Intelligent transplanting robot and planting method thereof

Abstract

The invention discloses an intelligent transplanting robot and a planting method thereof.The intelligent transplanting robot comprises a frame, a planting assembly mounted on one side of the middle of the frame and a seedling feeding assembly mounted in the middle of the frame and located above the planting assembly, and a wire-controlled crawler wheel chassis is mounted at the bottom of the frame and used for driving the frame to move. The intelligent transplanting robot is automatically driven to reach the preset point position, hole digging, seedling releasing and backfilling are conducted, the automation degree is high, planting of saplings can be completed without manual operation, the planting assembly is arranged, a tool bit of the planting assembly can be downwards unfolded under pushing of a rotating disc and is driven by a rotating rotating pipe to rotate, and therefore when the tool bit digs a hole, the planting efficiency of the saplings is greatly improved. The inside of the rotary pipe is blocked by the rotary pipe, loose soil is limited and blocked, collapse is avoided, after saplings are planted and when the rotary pipe moves upwards to reset, the blocked soil can be automatically backfilled under the action of gravity, human assistance is not needed in the whole process, and the planting efficiency is improved again.

Description

Technical Field

[0001] The present invention specifically relates to an intelligent transplanting robot and its planting method. Background Art

[0002] Desert afforestation is one of the major problems in ecological construction. However, traditional afforestation is mainly manual planting. Nowadays, with the increasing shortage of labor, it not only has high costs but also low planting efficiency. In order to accelerate the greening of the desert, intelligent transplanting robots are gradually put into use in the desert to replace manual labor. Specifically, an intelligent transplanting robot is a high-tech device for automated plant transplanting operations. It combines advanced technologies in multiple disciplines such as mechanical engineering, electronic technology, computer vision, and artificial intelligence, and is an indispensable good helper for desert oasisification; However, most of the existing intelligent transplanting robots mainly have a single function when performing tree-planting operations. They cannot achieve integrated operations of hole-digging, seedling-delivering, and planting, with a low degree of automation and unable to meet the operational requirements of current desertification control. Moreover, when facing sandy land with loose soil, during hole-digging, the loose soil will collapse back into the dug hole again, requiring manual assistance for clearance, and the planting efficiency is always not high.

[0003] Therefore, it is necessary to invent an intelligent transplanting robot and its planting method to solve the above problems. Summary of the Invention

[0004] (I) Objectives of the Invention The objective of the present invention is to provide an intelligent transplanting robot and its planting method. The intelligent transplanting robot can automatically drive to a preset position, dig a hole, deliver a seedling, place the seedling, and backfill. It has a high degree of automation and can complete the planting of saplings without manual operation, with relatively high planting efficiency. Further, by providing a planting component, the cutter head can be pushed downward and unfolded by a turntable, and at the same time, it is driven to rotate by a rotating pipe. Thus, while the cutter head digs a hole, the inside is blocked by the rotating pipe, and the loose soil is limited and blocked from collapsing. After the sapling is planted, when the rotating pipe moves upward and resets, the blocked soil will automatically backfill under the action of gravity, and the whole process does not require manual assistance, further improving the planting efficiency to solve the above deficiencies in the technology.

[0005] (II) Technical Solutions To achieve the above objective, the present invention provides the following technical solutions: An intelligent transplanting robot includes a vehicle frame, and a wire-controlled tracked wheel chassis is installed at the bottom of the vehicle frame for driving the vehicle frame to move; A planting component is installed on one side of the middle part of the vehicle frame; A seedling delivery component is installed in the middle of the vehicle frame and is located above the planting component for transporting saplings into the planting component; The first driving mechanism is installed in the middle of the vehicle frame, and its bottom end is connected to the planting assembly, and is used to drive the planting assembly to translate so that it can transplant saplings.

[0006] Preferably, the planting assembly includes: A platform installed on the vehicle frame, a ring body penetrating through the top of the platform, a rotating pipe connected to the bottom of the ring body, hoop plates sleeved on the outer sides of the top end and the bottom end of the rotating pipe, three vertical rods installed between the two hoop plates, a connecting rod connected to the top end of each vertical rod, and a guiding column installed at the top of the end of the connecting rod away from the vertical rod; A turntable installed on the outer side of the bottom of the ring body, three guiding holes are opened on the top of the turntable, and each guiding column passes upward through the guiding hole above it and is located outside the guiding hole; There are three bases, which are respectively installed at the bottom ends of the three vertical rods, and blades are installed at the bottoms of the bases.

