Intelligent transplanting robot and planting method thereof

Abstract

The application discloses an intelligent transplanting robot and a planting method thereof, which comprises a vehicle frame, a wire-controlled crawler wheel chassis is installed at the bottom of the vehicle frame and used for driving the vehicle frame to move, a planting assembly is installed at one side of the middle part of the vehicle frame, and a seedling feeding assembly is installed at the middle part of the vehicle frame and located above the planting assembly. The intelligent transplanting robot automatically drives to reach a preset point, punches a hole, puts seedlings and backfills, has high automation degree and can complete the planting of saplings without manual operation. The planting assembly is provided with a tool bit which can be unfolded downward under the pushing of a rotating disc and is rotated by a rotating pipe, so that the tool bit digs a hole while the inside of the tool bit is blocked by the rotating pipe, loose soil is limited and blocked and cannot collapse. After the saplings are planted, the blocked soil is automatically backfilled under the action of gravity when the rotating pipe moves upward and resets, the whole process does not need human assistance, and the planting efficiency is improved again.

Description

Technical Field

[0001] This invention specifically relates to an intelligent transplanting robot and its planting method. Background Technology

[0002] Afforestation in deserts is one of the major challenges in ecological construction. However, traditional afforestation mainly relies on manual planting, which is not only costly but also inefficient in today's increasingly labor-scarce environment. In order to accelerate the greening of deserts, intelligent transplanting robots are now being deployed in deserts to replace manual labor. Specifically, intelligent transplanting robots are a high-tech device used for automated plant transplanting operations. They combine advanced technologies from multiple disciplines such as mechanical engineering, electronic technology, computer vision, and artificial intelligence, and are an indispensable helper for desert oasis creation.

[0003] However, existing intelligent transplanting robots mostly perform single functions when carrying out tree planting operations, and cannot achieve integrated operations of digging holes, delivering seedlings, and planting. Their level of automation is low and they cannot meet the current operational requirements for desertification control. Moreover, when facing loose sandy soil, the loose soil will collapse back into the dug holes when digging holes, requiring manual assistance to remove it, resulting in consistently low planting efficiency.

[0004] Therefore, it is necessary to invent an intelligent transplanting robot and its planting method to solve the above problems. Summary of the Invention

[0005] (a) Purpose of the invention

[0006] The purpose of this invention is to provide an intelligent transplanting robot and its planting method. The intelligent transplanting robot automatically reaches the preset location, drills holes, delivers seedlings, places seedlings, and backfills the soil. It has a high degree of automation and can complete the planting of seedlings without manual operation, resulting in high planting efficiency. Furthermore, by setting up a planting component, its cutting head can be pushed downward by a turntable and simultaneously rotated by a rotating tube. This allows the cutting head to dig holes while the tube blocks the loose soil inside, preventing collapse. After the seedling is planted, when the tube moves upward and resets, the blocked soil will automatically backfill under the action of gravity. The entire process does not require human assistance, further improving planting efficiency and solving the aforementioned shortcomings in the technology.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention provides the following technical solution: an intelligent transplanting robot, including a frame, wherein a wire-controlled tracked wheel chassis is installed at the bottom of the frame for driving the frame to move;

[0009] The planting component is installed on one side of the middle of the vehicle frame;

[0010] The seedling delivery component is installed in the middle of the frame and located above the planting component, and is used to deliver seedlings into the planting component.

[0011] The first drive mechanism is installed in the middle of the frame, and its bottom end is connected to the planting component. It is used to drive the planting component to move horizontally so that it can transplant seedlings.

[0012] Preferably, the planting component includes:

[0013] A platform mounted on the frame, a ring extending through the top of the platform, a rotating tube connected to the bottom of the ring, a hoop plate fitted on the outer side of the top and bottom of the rotating tube, three vertical rods installed between the two hoop plates, each vertical rod having a connecting rod connected to its top, and a guide post installed at the top of the connecting rod away from the vertical rod.

