedling conveying wheel 9, the electric shears 3, the tensioning wheel assembly 11, the second seedling conveying wheel 16, and the third seedling conveying wheel 18. A ditch-breaking plow assembly 17 is arranged at the front of the body, and a soil covering structure 20 is arranged at the rear of the body. A reflective mark, a laser emission source, and a depth sensor are arranged on the top of the tensioning wheel assembly.

[0035] The tensioning wheel assembly includes a tensioning wheel housing and multiple tensioning wheels housed inside the housing. Laser emitters are located at the four corners of the top of the tensioning wheel housing, and a reflective marker is positioned in the center of the top. Depth sensors are installed at any location on the top of the tensioning wheel housing. When the seedling rope passes through the tensioning wheel housing, the tensioning wheels release the rope length, buffering the sudden drag force caused by abrupt changes in the relative position of the seedling storage vessel and the underwater planting machine.

[0036] In one specific embodiment, electromagnets 4 for adsorbing underwater planting machines are provided on both sides of the bottom of the water surface seedling storage boat, and magnetic blocks 10 are provided on both sides of the top of the underwater planting machine. The unmanned watercraft realizes the deployment and retrieval of the underwater planting machine by the adsorption of electromagnets and magnetic blocks.

[0037] Specifically, the structure of the pre-plow assembly 17 before ditching is as follows: Figure 8 As shown, the ditch-breaking plow assembly is mounted on the front of the machine body via mounting plate 13. The ditch-breaking plow assembly includes a front plow 17-4, a lifting structure, and a mounting box 26. The front plow 17-4 is raised and lowered via the lifting structure, which is located inside the mounting box 26. The top of the mounting box 26 has a limiting hole 14 for limiting the seedling rope. The lifting structure includes a first motor 17-1, a screw 17-5, and a slider 17-3. The output end of the first motor is fixedly connected to the screw. The slider is sleeved on the screw and can slide along the screw. The front plow 17-4 is fixed on the slider. The screw is mounted on the mounting box 26 via a fixing sleeve 17-2.

[0038] Specifically, the soil cover structure is as follows Figure 7 As shown, the soil covering structure includes a support frame 20-1 and two rotating discs 20-2. One end of the support frame is installed at the rear bottom of the machine body, and the two rotating discs are arranged in a V-shape. The support frame 20-1 is a flexible support frame, which can buffer sudden stress changes and ensure that the soil covering is flat and compacted. The rotating discs 20-2 ensure stable soil covering operation, and the rotation of the discs buffers the force acting on the machine due to uneven road surfaces. The two V-shaped rotating discs can push the soil on both sides of the trench to cover and compact the seaweed roots.

[0039] A chassis is located at the bottom of the machine body, and the walking structure is mounted on the chassis, such as... Figure 6 As shown, the walking structure includes a rubber track 19 and at least two drive motors symmetrically arranged on the left and right. The drive motors drive the drive wheel 21 to rotate through a transmission structure. The drive wheel 21 cooperates with the rubber track 19 to drive the driven wheel to rotate. There are at least four driven wheels symmetrically arranged on the left and right. The four driven wheels are mounted on the chassis through a shock-absorbing suspension 27.

[0040] In one specific embodiment, three driven wheels are provided, including a first driven wheel 22, a second driven wheel 23, and a third driven wheel 24. All three driven wheels 22, 23, and 24 are connected to the chassis via a shock-absorbing suspension 27, which absorbs and disperses impacts and vibrations caused by uneven terrain. The running gear 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 via a support rod. The interaction of the driven wheels, support wheels, and drive wheels results in a parallelogram-shaped rubber track, improving the obstacle-crossing ability of the underwater planting machine.

[0041] In one specific embodiment, at least four propellers 12, symmetrically arranged in pairs for ascending or descending, are installed on the left and right outer side walls of the fuselage, and at least four propellers 15, symmetrically arranged in pairs for directional control, are installed on the left and right inner side walls of the fuselage.

