Large-scale nursery stock transplanting method and system

Abstract

The invention discloses a large-scale nursery stock transplanting method and system. The method comprises the following steps: S1, acquiring environment state parameters of a target nursery stock and environment state parameters of a target transplanting area; s2, detecting the growth distribution of the root system of the target nursery stock by adopting a multi-modal root system detection technology, and constructing a three-dimensional model of the root system distribution of the nursery stock; s3, determining an optimal root ball size and a cutting path based on a detection result in the step S2 and the morphological structure data of the nursery stock obtained in the step S1; s4, according to the cutting path determined in the step S3, accurately positioning and cutting the root ball of the target nursery stock, and binding the cut root ball; s5, according to the terrain where the target nursery stock is located and the weight of the nursery stock, the bound root ball is hoisted to a transportation tool through automatic hoisting equipment; s6, the seedlings transported to the target transplanting area are planted in the preset planting holes, and the planted seedlings are preliminarily fixed; and S7, performing post-transplantation maintenance and monitoring on the planted nursery stock.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of forestry engineering, in particular to a large-specification seedling transplanting method and system. BACKGROUND

[0002] With the accelerated development of urbanization and the continuous promotion of ecological civilization construction, landscape engineering plays an increasingly important role in urban renewal and ecological restoration. Under this background, plant transplanting technology has become a key means to realize rapid landscape construction and ecological environment optimization. Among them, the transplantation of large-specification seedlings is of great concern due to its unique landscape value, ecological benefits, and high requirements for construction technology. The successful transplantation of such seedlings not only significantly improves the quality of urban greening and biodiversity, but also tests the technical level of landscape engineering.

[0003] Among them, the large-specification seedling transplanting method and system is the focus of current plant transplanting field. Its core goal is to optimize the whole process of seedling selection, preparation, digging, packaging, transportation, planting, and post-maintenance, to overcome the challenges faced by conventional transplanting methods in large-specification seedling applications, thereby ensuring high survival rate of seedlings, reducing construction risks, and improving overall work efficiency.

[0004] The existing technology still has the following problems in implementing large-specification seedling transplantation:

[0005] During the construction preparation stage, the survey and prediction of factors such as individual differences of seedlings, complexity of underground pipelines, and transportation route limitations are often not comprehensive and precise enough, leading to low matching degree between the construction plan and the actual site, which easily causes operational risks. Secondly, in the process of digging and packaging large-specification seedlings, whether it is soil clod or box board digging, it faces the dilemma of high work intensity, high risk of root damage, and difficulty in strictly ensuring the integrity of soil balls / soil platforms, especially when the soil conditions are poor or the operation precision is insufficient, which easily causes broken and scattered clods.

[0006] In addition, the assembly and reinforcement process of the box board is complex, and the precision requirements for soil platform finishing, board docking, and tightening are extremely high. Any deviation may affect the structural stability and subsequent operation safety, and it is easily affected by external environmental factors such as wind. Furthermore, during the hoisting, loading, and long-distance transportation of large-specification seedlings, it is difficult to control the center of gravity, and the protection measures for the tree body and box board are insufficient, which easily causes mechanical damage, and the existing scheme is not perfect in terms of transportation route clearance and guidance coordination. And in the planting, false planting and post-maintenance stages, the existing support, cofferdam and water and fertilizer management methods mostly follow standardized processes, lacking customized and intelligent management mechanisms for the unique physiological characteristics and high survival rate requirements of large-specification seedlings, resulting in the need for further improvement of the survival rate guarantee mechanism. SUMMARY

[0007] (I) Technical problems solved

[0008] In view of the deficiencies of the prior art, the present application provides a large-specification seedling transplanting method and system, which solves the problem of low work efficiency in the background art.

[0009] (II) Technical solutions

[0010] To achieve the above object, the present application is implemented by the following technical solutions: a large-specification seedling transplanting method, comprising the following steps:

[0011] S1: Obtain the environmental state parameters of the target seedling and the environmental state parameters of the target transplanting area, wherein the environmental state parameters of the target seedling include self parameters and growth environment parameters, the environmental state parameters of the target transplanting area include transplanting area soil data and transplanting area climate data, the self parameters include seedling physiological data and seedling morphological structure data, and the growth environment parameters include soil and climate data of the original growth environment of the seedling;

[0012] S2: Use a multi-modal root system detection technology to detect the growth distribution of the root system of the target seedling, and construct a three-dimensional model of the seedling root system distribution;