[0007] Preferably, a spiral row is connected to the outer side of the rotating pipe, and the three vertical rods all vertically penetrate through the spiral row.

[0008] Preferably, a second driving mechanism is installed on the platform, and is used to drive the ring body to rotate around its own axis so that the blade can rotate and unfold.

[0009] Preferably, the three guiding holes are evenly distributed in a circular array on the top of the turntable, and each guiding hole is arranged in a straight line towards the center of the turntable.

[0010] Preferably, two blades are provided at the bottom of each base, and are distributed in a V shape at the inner side edge of the base, and the outer side edges of the three bases are all arc-shaped and are adapted to the outer diameter of the rotating pipe.

[0011] Preferably, the seedling feeding assembly includes a tray connected to the vehicle frame and in a frame shape, a feeding pipe is installed directly above the ring body on the tray, a plurality of transplanting cylinders are placed on the top of the tray, and a third driving mechanism is installed on the vehicle frame to drive the transplanting cylinders to move along the extending direction of the tray.

[0012] Preferably, the feeding pipe is funnel-shaped, and its bottom end passes downward through the ring body and extends into the interior of the rotating pipe.

[0013] Preferably, rollers are installed at the outer bottom of each transplanting cylinder, and folding ears are installed at the inner top of each transplanting cylinder.

[0014] A planting method of an intelligent transplanting robot includes the following steps: S1. Set parameters: Preset the number of planting operations and the operation path. After planning the plant spacing, row spacing, and planting depth, the intelligent transplanting robot drives through the wire-controlled crawler wheel chassis and automatically drives to the preset point and stops moving. S2. Blade deployment: The first driving mechanism is activated to control the entire platform to move vertically downward, causing the ring body and the rotating pipe to move downward synchronously. At this time, the second driving mechanism is activated to control the ring body to rotate clockwise around its own axis, thereby driving the rotating pipe to rotate clockwise. At the same time, the turntable rotates synchronously with the rotating pipe, and the initial positions of the three guide holes change. The position of the guide post changes from the initial outside to slide inside the guide hole. At this time, with the continuous rotation of the turntable, the guide post will be pushed by the turntable and start to rotate clockwise, thereby causing the connecting rod to rotate around the axis of the vertical rod connected to it and further driving the vertical rod itself to rotate. The three bases at the bottom of the vertical rod start to move away from each other synchronously, causing the blades to unfold from each other. S3. Execute hole digging: The first driving mechanism continues to drive the platform downward, causing the rotating pipe to continuously push the blades downward, and the second driving mechanism continues to drive the rotating pipe to rotate. As the blades come into contact with the ground, a planting hole will be drilled out of the ground by the blades, and the soil drilled out will be automatically discharged upward under the action of the spiral row. S4. Plant saplings: The third driving mechanism is activated to drive the transplanting cylinder on the tray to move along the top of the tray. When a transplanting cylinder moves directly above the feeding pipe, due to the lack of support from the tray, the saplings inside will fall downward under the action of gravity and, under the limitation of the feeding pipe and the rotating pipe, fall straight into the dug planting hole. S5. Blade reset: After the saplings are stable, the first driving mechanism drives the platform to move upward. During this process, due to the departure of the rotating pipe, the soil blocked by it and the soil discharged by the spiral row will roll towards the planting hole to complete the covering of the planting hole. And when the blades are higher than the saplings, the second driving mechanism drives the ring body to rotate counterclockwise. At this time, the turntable will rotate counterclockwise synchronously, and the position of the guide hole will change again. The position of the guide post inside it changes from the inside to slide outside, and then is pushed by the turntable and starts to rotate counterclockwise. Under the counterclockwise transmission of the connecting rod and the vertical rod, the three bases will start to move closer to each other synchronously, causing the blades to approach and reset from each other. S6. Batch planting: The intelligent transplanting robot continues to move forward to the next preset point, and repeats steps S1 - S5 to complete the batch planting of saplings until all preset planting operations are completed.