[0042] In one specific embodiment, the first seedling conveying wheel, the second seedling conveying wheel, and the third seedling conveying wheel have the same structure, each including a second motor, a threaded shaft, and a seedling conveying wheel. The seedling conveying wheel is sleeved on the threaded shaft, and the threaded shaft is fixedly connected to the output end of the second motor. The seedling conveying wheel achieves self-locking along the rotation direction through the threaded shaft. The outer surface of the seedling conveying wheel is covered with a flexible rubber structure, and the surface of the flexible rubber structure is provided with protrusions.

[0043] When planting seaweed seedlings, the seedlings are inserted upside down onto hemp ropes to obtain seedling ropes. The seedling ropes are stored on seedling storage trays and transported from the seedling storage boat on the water surface. The seedling ropes pass through the first seedling conveying wheel, the second seedling conveying wheel, the limiting hole, and the third seedling conveying wheel, causing the seedling ropes to rotate 180 degrees, so that the seaweed seedlings are planted upright in the soil, which effectively improves the survival rate of seaweed seedlings.

[0044] Based on the above seagrass seedling planting system, the specific seagrass seedling planting method is as follows: Step 1, the surface seedling storage vessel moves together with the underwater planting machine by using an electromagnet to attract the underwater planting machine to the planting target position. After reaching the planting target position, the electromagnet loses its magnetic force, and the surface seedling storage vessel separates from the underwater planting machine.

[0045] Step 2: The underwater planter works to plant seaweed seedlings. At the same time, the depth sensor on the underwater planter detects the depth of the underwater planter and feeds the data back to the control module of the seedling storage vessel on the surface.

[0046] Step 3: The control module controls the length of the cable released by the cable reel based on the data fed back by the depth sensor. At the same time, it controls the target recognition algorithm to identify the underwater planter's logo based on the depth information and adjusts the speed and direction of the surface seed storage vessel based on the recognition results to achieve coordination between the surface seed storage vessel and the underwater planter.

[0047] Step 4: After planting is completed, the underwater planter floats to the surface. The target recognition algorithm aligns the surface seedling storage boat with the underwater planter. The electromagnet on the surface seedling storage boat has magnetic force, which attracts the underwater planter and allows it to be recovered as a whole.

[0048] In one specific embodiment, the surface seed storage vessel is equipped with a Jetson Nano minicomputer for image inference. The target recognition algorithm in step 3 is a YOLOv5n model. By using TensorRT technology, the inference of YOLOv5n on the Jetson Nano is accelerated, enabling the algorithm to run in real time on the Jetson Nano.

[0049] The Yolov5n model is trained on a specific dataset collected during the operation of the ship's machinery. It can identify blue-green laser emission sources and reflective stickers of specific shapes in images. The Jetson Nano processes the target pixel coordinates identified by the Yolov5n model and sends them to the control module of the seed storage vessel on the water for feedback control of the vessel's movement, thereby achieving the tracking function.

[0050] Step 3 specifically involves determining 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 the distance is far, the target recognition algorithm prioritizes obtaining the relative position information between 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 the distance is close, 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.

[0051] The specific process for obtaining relative position information at long distances is as follows: The surface seedling storage vessel first obtains the relative position information between the underwater planter and the surface seedling storage vessel by using the four laser emission sources located 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 patch are (X5, Y5), the coordinates of the feedback position are (X', Y'), and the coordinates of the destination position are (X', Y'). ^ ,Y ^ The ship's motion aims to make the feedback position coordinates as close as possible to the target position coordinates. Considering the possibility of recognition failure due to partial occlusion of markers by objects, the number of laser recognition attempts is N:

[0052] When N = 0, the feedback position coordinates are (X... ^ ,Y ^ That is, the ship will not move;

[0053] When N = 1, 2, the feedback position coordinates are the average of the identified laser coordinates;

[0054] When N = 3, the feedback coordinates are the midpoint of the longest side (hypotenuse) of the identified triangle.

[0055] When N = 4, the feedback coordinates are the center point of the identified quadrilateral;

[0056] Because the number of laser-identified objects jumps drastically from N greater than or equal to 3 to N less than or equal to 2, the transmitted position coordinates undergo significant changes, increasing the amplitude of the ship's motion control. Therefore, an exponential smoothing method is employed, namely:

[0057] When N=1, 2, the final feedback position coordinates = α*loc1 + (1-α)*loc2;

[0058] When N>=3 or 0, the final feedback position coordinates = loc1;

[0059] Where α is a parameter, loc1 is the current calculated feedback position coordinate, and loc2 is the previous feedback position coordinate.