[0013] S3: Based on the detection results of step S2 and the seedling morphological structure data obtained in step S1, determine the optimal root ball size and cutting path;

[0014] S4: According to the cutting path determined in step S3, accurately position and cut the root ball of the target seedling, and perform bandaging treatment on the cut root ball;

[0015] S5: According to the topography of the location of the target seedling and the weight of the seedling, use an automatic lifting device to hoist the banded root ball onto a transport tool;

[0016] S6: Plant the seedling transported to the target transplanting area into a pre-set planting hole, and preliminarily fix the planted seedling;

[0017] S7: Perform post-transplanting maintenance and monitoring on the planted seedling, which includes water management, nutrient supply, pest control, and microenvironment regulation.

[0018] Preferably, in S1, when obtaining the seedling physiological data, a non-contact sensor is used for data acquisition, the non-contact sensor includes a leaf spectrum analyzer, a stem sap flow sensor, and a growth potential analysis camera, and the seedling physiological data includes chlorophyll content, transpiration rate, photosynthetic efficiency, and branch and leaf growth conditions.

[0019] When acquiring the morphological structure data of the seedling, a high-precision three-dimensional laser radar scanning system is used to collect seedling point cloud data, and a three-dimensional digital model of the seedling is constructed, wherein the morphological structure data of the seedling includes tree height, crown width, breast height diameter, branch point height and crown geometric shape;

[0020] When acquiring the soil and climate data of the original growth environment of the seedling, a soil physical and chemical property sensor array is used to collect soil data, and a small weather station is used to collect climate data, wherein the soil data includes soil water content, soil temperature, soil salt concentration, pH value and soil nutrient content, and the climate data includes environmental temperature, relative humidity, wind speed, wind direction and solar radiation intensity.

[0021] Preferably, in S2, the multi-modal root system detection technology includes geological radar scanning and acoustic tomography;

[0022] The geological radar scanning transmits high-frequency electromagnetic waves and receives reflected signals, identifies the depth and distribution of roots, stones and underground obstacles in the soil according to the difference in dielectric constant of different media, and generates a root distribution depth slice map;

[0023] The acoustic tomography measures the propagation speed of acoustic waves in the tree trunk by arranging acoustic wave transmitters and receivers at different heights of the trunk and at the root neck, and judges the direction and health condition of the main root according to the change in propagation speed;

[0024] When constructing the three-dimensional model of the root system distribution, the geological radar scanning data and the acoustic tomography data are subjected to image processing, the root profile is identified by using an edge detection algorithm, the live roots, dead roots and non-biological foreign matter are distinguished by using a semantic segmentation model based on deep learning, and the diameters and lengths of the main root systems are estimated by using a root system diameter estimation model.

[0025] Preferably, in S3, when determining the optimal root ball size, a root ball size optimization algorithm is run, which comprehensively considers the seedling breast height diameter, tree height, crown width and tree species characteristics, and the tree species characteristics include the degree of tolerance of the tree species to root system damage;

[0026] When determining the optimal root ball size, historical transplant success rate data and root system vitality indicators are also referred to, an empirical root ball diameter and seedling parameter correlation model is established, and the expression of the correlation model is: D 根球 =A 物种 ·D 胸径 +B 物种 ·H 树高 +C 物种 , wherein D 根球 represents the optimal root ball diameter, D 胸径 represents the seedling breast height diameter, H 树高 represents the seedling tree height, A 物种 , B物种 , C 物种 is a coefficient calibrated according to tree species characteristics and soil type;

[0027] In determining the cutting path, the constraints of avoiding main roots, retaining capillary roots, avoiding underground obstacles and minimizing earthwork are generated by an iterative optimization algorithm to generate a closed cutting path, which is stored in the form of three-dimensional coordinate points and converted into an executable instruction sequence for the excavating robot arm.

[0028] Preferably, in S4, when the root ball is precisely positioned and cut, the excavating robot arm or a special root ball cutting device is guided by a positioning system, which includes a global positioning system module, an inertial measurement unit module and a visual odometer, to achieve centimeter or millimeter level position and attitude control of the cutting tool.

[0029] The cutting device includes a vibrating knife, a hydraulic shear or a laser cutting head, and the cutting depth and angle are adjusted in real time during the cutting process according to the soil hardness and root toughness.

[0030] When the root ball is wrapped, biodegradable composite materials are used as wrapping materials, which include polylactic acid fiber and plant fiber blended mesh or biodegradable non-woven fabric with slow-release rooting agent.