[0014] A turntable is installed on the outer side of the bottom of the ring body. The top of the turntable has three guide holes. Each guide post passes upward through the guide hole above it and is located outside the guide hole.

[0015] The base has three parts, which are respectively installed at the bottom of the three vertical rods, and the bottom of the base is equipped with a blade.

[0016] Preferably, a spiral bar is connected to the outside of the rotating tube, and all three vertical rods are vertically arranged through the spiral bar.

[0017] Preferably, a second drive mechanism is installed on the platform to drive the ring to rotate around its own axis, so that the blade can rotate and unfold.

[0018] Preferably, the three guide holes are evenly distributed in a circular array on the top of the turntable, and each guide hole is arranged in a straight line facing the center of the turntable.

[0019] Preferably, each base has two blades at its bottom, arranged in a V-shape on the inner side of the base, and the three outer sides of the base are all arc-shaped and adapted to the outer diameter of the rotating tube.

[0020] Preferably, the seedling delivery assembly includes a frame-shaped tray connected to the frame, a feeding pipe installed on the tray directly above the ring, a plurality of transplanting cylinders placed on the top of the tray, and a third drive mechanism installed on the frame for driving the transplanting cylinders to move along the extension direction of the tray.

[0021] Preferably, the feeding tube is configured as a funnel shape, with its bottom end passing downward through the ring and extending into the interior of the rotating tube.

[0022] Preferably, each of the transplanting tubes is equipped with a roller on the bottom outer side and a folded lug on the top inner side of each of the transplanting tubes.

[0023] A planting method using an intelligent transplanting robot includes the following steps:

[0024] S1. Setting parameters: After presetting the number of planting operations and the operation path, and planning the plant spacing, row spacing, and planting depth, the intelligent transplanting robot will automatically drive to the preset point and stop moving through the drive of the wire-controlled tracked wheel chassis.

[0025] S2, Blade Deployment: The first drive mechanism is activated, controlling the entire platform to move vertically downwards, causing the ring and rotating tube to move downwards synchronously. At this time, the second drive mechanism is activated, controlling the ring to rotate clockwise around its own axis, thereby driving the rotating tube to rotate clockwise. Simultaneously, the turntable rotates synchronously with the rotating tube, changing the initial position of the three guide holes. The position of the guide post changes from the initial outer side to the inner side of the guide hole. At this time, as the turntable continues to rotate, the guide post will be pushed by the turntable and begin 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. Meanwhile, the three bases located at the bottom of the vertical rod begin to move outwards synchronously, causing the blades to deploy.

[0026] S3, Digging: The first drive mechanism continues to drive the platform to move down, causing the rotating tube to continuously push the blade downwards, while the second drive mechanism continues to drive the rotating tube to rotate. As the blade contacts the ground, the ground will be spun out by the blade to create a planting hole, and the spun soil will be automatically discharged upwards under the action of the spiral.

[0027] S4. Planting seedlings: The third drive mechanism is activated, and the transplanting cylinder on the drive tray moves along the top of the tray. When a transplanting cylinder moves directly above the feeding pipe, since there is no tray to support it, the seedling inside will fall downwards under the action of gravity, and under the limit of the feeding pipe and the rotating pipe, it will fall straight into the dug planting hole.

[0028] S5. Blade Reset: After the sapling stabilizes, the first drive mechanism drives the platform to move upward. During this process, due to the removal of the rotating tube, the soil it blocked and the soil discharged by the spiral will roll into the planting hole, completing the covering of the planting hole with soil. When the blade is higher than the sapling, the second drive mechanism drives the ring 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 its internal guide post will slide from the inside to the outside, and then be pushed by the turntable to start rotating counterclockwise. Under the counterclockwise transmission of the connecting rod and the vertical rod, the three bases will start to converge inward synchronously, so that the blades come together and reset.

