Ship-machine cooperative sea grass planting equipment and planting method

Abstract

The invention discloses a ship-machine cooperative sea grass planting device and method, and the method comprises the steps: enabling blue-green laser emission sources to be installed at four corners above an underwater planting machine through employing the small underwater attenuation of blue-green laser, enabling an ultra-wide-angle camera to be installed below a water surface seedling storage ship, recognizing the laser emission sources through employing a target detection algorithm, and carrying out the recognition of the laser emission sources through employing a target detection algorithm; therefore, the motion of the underwater planter is tracked, and the problem of long-distance positioning of the ship machine in the vertical direction is solved. Attitude matching in the horizontal direction is realized through attitude sensors on the water surface seedling storage ship and the underwater planter; meanwhile, in order to solve the problems that the visual angle of a camera is limited due to the fact that the ship machine is too close in the shallow water terrain, a laser emission source part cannot be recognized, and the positioning precision of the machine is reduced, a reflective sticker in a special shape is installed at the right center of the machine, and a lamp strip is installed below the water surface seedling storage ship; the position of the underwater planter is accurately positioned by identifying and tracking the reflective stickers, and the tracking and electromagnetic matching precision is improved.

Description

Technical Field

[0001] The invention relates to the technical field of seaweed transplantation, and in particular to a ship-machine coordinated seaweed planting device and a planting method. 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] Seagrass beds can be restored most quickly by artificially planting seagrass seedlings. In the existing technology, single-machine intelligent seagrass transplantation is usually used for planting, which has a small amount of seedlings and a small amount of single planting. In addition, the underwater planter is connected to the mother ship by a traditional ROV umbilical cable, which has a small working range and a limited working radius. If a provider / base station with a seedling rope is set up on the sea surface, it is often difficult to achieve a high degree of coordination between the base station and the underwater planter, and mechanical failures are very likely to occur. Summary of the invention

[0005] In order to overcome the above problems existing in the prior art, the present invention proposes a seaweed planting device and a planting method in which a ship and a machine are coordinated.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a seaweed planting method coordinated by a ship and a machine, which specifically includes the following steps: Step 1: The surface seedling storage boat moves to the target planting position together with the underwater planting machine through the electromagnet. After reaching the target planting position, the electromagnet loses its magnetic force, and the surface seedling storage boat separates from the underwater planting machine; Step 2: The underwater planter works to plant seaweed. The posture sensors on the underwater planter and the surface seedling storage ship ensure that the underwater planter and the surface seedling storage ship match each other in the horizontal direction. 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 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.

[0007] In the above-mentioned ship-machine collaborative seaweed planting method, the target recognition algorithm in step 3 is the Yolov5n model, and the Yolov5n model can recognize the laser emission source and reflective stickers on the top of the underwater planting machine.

[0008] In the above-mentioned ship-machine coordinated seaweed planting method, step 3 is specifically as follows: judge the distance between the surface seedling storage ship and the underwater planting machine according to the depth data fed back by the depth sensor; if it is a long distance, the target recognition algorithm preferentially obtains the relative position information of the underwater planting machine and the surface seedling storage ship by identifying the laser emission sources at the four corners above the underwater planting machine; if it is a short distance, the target recognition algorithm preferentially locates the position of the underwater planting machine by identifying the reflective mark in the middle position above the underwater planting machine.

[0009] The specific process of obtaining relative position information of the above-mentioned ship-machine coordinated seaweed planting equipment and planting method at a long distance is as follows: the surface seedling storage ship preferentially obtains the relative position information of the underwater planting machine and the surface seedling storage ship by identifying the four corner laser emission sources above the underwater planting machine. The coordinates of the four laser emission sources are respectively (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 number of laser recognition is N: 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.

[0010] The specific process of obtaining relative position information at close range in the above-mentioned ship-machine coordinated seaweed planting equipment and planting method is as follows: the light strip at the bottom of the surface seedling storage ship is turned on to illuminate the reflective mark above the underwater planting machine, the camera at the bottom of the surface seedling storage ship captures the reflective mark, the reflective mark is identified through the target recognition algorithm, and the coordinates of the reflective mark are fed back to the control module, thereby obtaining the coordinates of the underwater planting machine.