[0015] Compared with the prior art, the beneficial effects of the above technical solutions of the present invention are: 1. The present invention enables the intelligent transplanting robot to automatically drive to a preset position, and then automatically dig holes, deliver seedlings, place seedlings, and backfill, completing the planting of saplings. It has multiple planting functions, a high degree of automation, no need for manual operation, and relatively high planting efficiency. 2. The present invention is provided with a planting component. When the cutter head needs to dig a hole downward, the turntable drives the rotating pipe to rotate by means of a guide rod, causing the blades to unfold and dig a hole downward. At the same time, the rotating pipe rotates inside the blade, preventing the soil dug out by the blade from scattering and collapsing in the hole. After the sapling is planted, when the blade leaves upward, the soil blocked by the rotating pipe will roll automatically into the planting hole under the action of gravity, completing the backfill. The whole process does not require manual assistance, and the planting efficiency is improved again. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the connection structure between the planting component and the vehicle frame of the present invention; Figure 3 It is a perspective view of the present invention Figure 4 It is a distribution diagram of the planting component and the seedling delivery component of the present invention; Figure 5 It is a schematic diagram of the connection structure between the third driving mechanism and the vehicle frame of the present invention; Figure 6 It is a schematic diagram of the connection structure between the blanking pipe and the vehicle frame of the present invention; Figure 7 It is a bottom view of the seedling delivery component of the present invention; Figure 8 It is a partial enlarged view of the present invention; Figure 9 It is a schematic diagram of the connection structure between the planting component and the seedling delivery component of the present invention; Figure 10 It is a bottom view of the planting component of the present invention; Figure 11 It is a schematic diagram of the connection structure between the platform and the ring body of the present invention; Figure 12 It is a schematic diagram of the connection structure between the ring body and the turntable of the present invention; Figure 13 It is a demonstration diagram when the blade is closed in the present invention; Figure 14 It is a demonstration diagram when the blade is unfolded in the present invention; Figure 15 This is a demonstration diagram of the blade closing from another perspective of the present invention; Figure 16 This is a demonstration diagram of the blade unfolding from another perspective of the present invention; Figure 17 This is a schematic diagram of the connection structure between the wire-controlled crawler wheel chassis and the vehicle frame of the present invention.

[0018] Explanation of reference numerals: 1 Vehicle frame, 2 Wire-controlled crawler wheel chassis; 3 Planting assembly, 31 Platform, 32 Ring body, 33 Rotating pipe, 34 Hoop plate, 35 Vertical rod, 36 Link rod, 37 Guide post, 38 Turntable, 39 Guide hole, 310 Base, 311 Blade, 312 Spiral row; 4 Seedling feeding assembly, 41 Tray, 42 Feeding pipe, 43 Transplanting cylinder, 44 Third driving mechanism, 45 Roller, 46 Folding ear; 5 First driving mechanism, 6 Second driving mechanism. Detailed implementation manners

[0019] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further introduced in detail below with reference to the accompanying drawings.

[0020] The present invention provides an intelligent transplanting robot as shown in Figure 1-16 , which includes a vehicle frame 1, a wire-controlled crawler wheel chassis 2 is installed at the bottom of the vehicle frame 1 for driving the vehicle frame 1 to move, and a planting assembly 3 is installed on one side of the middle of the vehicle frame 1; A seedling feeding assembly 4 is installed in the middle of the vehicle frame 1 and is located above the planting assembly 3 for conveying saplings into the planting assembly 3. The seedling feeding assembly 4 includes a tray 41 connected to the vehicle frame 1 and in a frame shape. A feeding pipe 42 is installed directly above the ring body 32 on the tray 41. A plurality of transplanting cylinders 43 are placed on the top of the tray 41. A third driving mechanism 44 is installed on the vehicle frame 1 for driving the transplanting cylinder 43 to move along the extending direction of the tray 41; A first driving mechanism 5 is installed in the middle of the vehicle frame 1, and its bottom end is connected to the planting assembly 3 for driving the planting assembly 3 to translate so that it can transplant saplings; The planting assembly 3 includes a platform 31 installed on the frame 1, a ring body 32 passing through the top of the platform 31, a rotating tube 33 connected to the bottom of the ring body 32, a hoop plate 34 mounted on the outer side of the top and bottom of the rotating tube 33, three vertical rods 35 installed between the two hoop plates 34, each of the vertical rods 35 is connected to a connecting rod 36 at the top, and a guide column 37 is installed at the top of the end of the connecting rod 36 away from the vertical rod 35, a turntable 38 is installed on the outer side of the bottom of the ring body 32, three guide holes 39 are opened on the top of the turntable 38, each of the guide columns 37 passes through the guide hole 39 above it upward and is located on the outside of the guide hole 39, and a base 310 is provided with three, which are respectively installed at the bottom ends of the three vertical rods 35, and a blade 311 is installed at the bottom of the base 310.