[0060] The specific process of obtaining relative position information at close range is as follows: the light strip at the bottom of the seedling storage boat is turned on to illuminate the reflective mark above the underwater planter. The camera at the bottom of the seedling storage boat captures the reflective mark, identifies the reflective mark through a target recognition algorithm, and feeds back the coordinates of the reflective mark to the control module, thus obtaining the coordinates of the underwater planter.

[0061] This embodiment utilizes a ship-machine collaborative method to cultivate seagrass seedlings. The four main processes of seedling storage, transport, planting, and cutting are evenly distributed among the two main working entities: the surface seedling storage vessel and the underwater planting machine. Each entity specializes in its specific task, achieving complex tasks while reducing the complexity of each subsystem and improving the overall system stability.

[0062] In each control mode (integrated placement, collaborative following, and integrated retrieval), only one person on shore is needed to achieve collaborative planting of seaweed seedlings by ship and machine, which greatly reduces the complexity of shore operators controlling two machines at the same time and improves the operability of the system.

[0063] The system integrates ship and motor power supply, with the seedling storage vessel on the water providing power to the machine. The power source is above the water, reducing the risk of water leakage and damage to the electrical system. At the same time, since the battery is transported by boat, it can carry a larger capacity battery, increasing the system's working time per cycle and making battery replacement easier.

[0064] By using wireless communication between the shore and the seedling storage vessel on the water, and wired communication between the seedling storage vessel on the water and the underwater planting machine, remote communication and control can be achieved wirelessly from the shore, reducing the complexity of system communication and expanding the working range of seagrass seedling planting.

[0065] The seedling ropes are stored on the seedling storage boat on the water surface, which reduces the weight of the underwater planting machine, increases the system's seedling storage capacity, and allows for the planting of more seagrass seedlings in a single planting operation.

[0066] The ship-machine cooperative following system disclosed in this embodiment is based on two-level recognition using blue-green lasers and reflective material markings. The two-level recognition provides a more detailed technical solution for both long-distance and short-distance ship-machine working conditions, improving the accuracy of ship-machine cooperation and reducing misidentification.

[0067] An electromagnet-based adsorption control method for ship engines. The electromagnet's power switch is controlled via a relay, a simple and easy-to-implement method. Furthermore, the electromagnet's attraction is minimally affected by seawater, and combined with a designed electromagnetic attraction structure and optical recognition control, precise engagement can be achieved.