[0011] A ship-machine coordinated seaweed planting equipment adopts a ship-machine coordinated seaweed planting method as described above, 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 surface seedling storage ship wirelessly communicates with a land base station. A control module is provided on the surface seedling storage ship.

[0012] The above-mentioned ship-machine coordinated seaweed planting equipment has two sets of seedling transport wheels at the front end of the surface seedling storage boat, electric scissors are arranged on the rear side of the seedling transport wheels, a seedling storage tray is arranged above the surface seedling storage boat, a cable drum for adjusting the cable length is arranged at the rear end of the surface seedling storage boat, and a light strip, a camera for position tracking, an electromagnet for adsorbing an underwater planting machine, and a thruster for adjusting the relative position of the surface seedling storage boat and the underwater planting machine are arranged below the surface seedling storage boat.

[0013] The above-mentioned ship-machine coordinated seaweed planting equipment has blue-green laser emission sources installed at the four corners of the top of the underwater planting machine, and a reflective sticker and a depth sensor are set in the middle.

[0014] In the above-mentioned ship-machine coordinated seaweed planting equipment, both the underwater planting machine and the surface seedling storage ship are provided with attitude sensors which are communicatively connected to the control module, so that the underwater planting machine and the surface seedling storage ship always keep moving in the same direction.

[0015] The beneficial effect of the present invention is that the present invention utilizes the characteristic of low attenuation of blue-green lasers underwater, installs blue-green laser emission sources at the four corners above the underwater planting machine, installs an ultra-wide-angle camera under the surface seedling storage boat, and utilizes the target detection algorithm to identify the laser emission source, thereby tracking the movement of the underwater planting machine and solving the problem of long-distance positioning of the ship and machine in the vertical direction; at the same time, in order to avoid the problem of limited viewing angle of the camera due to the close distance when the ship and machine are in shallow water terrain, which leads to partial failure to identify the laser emission source and reduced positioning accuracy of the machine, a specially shaped reflective sticker is installed in the center of the machine, and a light strip is installed under the surface seedling storage boat. The position of the underwater planting machine can be accurately located by identifying and tracking the reflective sticker, thereby improving the accuracy of tracking and electromagnetic matching. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the process of the present invention Figure 2 It is a schematic diagram of the surface seedling storage boat of the present invention; Figure 3 It is a bottom schematic diagram of the surface seedling storage boat of the present invention.

[0017] 1. Seedling storage tray, 2. Seedling transport wheel, 3. Electric scissors, 4. Electromagnet, 5. Camera, 6. Scissor box, 7. Electric push rod. DETAILED DESCRIPTION

[0018] 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.

[0019] like Figure 1 As shown, this embodiment discloses a seaweed planting method coordinated by a ship and a machine, which specifically includes the following steps: Step 1: The surface seedling storage boat moves to the target planting position together with the underwater planting machine through the electromagnet. After reaching the target planting position, the electromagnet loses its magnetic force, and the surface seedling storage boat separates from the underwater planting machine; Step 2, the underwater planter works to plant seaweed, and at the same time, the depth sensor carried 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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:

[0024] 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.

[0025] 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.

[0026] In a specific embodiment, the above-mentioned seaweed planting method is applied to seaweed planting equipment, which includes 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 surface seedling storage ship wirelessly communicates with a land base station, and a control module is provided on the surface seedling storage ship.

[0027] like Figure 2-3 As shown, two groups of seedling delivery wheels 2 are arranged at the front end of the surface seedling storage boat, and the two groups of seedling delivery wheels 2 pull the seedling rope out of the seedling storage tray and transport it to the underwater planting machine. An electric scissors 3 are arranged below the seedling delivery wheels 2, a seedling storage tray 1 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, and a camera 5 for position tracking, an electromagnet 4 for adsorbing the underwater planting machine, and a propeller (not shown in the figure) 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.

[0028] 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.

[0029] 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.

[0030] In a specific embodiment, the seedling storage tray 1 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 during working hours, thereby improving work efficiency.

[0031] In a specific embodiment, the underwater planting machine can be any planting robot in the prior art that can realize underwater planting of seaweed. It only needs to install blue-green laser emission sources at the four corners of the top of the existing underwater planting robot, and set reflective stickers and depth sensors in the middle; the underwater planting machine and the surface seedling storage ship are both provided with attitude sensors that are connected to the control module for communication, so that the underwater planting machine and the surface seedling storage ship always keep moving in the same direction.