[0021] In one embodiment, a spiral row 312 is connected to the outside of the rotating tube 33, and the three vertical rods 35 are vertically penetrated through the spiral row 312. When the rotating tube 33 rotates, the spiral row 312 can rotate along with the rotating tube 33, and discharge the soil broken up by the blade 311 when digging a hole upward, thereby reducing the interference of the soil in the pit and providing a good space for planting saplings.

[0022] In one embodiment, a second driving mechanism 6 is installed on the platform 31, which is used to drive the ring body 32 to rotate about its own axis, so that the blade 311 can rotate and unfold, and move downward with the help of the first driving drive to realize digging and covering. The three guide holes 39 are evenly distributed in a circular array on the top of the turntable 38, and each of the guide holes 39 is arranged in a straight line toward the center of the turntable 38, so that when the turntable 38 initially rotates, the vertical rod 35 will not immediately rotate with the turntable 38, that is, when the turntable 38 rotates, the guide rod will move in disguise by the distance of a guide hole 39, and then rotate with the turntable 38, so that when the turntable 38 rotates forward or reverse, the blade 311 can be unfolded or gathered.

[0023] In one embodiment, two blades 311 are provided at the bottom of each base 310 and are distributed in a V-shape on the inner side of the base 310. When the blades 311 rotate, the soil in the hole can be quickly removed to improve the planting efficiency of the saplings. The outer sides of the three bases 310 are all set to be arc-shaped and adapted to the outer diameter of the rotating tube 33. When the blades 311 are gathered together, their outer sides are similar in size to the rotating tube 33, which is convenient for storage.

[0024] In one embodiment, the blanking pipe 42 is provided in a funnel shape, and its bottom end passes downward through the ring body 32 and extends into the inside of the rotating pipe 33, so that the saplings can accurately fall into the holes dug by the blades 311. At the bottom of the outside of each transplanting cylinder 43, a roller 45 is installed, so that the transplanting cylinder 43 moves more stably on the tray 41, ensuring the normal transportation of the saplings. At the top of the inside of each transplanting cylinder 43, a folding ear 46 is installed, which is convenient for connecting the transplanting cylinder 43 with the third driving mechanism 44.