[0029] S6. Batch Planting: The intelligent transplanting robot continues to move forward and reaches the next preset point. It repeats steps S1-S5 to complete the batch planting of seedlings until all preset planting operations are completed.

[0030] Compared with the prior art, the beneficial effects of the above-mentioned technical solution of the present invention are:

[0031] 1. This invention uses an intelligent transplanting robot to automatically reach a preset location, then automatically drill holes, deliver seedlings, place seedlings, and backfill to complete the planting of seedlings. It has multiple planting functions, a high degree of automation, requires no manual operation, and has high planting efficiency.

[0032] 2. This invention incorporates a planting component. When the blade needs to dig a hole downwards, the turntable, guided by a guide rod, pushes the rotating tube to rotate, causing the blade to unfold and dig downwards. Simultaneously, the rotating tube rotates inside the blade, preventing the soil excavated by the blade from scattering and collapsing into the hole. After the sapling is planted, as the blade moves upwards, the soil blocked by the rotating tube will automatically roll back into the planting hole under the influence of gravity, completing the backfilling. The entire process requires no human assistance, further improving planting efficiency. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0034] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 This is a schematic diagram of the connection structure between the planting component and the frame of the present invention;

[0036] Figure 3 This is a perspective view of the present invention.

[0037] Figure 4 This is a distribution diagram of the planting components and seedling delivery components of the present invention;

[0038] Figure 5 This is a schematic diagram of the connection structure between the third drive mechanism and the vehicle frame of the present invention;

[0039] Figure 6 This is a schematic diagram of the connection structure between the feed tube and the frame of the present invention;

[0040] Figure 7 This is a bottom view of the seedling delivery component of the present invention;

[0041] Figure 8 This is a partial enlarged view of the present invention;

[0042] Figure 9 This is a schematic diagram of the connection structure between the planting component and the seedling delivery component of the present invention;

[0043] Figure 10 This is a bottom view of the planting component of the present invention;

[0044] Figure 11 This is a schematic diagram of the connection structure between the platform and the ring body of the present invention;

[0045] Figure 12 This is a schematic diagram of the connection structure between the ring and the turntable of the present invention;

[0046] Figure 13 This is a demonstration diagram of the blade of the present invention when it is closed;

[0047] Figure 14 This is a demonstration diagram of the blade of the present invention unfolding;

[0048] Figure 15 This is a demonstration diagram of the blade closing from another perspective of the present invention;

[0049] Figure 16 This is a demonstration image showing the blade unfolding from another perspective of the present invention;

[0050] Figure 17 This is a schematic diagram of the connection structure between the drive-by-wire tracked wheel chassis and the frame of the present invention.

[0051] Explanation of reference numerals in the attached figures:

[0052] 1 chassis, 2 wire-controlled tracked wheel chassis;

[0053] 3 Planting components, 31 Platform, 32 Ring body, 33 Rotary tube, 34 Hoop plate, 35 Vertical rod, 36 Connecting rod, 37 Guide column, 38 Turntable, 39 Guide hole, 310 Base, 311 Blade, 312 Spiral row;

[0054] 4. Seedling delivery assembly; 41. Tray; 42. Feeding pipe; 43. Transplanting cylinder; 44. Third drive mechanism; 45. Roller; 46. Folding lug;

[0055] 5 First drive mechanism, 6 Second drive mechanism. Detailed Implementation

[0056] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0057] This invention provides, for example Figure 1-16 The intelligent transplanting robot shown includes a frame 1, a wire-controlled tracked wheel chassis 2 installed at the bottom of the frame 1 for driving the frame 1 to move, and a planting component 3 installed on one side of the middle part of the frame 1.

[0058] The seedling delivery component 4 is installed in the middle of the frame 1 and above the planting component 3. It is used to deliver seedlings into the planting component 3. The seedling delivery component 4 includes a frame-shaped tray 41 connected to the frame 1. A feeding pipe 42 is installed on the tray 41 directly above the ring 32. Several transplanting cylinders 43 are placed on the top of the tray 41. A third drive mechanism 44 is installed on the frame 1 to drive the transplanting cylinders 43 to move along the extension direction of the tray 41.