[0031] The wrapping is completed by an automatic wrapping device, which uses spiral wrapping or mesh covering according to the shape and size of the root ball, and monitors the wrapping tightness in real time through a tension sensor. After wrapping, the root ball is reinforced with a metal mesh or wooden frame.

[0032] Preferably, in S5, the automatic lifting equipment includes a robot arm, a lifting device, a balancing system and a high-precision weighing sensor.

[0033] The lifting device includes an adjustable sling, a clamp or a special lifting basket, which is self-adaptively adjusted according to the size and shape of the root ball. The lifting device is connected to a high-strength low-elongation synthetic fiber sling, and the length and number of the sling are determined according to the weight and crown width of the seedling.

[0034] The high-precision weighing sensor monitors the real-time weight of the seedling when the lifting device contacts the root ball, which is used to calculate the lifting torque and balance weight.

[0035] During lifting, the optimal lifting path is determined by path planning algorithm according to terrain data, and the multi-axis cooperative control technology is used to adjust the motion parameters of the robot arm to keep the seedling lifting stable.

[0036] The transport vehicle includes a special flatbed truck or a low flatbed semitrailer, and the transport vehicle platform is provided with a non-slip pad and a fixing device. A transport vehicle positioning system is linked with a lifting device to accurately place the root ball on the preset support structure on the platform.

[0037] Preferably, in S6, the preset planting hole is excavated according to the target transplanting area environment state parameters and the root ball size obtained in S1 before planting, and a water-permeable and air-permeable matrix is laid at the bottom of the planting hole and a slow-release rooting agent and organic fertilizer are applied.

[0038] During planting, a high-precision visual positioning system is linked with a lifting device to adjust the verticality and crown direction of the seedling, and a horizontal sensor is used to monitor and fine-tune the verticality of the main stem of the seedling after the seedling is placed in the planting hole.

[0039] During planting, the original soil is backfilled. The original soil is excavated and transported to the new planting area during on-site construction, and is filled into improved soil in layers. The improved soil includes a mixture of nutrient soil or original soil and organic matter. After each layer of soil is filled, it is compacted by an automated compaction device, and the soil density is detected by a soil density sensor.

[0040] The preliminary fixation is achieved by setting three to four pull lines or supports around the seedling, and the main stem of the seedling is tied with a wide nylon belt, and the tension of the pull line is monitored by a tension sensor.

[0041] Preferably, in S7, the water management is performed by an intelligent irrigation controller according to a dynamic irrigation plan, and the dynamic irrigation plan is formulated based on the physiological data of the seedling obtained in S1, the soil moisture sensor data after S6, the local climate conditions, and the transpiration rate of the seedling.

[0042] The intelligent irrigation controller determines the irrigation amount according to an irrigation water amount calculation model, and the expression of the irrigation water amount calculation model is V 灌溉 =E 蒸散 ·K 覆盖 ·A 根系 +L 补偿 , wherein V 灌溉 represents the irrigation water amount per unit time, E 蒸散 represents the reference crop evapotranspiration calculated according to environmental data such as temperature, humidity, and wind speed, K 覆盖 represents the canopy coverage coefficient of the seedling, A 根系 represents the effective root absorption area, and L 补偿 represents the compensation amount for soil permeation and surface runoff loss.

[0043] The nutrient supply is realized by an intelligent fertilization system, which accurately delivers fertilizers through water-fertilizer integrated equipment according to the chlorophyll content detected by a leaf spectrum analyzer and the soil nutrient content detected by a soil nutrient rapid tester;

[0044] The disease and pest control is realized by high-resolution visual system inspection, combined with image recognition and deep learning algorithm to identify early symptoms of diseases and pests, trigger early warning and recommend biological control or physical control scheme;

[0045] The microenvironment regulation starts the regulation equipment in extreme weather, and the regulation equipment includes sunshade net, spray cooling equipment or cold protection cover.