[0025] A planting method for an intelligent transplanting robot includes the following steps: S1. Set parameters: Preset the number of planting operations and the operation path. After planning the plant spacing, row spacing, and planting depth, the intelligent transplanting robot is driven by the wire-controlled tracked wheel chassis 2 and automatically drives to the preset point and stops moving. S2. Expand the blades 311: The first driving mechanism 5 is started to control the entire platform 31 to translate vertically downward, so that the ring body 32 and the rotating pipe 33 move downward synchronously. At this time, the second driving mechanism 6 is started to control the ring body 32 to rotate clockwise around its own axis, thereby driving the rotating pipe 33 to rotate clockwise. At the same time, the turntable 38 rotates synchronously with the rotating pipe 33, and the initial positions of the three guide holes 39 change. The position of the guide post 37 changes from the initial outside to the inside of the guide hole 39. At this time, with the continuous rotation of the turntable 38, the guide post 37 will be pushed by the turntable 38 and start to rotate clockwise, thereby causing the connecting rod 36 to rotate around the axis of the vertical rod 35 connected to it, and further driving the vertical rod 35 to rotate itself. The three bases 310 at the bottom of the vertical rod 35 start to move away from each other synchronously outward, so that the blades 311 are unfolded from each other. S3. Execute hole digging: The first driving mechanism 5 continues to drive the platform 31 to move downward, so that the rotating pipe 33 continuously pushes the blades 311 downward, and the second driving mechanism 6 continues to drive the rotating pipe 33 to rotate. As the blades 311 come into contact with the ground, a planting hole will be drilled out of the ground by the blades 311, and the soil drilled out will be automatically discharged upward under the action of the spiral row 312. S4. Plant saplings: The third driving mechanism 44 is started to drive the transplanting cylinder 43 on the tray 41 to move along the top of the tray 41. When a transplanting cylinder 43 moves directly above the blanking pipe 42, due to the lack of support from the tray 41, the saplings inside it will fall downward under the action of gravity, and under the limitation of the blanking pipe 42 and the rotating pipe 33, they will fall straight into the dug planting hole. S5. Reset of the blade 311: After the sapling stabilizes, the first driving mechanism 5 drives the platform 31 to move upward. During this process, due to the departure of the rotating pipe 33, the soil blocked by it and the soil discharged by the spiral row 312 will roll towards the planting hole, completing the covering of the planting hole. And when the blade 311 is higher than the sapling, the second driving mechanism 6 drives the ring body 32 to rotate counterclockwise. At this time, the turntable 38 will rotate counterclockwise synchronously, and the position of the guiding hole 39 will change again. The position of the guiding column 37 inside it will slide from the inner side to the outer side, and then be pushed by the turntable 38 and start to rotate counterclockwise. Under the counterclockwise transmission of the connecting rod 36 and the vertical rod 35, the three bases 310 will start to move inward synchronously, making the blades 311 approach each other and reset: S6. Batch planting: The intelligent transplanting robot continues to move forward to the next preset point, repeats steps S1 - S5, and can complete the batch planting of saplings until all the preset planting operations are completed.

[0026] Embodiment: When the intelligent transplanting robot plants trees, it first drives automatically to the preset point, and then the first driving mechanism 5 drives the planting component 3 to move downward. The second driving mechanism 6 drives the ring body 32 to rotate, thereby driving the turntable 38 and the rotating pipe 33 to rotate. At this time, the guiding column 37 will move a distance of one guiding hole 39 in a variable manner. Then, under the push of the turntable 38, the connecting rod 36 rotates around the axis of the vertical rod 35 connected to it, so that the three bases 310 disperse outward, and the blades 311 unfold from each other. And with the continuous driving of the second driving mechanism 6, while moving downward, it keeps rotating, thus digging a hole, that is, a planting hole, at the preset point. Moreover, the discharged soil will be automatically discharged upward under the action of the spiral row 312. And due to the limitation of the rotating pipe 33 in the planting hole, the loose soil around will not collapse towards the center of the hole; Subsequently, the third driving mechanism 44 drives the transplanting cylinder 43 to move on the tray 41. When a transplanting cylinder 43 is aligned with the feeding pipe 42, the sapling will fall downward under the action of gravity, and under the limitation of the feeding pipe 42 and the rotating pipe 33, it will fall straight into the dug planting hole. Finally, the blade 311 resets upward, and the soil blocked by the rotating pipe 33 and the soil discharged by the spiral row 312 will roll towards the planting hole because there is no obstruction in the hole, completing the covering of the planting hole, realizing the planting of the sapling, and automatically moving to the next preset point until the batch planting of saplings is completed.

[0027] Among them, the first driving mechanism 5, the second driving mechanism 6, and the third driving mechanism 44 can be horizontal driving realized through screw drive, belt drive, or cylinder drive, which will not be described in detail here. That is, the first driving mechanism 5, the second driving mechanism 6, and the third driving mechanism 44 are not specifically elaborated. For those skilled in the art, it is completely possible to understand the specific implementation schemes of the first driving mechanism 5 driving the planting assembly 3 to move up and down, the second driving mechanism 6 driving the ring body 32 to rotate, and the third driving mechanism 44 driving the transplanting cylinder 43 to move on the tray 41. Therefore, for the sake of brevity and to avoid redundancy, the specific detailed descriptions of the first driving mechanism 5, the second driving mechanism 6, and the third driving mechanism 44 are omitted and only mentioned in a way of functional limitation.