[0059] The first drive mechanism 5 is installed in the middle of the frame 1, and its bottom end is connected to the planting component 3. It is used to drive the planting component 3 to move horizontally so that it can transplant seedlings.

[0060] The planting assembly 3 includes a platform 31 mounted on the frame 1, a ring 32 passing through the top of the platform 31, a rotating tube 33 connected to the bottom of the ring 32, a hoop 34 sleeved on the outer side of the top and bottom of the rotating tube 33, three vertical rods 35 mounted between the two hoop plates 34, each vertical rod 35 having a connecting rod 36 connected to its top, a guide post 37 mounted on the top of the end of the connecting rod 36 away from the vertical rod 35, a turntable 38 mounted on the outer side of the bottom of the ring 32, the turntable 38 having three guide holes 39 on its top, each guide post 37 passing upward through the guide hole 39 above it and located outside the guide hole 39, and a base 310, of which three are provided and respectively mounted on the bottom of the three vertical rods 35, and a blade 311 mounted on the bottom of the base 310.

[0061] In one embodiment, a spiral bar 312 is connected to the outside of the rotating tube 33, and the three vertical rods 35 are all vertically inserted through the spiral bar 312. The spiral bar 312 can rotate with the rotating tube 33 when the rotating tube 33 rotates, and discharge the soil broken up by the blade 311 when digging the hole upwards, reducing the interference of the soil in the hole and providing a good space for the planting of seedlings.

[0062] In one embodiment, a second drive mechanism 6 is installed on the platform 31 to drive the ring body 32 to rotate around its own axis, so that the blade 311 can rotate and unfold, and move downward with the help of the first drive to achieve digging and covering. 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 facing the center of the turntable 38. This means 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 the distance of one guide hole 39, and then follow the turntable 38 to rotate. Thus, when the turntable 38 rotates forward or backward, the blade 311 can be unfolded or gathered.

[0063] In one embodiment, each base 310 has two blades 311 at its bottom, which are distributed in a V-shape on the inner side of the base 310. When the blades 311 rotate, they can quickly clear the soil in the pit, improving the planting efficiency of the seedlings. The outer sides of the three bases 310 are all arc-shaped and adapted to the outer diameter of the rotating tube 33. When the blades 311 are gathered together, their outer side is similar in size to the rotating tube 33, which is convenient for storage.

[0064] In one embodiment, the feeding tube 42 is configured as a funnel shape, with its bottom end passing downward through the ring 32 and extending into the interior of the rotating tube 33, so that the seedlings can accurately fall into the holes dug by the blade 311. Each transplanting tube 43 is equipped with a roller 45 on its outer bottom, which makes the transplanting tube 43 move more stably on the tray 41 and ensures the normal delivery of the seedlings. Each transplanting tube 43 is equipped with a folded ear 46 on its inner top, which facilitates the connection between the transplanting tube 43 and the third drive mechanism 44.

[0065] A planting method using an intelligent transplanting robot includes the following steps:

[0066] S1. Setting parameters: After presetting the planting quantity and operation path, and planning the plant spacing, row spacing, and planting depth, the intelligent transplanting robot will automatically drive to the preset point and stop moving through the drive of the wire-controlled tracked wheel chassis 2.

[0067] S2, Blade 311 unfolds: The first drive mechanism 5 is activated, controlling the entire platform 31 to move vertically downwards, causing the ring 32 and rotating tube 33 to move downwards synchronously. At this time, the second drive mechanism 6 is activated, controlling the ring 32 to rotate clockwise around its own axis, thereby driving the rotating tube 33 to rotate clockwise. At the same time, the turntable 38 rotates synchronously with the rotating tube 33, and the initial positions of the three guide holes 39 change. The position of the guide post 37 changes from the initial outer side to the inner side of the guide hole 39. At this time, as the turntable 38 continues to rotate, the guide post 37 will be pushed by the turntable 38 and begin 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 located at the bottom of the vertical rod 35 begin to move outwards synchronously, causing the blade 311 to unfold.