[0068] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its scope and spirit, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. A seagrass seedling planting system, characterized by, The water surface seedling storage ship is connected with the underwater planter through a cable, the water surface seedling storage ship tracks the movement and position of the underwater planter, and the underwater planter and the water surface seedling storage ship are provided with attitude sensors, so that the underwater planter and the water surface seedling storage ship always keep the same direction movement, and the water surface seedling storage ship and a land base station are wirelessly communicated; The water surface seedling storage ship is provided with a first seedling conveying wheel at the front end, an electric scissors is arranged below the first seedling conveying wheel and realizes extension and retraction through a telescopic structure, a seedling storage disc is arranged above the water surface seedling storage ship, and a lamp strip, a camera for position tracking and a propeller for adjusting the relative position of the water surface seedling storage ship and the underwater planter are arranged at the bottom of the water surface seedling storage ship. The underwater planter comprises a body, a walking structure for walking on the seabed is arranged on the body, a plurality of propellers for the underwater planter to float, dive and turn are arranged on the body, a second seedling conveying wheel and a tensioning wheel assembly are arranged above the body, a third seedling conveying wheel is arranged on the body below the second seedling conveying wheel in correspondence, a seedling rope passes through the first seedling conveying wheel, the tensioning wheel assembly, the second seedling conveying wheel and the third seedling conveying wheel in sequence from the seedling storage disc, a furrow breaking front plough assembly is arranged at the front part of the body, a soil covering structure is arranged at the rear part of the body, and a reflective marker, a laser emission source and a depth sensor are arranged at the top of the tensioning wheel assembly. The distance between the water surface seedling storage ship and the underwater planter is determined according to the depth data fed back by the depth sensor, if the distance is far, the target recognition algorithm preferentially obtains the relative position information of the underwater planter and the water surface seedling storage ship by recognizing the laser emission source at the four corners of the underwater planter, and if the distance is close, the target recognition algorithm preferentially positions the underwater planter by recognizing the reflective marker at the middle position of the underwater planter. The specific process of obtaining relative position information at a long distance is that the water surface seed storage ship obtains the relative position information of the underwater planter and the water surface seed storage ship by preferentially identifying the four corner laser emitting sources above the underwater planter. The coordinates of the four laser emitting sources are (X i , Y i ), i=1, 2, 3, 4; the coordinates of the reflective sticker are (X5, Y5), the feedback position coordinates are (X', Y'), the target position coordinates are (X ^ , Y ^ ), and the movement of the ship is to make the feedback position coordinates as close as possible to the target position coordinates. Considering that the identification algorithm may fail to identify some labels due to being partially blocked by some objects, the number of laser identifications is N: When N = 0, the feedback position coordinates are (X ^ , Y ^ ), i.e. the boat is not moving; When N = 1 or 2, the feedback position coordinates are the mean values of the recognized laser coordinates. When N = 3, the feedback coordinates are the midpoints of the longest sides of the recognized triangle. When N = 4, the feedback coordinates are the center points of the recognized quadrilateral. Due to the great mutation of the transmitted position coordinates when the number of laser recognition N jumps from greater than or equal to 3 to less than or equal to 2, the motion control range of the ship is increased, and the exponential smoothing method is adopted, that is, When N = 1 or 2, the final feedback position coordinates = α * loc1 + (1-α) * loc2. When N >= 3 or 0, the final feedback position coordinates = loc1. Wherein, α is a parameter, loc1 is the currently calculated feedback position coordinates, and loc2 is the last feedback position coordinates. The specific process of obtaining the relative position information when the distance is close is that the lamp strip at the bottom of the water surface seedling storage ship is turned on to illuminate the reflective marker above the underwater planter, the camera at the bottom of the water surface seedling storage ship captures the reflective marker, the reflective marker is recognized through the target recognition algorithm, and the coordinates of the reflective marker are fed back to the control module, that is, the coordinates of the underwater planter are obtained.

2. A seagrass seedling planting system according to claim 1, wherein, The water surface seedling storage ship is provided with electromagnets on both sides of the bottom for adsorbing the underwater planter, the underwater planter is provided with magnetic blocks on both sides of the top, and the water surface seedling storage ship realizes the deployment and recovery of the underwater planter through the adsorption of the electromagnets and the magnetic blocks.

3. A seagrass seedling planting system according to claim 1, wherein, The electric scissors are installed in a scissors box, and the scissors box is installed on the water surface seedling storage ship through telescopic structures on both sides.

4. A seagrass seedling planting system according to claim 1, wherein The front furrow breaking plough assembly is installed on the front part of the machine body through an installation plate, and comprises a front plough, a lifting structure and an installation box.

5. A seagrass seedling planting system according to claim 1, wherein The covering structure comprises a bracket and two rotating discs, and the bracket is installed on the bottom rear side of the machine body.

6. A seagrass seedling planting system according to claim 1, wherein The bottom of the machine body is provided with a chassis, and the walking structure is installed on the chassis.

7. A seagrass seedling planting system according to claim 1, wherein The left and right outer walls of the machine body are provided with at least four pairs of symmetrical propellers one for ascending or descending, and the left and right inner walls of the machine body are provided with at least four pairs of symmetrical propellers two for steering.

8. A seagrass seedling planting system according to claim 1, wherein The first seedling conveying wheel, the second seedling conveying wheel and the third seedling conveying wheel have the same structure and comprise a motor, a threaded shaft and a seedling conveying wheel. The outer surface of the seedling conveying wheel is wrapped with a flexible rubber structure, and the surface of the flexible rubber structure is provided with a convex part.

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