[0028] Meanwhile, as Figure 17 shown, the intelligent transplanting robot further includes a vehicle-mounted control module 7 installed at the bottom of the vehicle frame 1, a vehicle-mounted environment recognition module 8 installed at the top of the vehicle frame 1, a vehicle-mounted positioning module 9 installed at the top of the vehicle frame 1 and on one side of the vehicle-mounted environment recognition module, and a vehicle-mounted network communication module 10 installed on the wire-controlled tracked wheel chassis 2; Among them, the vehicle-mounted control module includes a screen, a domain controller, and a vehicle controller; The vehicle-mounted environment recognition module includes a lidar and a lidar controller; The vehicle-mounted positioning module includes a positioning antenna; The wire-controlled tracked wheel chassis 2 includes a motor drive controller and a drive power motor, and its power is provided by a lithium battery; The specific steps for the intelligent transplanting robot to automatically drive to a preset point through the drive of the wire-controlled tracked wheel chassis 2 are as follows: K1. Before operation, select parameter adaptation on the screen using the vehicle-mounted control module, collect operation point information, and at the same time complete the settings of the speed, turning radius, operation step spacing, and row spacing during automatic driving; K2. Receive satellite signals through the positioning antenna in the vehicle-mounted positioning module to generate positioning information, and the lidar and lidar controller of the vehicle-mounted environment recognition module upload the surrounding environment point cloud data to the domain controller of the vehicle-mounted control module; K3. The domain controller plans the path according to the collected data and sends an execution signal to the vehicle controller; K4. The vehicle controller drives the rotation speed of the drive power motor through the motor drive controller, controls the differential speed change on the two tracks, and realizes precise steering and movement.

[0029] This embodiment specifically solves the problems in the prior art that most current intelligent transplanting robots mainly have a single function when performing tree-planting operations, unable to achieve integrated operations of digging holes, delivering seedlings, and planting, with a low degree of automation and unable to meet the operation requirements of current desertification control; and when facing sandy land with loose soil, during hole-digging, the loose soil will collapse back into the dug holes again, requiring manual assistance for clearance, and the planting efficiency has always been low.

[0030] Only some exemplary embodiments of the present invention have been described by way of illustration above. Undoubtedly, for those of ordinary skill in the art, various different ways can be used to modify the described embodiments without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An intelligent transplanting robot, characterized in that: include: A vehicle frame (1), wherein a wire-controlled track wheel chassis (2) is installed at the bottom of the vehicle frame (1) for driving the vehicle frame (1) to move; A planting assembly (3) is installed on one side of the middle portion of the vehicle frame (1); A seedling delivery component (4) is installed in the middle of the frame (1) and is located above the planting component (3), and is used to deliver the seedlings into the planting component (3); The first driving mechanism (5) is installed in the middle of the vehicle frame (1), and its bottom end is connected to the planting component (3), and is used to drive the planting component (3) to move horizontally so that the planting component (3) can be transplanted.

2. The intelligent transplanting robot according to claim 1, characterized in that: The implantation component (3) comprises: A platform (31) mounted on the vehicle frame (1), a ring body (32) passing through the top of the platform (31), a rotating tube (33) connected to the bottom of the ring body (32), a hoop plate (34) sleeved on the outer side of the top end and the outer side of the bottom end of the rotating tube (33), and three vertical rods (35) mounted between two of the hoop plates (34), each of the vertical rods (35) being connected to a connecting rod (36) at the top end, and a guide column (37) being mounted on the top end of the connecting rod (36) away from the vertical rod (35); A rotating disk (38) is mounted on the outer side of the bottom of the ring body (32); three guide holes (39) are formed on the top of the rotating disk (38); each guide column (37) passes through the guide hole (39) above it upwards and is located on the outer side of the guide hole (39); Three bases (310) are provided and are respectively installed at the bottom ends of the three vertical rods (35). A blade (311) is installed at the bottom of the base (310).

3. The intelligent transplanting robot according to claim 2, characterized in that: The outer side of the rotating tube (33) is connected to a spiral row (312), and the three vertical rods (35) are all arranged to vertically penetrate the spiral row (312).

4. The intelligent transplanting robot according to claim 2, characterized in that: The platform (31) is mounted with a second driving mechanism (6) for driving the ring body (32) to rotate about its own axis, so that the blade (311) can rotate and unfold.

5. The intelligent transplanting robot according to claim 2, characterized in that: The three guide holes (39) are evenly distributed in a circular array on the top of the turntable (38), and each guide hole (39) is arranged in a straight line toward the center of the turntable (38).