[0068] S3, Digging: The first drive mechanism 5 continues to drive the platform 31 to move down, so that the rotating tube 33 continuously pushes the blade 311 downward, while the second drive mechanism 6 continues to drive the rotating tube 33 to rotate. As the blade 311 comes into contact with the ground, the ground will be spun out by the blade 311 to create a planting hole, and the spun soil will be automatically discharged upward under the action of the spiral spool 312.

[0069] S4. Planting seedlings: The third drive mechanism 44 is activated, driving the transplanting cylinder 43 on the pallet 41 to move along the top of the pallet 41. When a transplanting cylinder 43 moves directly above the feeding pipe 42, since there is no pallet 41 to support it, the seedling inside will fall downwards under the action of gravity, and under the limit of the feeding pipe 42 and the rotating pipe 33, it will fall straight into the dug planting hole.

[0070] S5, Blade 311 Reset: After the seedling stabilizes, the first drive mechanism 5 drives the platform 31 to move upward. During this process, due to the departure of the rotating tube 33, the soil it blocks and the soil discharged by the spiral plate 312 will roll into the planting hole, completing the covering of the planting hole with soil. When the blade 311 is higher than the seedling, the second drive 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 guide hole 39 will change again. The position of its internal guide post 37 will slide from the inside to the outside and then be pushed by the turntable 38 to start rotating counterclockwise. Under the counterclockwise transmission of the connecting rod 36 and the vertical rod 35, the three bases 310 will start to converge inward synchronously, so that the blade 311 moves closer to each other and resets.

[0071] S6. Batch Planting: The intelligent transplanting robot continues to move forward and reaches the next preset point. It repeats steps S1-S5 to complete the batch planting of seedlings until all preset planting operations are completed.

[0072] Implementation method: When planting trees, the intelligent transplanting robot first drives itself to the preset point, and then the first drive mechanism 5 drives the planting component 3 to move downward. The second drive mechanism 6 drives the ring 32 to rotate, which in turn drives the turntable 38 and the rotating tube 33 to rotate. At this time, the guide column 37 will move by the distance of a guide hole 39. 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 are dispersed outward, and the blades 311 are spread outward. With the continuous drive of the second drive mechanism 6, they rotate downward and continuously, thus digging a pit, i.e., a planting hole, at the preset point. The soil that is spun out will be automatically discharged upward under the action of the spiral 312. And due to the restriction of the rotating tube 33, the loose soil around the planting hole will not collapse towards the center of the pit.

[0073] Subsequently, the third drive 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 seedling will fall downwards under the action of gravity and fall straight into the dug planting hole under the limit of the feeding pipe 42 and the rotating pipe 33. Finally, the blade 311 returns to its original position, and the soil blocked by the rotating pipe 33 and the soil discharged by the spiral plate 312 will roll into the planting hole because there is no obstruction in the hole, thus completing the covering of the planting hole and realizing the planting of the seedling. It will then automatically move to the next preset point until the batch planting of seedlings is completed.

[0074] The first drive mechanism 5, the second drive mechanism 6, and the third drive mechanism 44 can be horizontally driven by screw drive, belt drive, or cylinder drive. They will not be described in detail here. That is, the first drive mechanism 5, the second drive mechanism 6, and the third drive mechanism 44 are not specifically described. Those skilled in the art can fully understand the specific implementation of the first drive mechanism 5 driving the planting component 3 to move up and down, the second drive mechanism 6 driving the ring 32 to rotate, and the third drive mechanism 44 driving the transplanting cylinder 43 to move on the tray 41. Therefore, for the sake of space and to avoid redundancy, the specific detailed description of the first drive mechanism 5, the second drive mechanism 6, and the third drive mechanism 44 are omitted and only mentioned in a functional manner.