[0046] Preferably, a large-specification seedling transplanting system comprises a data acquisition module, a data processing module, a control execution module, a communication module and an energy management module;

[0047] The data acquisition module is used to obtain the environmental state parameters of the target seedling and the environmental state parameters of the target transplanting area, and comprises a three-dimensional laser radar scanner, a geological radar system, a high-resolution visual sensor array, a soil physical and chemical property sensor, a non-contact physiological sensor and a micro weather station. The three-dimensional laser radar scanner is used for three-dimensional scanning of the target seedling. The geological radar system emits high-frequency electromagnetic waves to the soil area where the root system of the target seedling is located, receives and analyzes the reflected signals. The high-resolution visual sensor array collects high-resolution images of the leaf color, texture, morphology, branch bark state and fruit growth of the target seedling and captures information for analysis. The soil physical and chemical property sensor collects soil data including but not limited to pH value, organic matter content, nutrient concentration such as nitrogen, phosphorus and potassium, soil moisture content, soil electrical conductivity and soil compactness. The non-contact physiological sensor is used to monitor the physiological activity state of the seedling in real time. The micro weather station collects meteorological parameters including but not limited to air temperature, air humidity, light intensity, precipitation, wind speed, wind direction and atmospheric pressure and records the parameter changes.

[0048] The data processing module is used to receive and process the data collected by the data acquisition module, run algorithms and provide decision support. The data processing module comprises a multi-core processor, a graphics processor unit, a large-capacity memory and a knowledge base. The knowledge base stores tree species growth characteristics, transplanting experience, disease and pest control schemes and soil improvement formulas.

[0049] The control execution module is used to receive the instructions of the data processing module to control the mechanical equipment to complete the transplanting operation. The control execution module comprises a servo controller, a hydraulic control unit, a motor driver and a safety monitoring unit.

[0050] The communication module is used for realizing data exchange between modules in the system and between the system and the external environment, and supports Ethernet protocol, fifth-generation mobile communication technology, satellite communication protocol, wireless local area network protocol and Bluetooth low power consumption protocol.

[0051] The energy management module is used for providing power for the system, and comprises a lithium ion battery pack, an intelligent charging management system, a backup generator and a power distribution unit.

[0052] Preferably, the processing function of the data processing module comprises: data preprocessing, time stamp synchronization, data calibration, denoising filtering, missing value filling and format unification of original data; seedling morphological structure model reconstruction, construction of a three-dimensional digital model of seedlings based on laser radar point cloud data; root system distribution three-dimensional model construction, combination of ground penetrating radar and acoustic tomography data to draw a root system spatial distribution map; root ball size optimization and cutting path planning to generate the optimal root ball diameter and cutting path; seedling health assessment and risk prediction to assess the health status of seedlings and predict the transplanting risk; maintenance strategy generation to dynamically generate irrigation, fertilization, pest control and physical protection schemes; the control function of the control execution module comprises: controlling the motion trajectory, posture and cutting force of the excavating robot arm; controlling the automatic wrapping device to adjust the wrapping material winding mode and tension; controlling the lifting device to grasp, lift and balance the lifting tool; controlling the automatic driving and positioning of the transportation tool; controlling the planting and ramming equipment to adjust the seedling hole depth, perpendicularity and soil backfilling and ramming; controlling the intelligent irrigation and fertilization system to adjust the water and fertilizer ratio and supply; the communication module performs encryption processing on the transmission data; the power distribution unit of the energy management module integrates overload protection and short circuit protection mechanism, the intelligent charging management system monitors the battery state and optimizes the charging strategy, and the backup generator is automatically started when the battery power is insufficient or the system is in high load operation.

[0053] (III) Beneficial effects

[0054] The application provides a large-specification seedling transplanting method and system.

[0055] (1) The application adopts a multi-modal root system detection technology to detect and establish a model for the growth distribution of the root system of a target seedling, realizes fine prediction of key influencing factors in the whole transplanting process, effectively improves the matching degree of the construction scheme and the actual site conditions, reduces the operation risk caused by incomplete investigation, and lays a foundation for smooth development of subsequent transplanting links.

[0056] (2) The present application optimizes the digging tool and the packaging process, significantly improves the integrity of the soil ball or soil platform while reducing the labor intensity of the operator, and avoids the phenomenon of broken and scattered clumps. At the same time, by enhancing the wind load resistance of the box plate structure, the influence of external environmental factors on the stability of the box plate is reduced, the operation safety of the digging and packaging link is ensured, and support is provided for the structure protection of the seedling hoisting and transportation process.

[0057] (3) In the planting stage, the present application customizes the support scheme and cofferdam specification according to the seedling variety and soil moisture condition, and in the later maintenance stage, introduces an intelligent water and fertilizer management system to replace the traditional experience-based management mode, effectively solves the problem of low survival rate of large-specification seedlings due to unsuitable maintenance measures, and further guarantees the transplanting effect.