6. The intelligent transplanting robot according to claim 2, characterized in that: Two blades (311) are provided at the bottom of each base (310) and are distributed in a V-shape at the inner side edge of the base (310). The outer sides of the three bases (310) are all arranged in an arc shape and are adapted to the outer diameter of the rotating tube (33).

7. The intelligent transplanting robot according to claim 2, characterized in that: The seedling delivery assembly (4) comprises a frame-shaped tray (41) connected to the vehicle frame (1); a feed pipe (42) is installed on the tray (41) directly above the ring body (32); a plurality of transplanting tubes (43) are placed on the top of the tray (41); and a third driving mechanism (44) is installed on the vehicle frame (1) for driving the transplanting tubes (43) to move along the extension direction of the tray (41).

8. The intelligent transplanting robot according to claim 7, characterized in that: The feed tube (42) is configured to be funnel-shaped, and the bottom end of the feed tube (42) passes downward through the ring body (32) and extends to the interior of the rotating tube (33).

9. The intelligent transplanting robot according to claim 7, characterized in that: A roller (45) is installed on the outer bottom of each transplanting tube (43), and a folding ear (46) is installed on the inner top of each transplanting tube (43).

10. A planting method using an intelligent transplanting robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, setting parameters: after presetting the number of planting operations and the operation path, planning the plant spacing, row spacing, and planting depth, the intelligent transplanting robot automatically drives to a preset point through the drive of the wire-controlled crawler wheel chassis (2) and stops moving; S2, the blade (311) is unfolded: the first driving mechanism (5) is started to control the entire platform (31) to move vertically downward, so that the ring body (32) and the rotating tube (33) move downward synchronously. At this time, the second driving mechanism (6) is started to control the ring body (32) to rotate clockwise about its own axis, thereby driving the rotating tube (33) to rotate clockwise. At the same time, the rotating disk (38) rotates synchronously with the rotating tube (33), the initial positions of the three guide holes (39) are changed, and the position of the guide column (37) is changed. Then, it slides from the initial outer side to the inner side of the guide hole (39) in a disguised manner. At this time, as the turntable (38) continues to rotate, the guide column (37) is pushed by the turntable (38) and starts to rotate clockwise, thereby causing the connecting rod (36) to rotate around the axis of the vertical rod (35) connected thereto, and further driving the vertical rod (35) to rotate itself, while the three bases (310) located at the bottom of the vertical rod (35) begin to move away from the outside synchronously, so that the blades (311) are spread out from each other; S3, executing hole digging: the first driving mechanism (5) continues to drive the platform (31) to move downward, so that the rotating tube (33) continuously pushes the blade (311) downward, and the second driving mechanism (6) continues to drive the rotating tube (33) to rotate. As the blade (311) contacts the ground, the blade (311) rotates the ground to form a planting hole, and the rotated soil is automatically discharged upward under the action of the spiral row (312); S4, planting saplings: the third driving mechanism (44) is started to drive the transplanting tube (43) on the tray (41) to move along the top of the tray (41). When a transplanting tube (43) moves to the top of the feeding tube (42), the sapling inside the transplanting tube (43) will fall downwards due to the lack of support from the tray (41) and fall straight into the dug planting hole under the limitation of the feeding tube (42) and the rotating tube (33); S5, blade (311) reset: after the sapling is stabilized, the first drive mechanism (5) drives the platform (31) to move upwards. During this process, due to the departure of the rotating tube (33), the soil blocked by it and the soil discharged by the spiral row (312) will roll into the planting hole, completing the soil covering of the planting hole. When the blade (311) is higher than the sapling, the second drive mechanism (6) drives the ring body (32) to rotate counterclockwise. At this time, the rotating disk (38) will rotate counterclockwise synchronously, and the position of the guide hole (39) will change again. The position of the internal guide column (37) will slide from the inside to the outside in a disguised manner, and then it will be pushed by the rotating disk (38) and start to rotate counterclockwise. Under the counterclockwise transmission of the connecting rod (36) and the vertical rod (35), the three bases (310) will start to gather inward synchronously, so that the blades (311) are moved closer to each other and reset: S6. Batch planting: The intelligent transplanting robot continues to move forward and arrives at the next preset point, repeating steps S1-S5 to complete the batch planting of seedlings until the preset planting operation is completed.

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