[0075] At the same time, such as Figure 17 As shown, the intelligent transplanting robot also includes an on-board control module 7 installed at the bottom of the frame 1, an on-board environment recognition module 8 installed at the top of the frame 1, an on-board positioning module 9 installed at the top of the frame 1 and located on one side of the on-board environment recognition module, and an on-board network communication module 10 installed on the wire-controlled tracked wheel chassis 2.

[0076] The vehicle control module includes a screen, a domain controller, and a vehicle controller.

[0077] The vehicle environment recognition module includes a lidar and a lidar controller;

[0078] The vehicle positioning module includes a positioning antenna;

[0079] The wire-controlled tracked wheel chassis 2 includes a motor drive controller and a drive power motor, the power of which is provided by a lithium battery;

[0080] The intelligent transplanting robot, driven by a wire-controlled tracked wheel chassis 2, automatically travels to the preset location in the following steps:

[0081] K1. Before operation, use the vehicle control module on the screen to select parameter adaptation, collect operation point information, and at the same time complete the setting of speed, turning radius, operation step distance and row spacing during automatic driving.

[0082] K2. The positioning information is generated by receiving satellite signals through the positioning antenna in the vehicle positioning module. The lidar and lidar controller of the vehicle environment recognition module upload the surrounding environment point cloud data to the domain controller of the vehicle control module.

[0083] K3, the domain controller plans the path based on the collected data and sends the execution signal to the vehicle controller;

[0084] K4, the vehicle controller drives the speed of the power motor through the motor drive controller, controls the differential speed change on the two tracks, and achieves precise steering and movement.

[0085] This implementation method specifically addresses the problem that current intelligent transplanting robots in the prior art, when performing tree planting operations, mostly focus on a single function and cannot achieve integrated operations of digging holes, delivering seedlings, and planting. Their level of automation is low and they cannot meet the operational requirements of current desertification control. Furthermore, when facing loose sandy soil, the loose soil will collapse back into the dug holes during digging, requiring manual assistance to remove it, resulting in consistently low planting efficiency.

[0086] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing 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: The chassis (1) has a wire-controlled track wheel chassis (2) installed at the bottom of the chassis (1) for driving the chassis (1) to move; Planting assembly (3) is installed on one side of the middle part of the frame (1). The planting assembly (3) includes: a platform (31) installed on the frame (1), a ring (32) passing through the top of the platform (31), a rotating tube (33) connected to the bottom of the ring (32), a hoop (34) sleeved on the outer side of the top and bottom of the rotating tube (33), and three vertical rods (35) installed between the two hoop plates (34). Each vertical rod (35) is connected to a connecting rod (36) at its top. A guide post (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 (32). The top of the turntable (38) has three guide holes (39). Each guide post (37) passes upward through the guide hole (39) above it and is located outside the guide hole (39). The base (310) has three parts, which are respectively installed at the bottom of the three vertical rods (35). The bottom of the base (310) is equipped with a blade (311). The outside of the rotating tube (33) is connected to a spiral bar (312), and the three vertical rods (35) are all vertically inserted through the spiral bar (312); The platform (31) is equipped with a second drive mechanism (6) for driving the ring body (32) to rotate around its own axis, so that the blade (311) can rotate and unfold. 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 facing the center of the turntable (38); The seedling delivery component (4) is installed in the middle of the frame (1) and located above the planting component (3) for delivering seedlings into the planting component (3); The first drive mechanism (5) is installed in the middle of the frame (1), and its bottom end is connected to the planting component (3) to drive the planting component (3) to move horizontally so that it can transplant seedlings.

2. The intelligent transplanting robot according to claim 1, characterized in that: 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). The outer sides of the three bases (310) are all arc-shaped and adapted to the outer diameter of the rotating tube (33).