[0032] This embodiment completes seaweed transplantation by designing a ship-machine collaborative method, and distributes the four main work processes of seedling storage, seedling transportation, seedling planting, and seedling cutting in the transplantation process relatively evenly 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.

[0033] In each control mode (integrated placement, coordinated following, integrated recovery), only one person on shore is needed to achieve coordinated ship-machine seaweed planting, which greatly reduces the complexity of the onshore operator controlling two machines at the same time and improves the operability of the system.

[0034] 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.

[0035] By means of wireless communication between the shore and the surface seedling storage ship, and cable communication between the surface seedling storage ship and the underwater planting machine, wireless remote communication and control can be achieved on the shore, reducing the complexity of system communication and expanding the working scope of seaweed transplantation.

[0036] The seedling ropes are stored on the surface seedling storage boat, which reduces the weight of the underwater planter, expands the system's seedling storage capacity, and allows more seaweed to be transplanted in a single planting.

[0037] 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.

[0038] 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.

[0039] 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 planting method using ship-machine collaboration, characterized in that: The specific steps include: Step 1: The surface seedling storage boat moves to the target planting position together with the underwater planting machine through the electromagnet. After reaching the target planting position, the electromagnet loses its magnetic force, and the surface seedling storage boat separates from the underwater planting machine; Step 2: The underwater planter works to plant seaweed. The posture sensors on the underwater planter and the surface seedling storage ship ensure that the underwater planter and the surface seedling storage ship match each other in the horizontal direction. 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 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 attitude sensor. 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.

2. The method for planting seaweed with ship-machine collaboration according to claim 1, characterized in that: The target recognition algorithm in step 3 is the Yolov5n model, and the Yolov5n model can recognize the laser emission source and reflective stickers on the top of the underwater planting machine.

3. The method for planting seaweed in cooperation with a ship and a machine according to claim 2, characterized in that: The target recognition algorithm in step 3 identifies the identification of the underwater planting machine according to the depth information as follows: the distance between the surface seedling storage ship and the underwater planting machine is judged according to the depth data fed back by the depth sensor. If it is a long distance, the target recognition algorithm obtains the relative position information of the underwater planting machine and the surface seedling storage ship by identifying the laser emission sources at the four corners above the underwater planting machine; if it is a short distance, the target recognition algorithm locates the position of the underwater planting machine by identifying the reflective mark in the middle position above the underwater planting machine.

4. The ship-machine coordinated seaweed planting equipment and planting method according to claim 3, characterized in that: The specific process of obtaining relative position information at a long distance is as follows: the surface seedling storage ship 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 feedback position coordinates are (X',Y'), the target position coordinates (X ^ ,Y ^ ); the number of laser recognition is N: 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.

5. The ship-machine coordinated seaweed planting equipment and planting method according to claim 3, characterized in that: 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.

6. A ship-machine coordinated seaweed planting device, characterized in that: A ship-machine coordinated seaweed planting method as described in claims 1-5 is adopted, comprising a surface seedling storage vessel and an underwater planting machine, wherein the surface seedling storage vessel is wired to the underwater planting machine via a cable, the surface seedling storage vessel tracks the movement and position of the underwater planting machine, the surface seedling storage vessel wirelessly communicates with a land base station, and a control module is arranged on the surface seedling storage vessel.

7. The ship-engine coordinated seaweed planting device according to claim 6 is characterized in that: Two groups of seedling transport wheels are arranged at the front end of the surface seedling storage boat, electric scissors are arranged below the seedling transport wheels, a seedling storage tray is arranged above the surface seedling storage boat, a cable drum for adjusting the cable length is arranged at the rear end of the surface seedling storage boat, and a light strip, a camera for position tracking, an electromagnet for adsorbing an underwater planting machine, 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.

8. The ship-engine coordinated seaweed planting device according to claim 6 is characterized in that: The four corners of the top of the underwater planting machine are equipped with blue-green laser emission sources, and a reflective sticker and a depth sensor are arranged in the middle.

9. The ship-engine coordinated seaweed planting device according to claim 6, characterized in that: The underwater planting machine and the surface seedling storage ship are both provided with a posture sensor which is in communication with the control module, so that the underwater planting machine and the surface seedling storage ship always keep moving in the same direction.

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