3. The intelligent transplanting robot according to claim 1, characterized in that: The seedling delivery assembly (4) includes a frame-shaped tray (41) connected to the frame (1). The tray (41) is located directly above the ring (32) and has a feeding pipe (42) installed on it. Several transplanting tubes (43) are placed on the top of the tray (41). A third drive mechanism (44) is installed on the frame (1) to drive the transplanting tubes (43) to move along the extension direction of the tray (41).

4. The intelligent transplanting robot according to claim 3, characterized in that: The feed tube (42) is configured as a funnel, with its bottom end passing through the ring (32) downwards and extending into the inside of the rotating tube (33).

5. The intelligent transplanting robot according to claim 3, characterized in that: Each of the transplanting tubes (43) has a roller (45) installed on the bottom of its outer side, and each of the transplanting tubes (43) has a folded lug (46) installed on the top of its inner side.

6. A planting method using an intelligent transplanting robot according to any one of claims 1-5, characterized in that: Includes the following steps: S1. Setting parameters: After setting the planting quantity and operation path, and planning the plant spacing, row spacing and planting depth, the intelligent transplanting robot will drive to the preset point and stop moving through the drive of the wire-controlled tracked wheel chassis (2). S2, Blade (311) unfolds: The first drive mechanism (5) is activated, controlling the entire platform (31) to move vertically downwards, causing the ring (32) and rotating tube (33) to move downwards synchronously. At this time, the second drive mechanism (6) is activated, controlling the ring (32) to rotate clockwise around its own axis, thereby driving the rotating tube (33) to rotate clockwise. At the same time, the turntable (38) rotates synchronously with the rotating tube (33), changing the initial position of the three guide holes (39) and the position of the guide post (37). Then, from the initial outer side, it slides in a disguised way to the inner side of the guide hole (39). At this time, with the continued rotation of the turntable (38), the guide post (37) will be pushed by the turntable (38) and start to rotate clockwise, which in turn causes the connecting rod (36) to rotate around the axis of the vertical rod (35) connected to it, and further drives the vertical rod (35) to rotate itself. Meanwhile, the three bases (310) at the bottom of the vertical rod (35) begin to move outward synchronously, causing the blade (311) to unfold. S3, Digging: The first drive mechanism (5) continues to drive the platform (31) to move down, so that the rotating tube (33) continuously pushes the blade (311) downward, while the second drive mechanism (6) continues to drive the rotating tube (33) to rotate. As the blade (311) comes into contact with the ground, the ground will be spun out by the blade (311) to create a planting hole, and the spun soil will be automatically discharged upward under the action of the spiral discharge (312). S4. Planting seedlings: The third drive mechanism (44) is activated, and the transplanting cylinder (43) on the drive tray (41) moves along the top of the tray (41). When a transplanting cylinder (43) moves directly above the feeding pipe (42), the seedling inside will fall downwards under the action of gravity because there is no support from the tray (41). Under the limit of the feeding pipe (42) and the rotating pipe (33), it falls straight into the dug planting hole. S5. Blade (311) Reset: After the seedling stabilizes, the first drive mechanism (5) drives the platform (31) to move upward. During this process, due to the departure of the rotating tube (33), the soil blocked by it and the soil discharged by the spiral pack (312) will roll towards the planting hole to complete the covering of the planting hole. When the blade (311) is higher than the seedling, the second drive mechanism (6) drives the ring (32) to rotate counterclockwise. At this time, the turntable (38) will rotate counterclockwise in sync. The position of the guide hole (39) will change again, and the position of its internal guide column (37) will slide from the inside to the outside in a disguised way. Then it will be pushed by the turntable (38) to start rotating counterclockwise. Under the counterclockwise transmission of the connecting rod (36) and the vertical rod (35), the three bases (310) will start to converge inward in sync, so that the blade (311) moves closer to each other and resets. S6. Batch Planting: The intelligent transplanting robot continues to move forward and reaches the next preset point. It repeats steps S1-S5 to complete the batch planting of seedlings until all preset planting operations are completed.

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