[0058] (4) The present application is suitable for transplanting ancient trees or large trees in the process of building construction, and improves the success rate of transplanting ancient trees or large trees. BRIEF DESCRIPTION OF DRAWINGS

[0059] Fig. 1 is a schematic diagram of the method of the present application;

[0060] Fig. 2 is a schematic diagram of the system framework of the present application. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0062] Please refer to Figs. 1-2 The present application provides a large-specification seedling transplanting method and system, and the specific process is as follows:

[0063] S1, obtain the environmental state parameters of the target seedling and the environmental state parameters of the target transplanting area, mainly to provide comprehensive pre-stage data support for seedling transplanting, to ensure the accuracy and scientificity of the transplanting operation, specifically:

[0064] First, the environmental state parameters of the target seedling are obtained, including physiological data of the seedling itself, morphological structure data, and soil and climate data of its original growth environment. In terms of obtaining physiological data of the seedling, through non-contact sensors such as leaf spectrum analyzer, sap flow sensor and growth potential analysis camera, the chlorophyll content, transpiration rate, photosynthetic efficiency and branch and leaf growth status of the seedling are monitored in real time. For example, the leaf spectrum analyzer can quantify the chlorophyll content by measuring the reflectivity of a specific wave band, reflecting the nutritional status of the seedling; the sap flow sensor measures the water conduction rate inside the tree trunk by the thermal pulse method or compensation method, indicating the water stress degree of the seedling. In terms of obtaining morphological structure data of the seedling, a high-precision three-dimensional laser radar scanning system is used to collect point cloud data of the seedling in all directions, construct a three-dimensional digital model of the seedling, and accurately obtain parameters such as tree height, crown width, diameter at breast height, branch point height and crown geometry of the seedling. The three-dimensional model is not only used to accurately calculate the volume and weight of the seedling, but also provides accurate basis for subsequent estimation of root ball size and planning of excavation path. In terms of obtaining soil and climate data of the original growth environment, through an array of soil physical and chemical property sensors, including soil moisture sensor, soil temperature sensor, soil conductivity sensor and soil nutrient rapid tester, the soil water content, soil temperature, soil salt concentration, pH value and content of macroelements such as nitrogen, phosphorus and potassium and microelements such as calcium, magnesium and iron in the root distribution area of the seedling are obtained. At the same time, through a small weather station, the environmental temperature, relative humidity, wind speed, wind direction and solar radiation intensity of the original growth site are obtained. All the data collected by the sensors are transmitted in real time to the data processing unit through the wireless communication module for preliminary processing and storage. The data processing unit synchronizes the time stamp, detects and filters the abnormal values of the received raw data, and performs preliminary data format conversion and verification to ensure the integrity and reliability of the data. For example, when the soil moisture sensor has a large jump in continuous reading, the system will trigger an abnormal alarm and start a redundant sensor for cross verification or use historical data interpolation to fill in.

[0065] S2, the growth distribution of the target seedling root system is detected, mainly to accurately understand the actual spatial distribution of the underground root system of the seedling. The traditional experience judgment or simple digging method is blind and easy to damage the main root or secondary root, which affects the survival of the seedling. In the present application, multi-modal root detection technology is used, specifically:

[0066] The soil around the target seedling's root system is scanned non-invasively using a ground-penetrating radar system. The ground-penetrating radar emits high-frequency electromagnetic waves and receives reflected signals to identify the depth and distribution of roots, stones, or other underground obstacles in the soil based on the differences in the dielectric constants of different media. The ground-penetrating radar system can generate depth-slice maps of the seedling's underground three-dimensional root system distribution. Secondly, combined with acoustic tomography technology, multiple acoustic wave transmitters and receivers are uniformly arranged at different heights of the trunk and at the root neck to measure the propagation speed of acoustic waves within the tree. Due to the differences in root density and structure from the surrounding soil, changes in acoustic wave propagation speed can further assist in determining the direction and health of the main root. During the detection process, the system collects and transmits detection data in real time, and after the ground-penetrating radar and acoustic tomography data are received by the data processing unit, root system image reconstruction and feature extraction are performed through specialized image processing algorithms. For example, edge detection algorithms are used to identify the contours of the root system, and semantic segmentation models based on deep learning are used to distinguish between live roots, dead roots, and non-biological foreign objects in the soil. In addition, through a root diameter estimation model, the diameter and length of the main root are estimated based on signal attenuation and propagation characteristics, and these data form an accurate three-dimensional model of the seedling's root system distribution. This model can visually display the extension direction of the main root, the distribution density of lateral roots, and the active area of root tips, providing a solid foundation for the accurate calculation of root ball size, thereby maximizing the retention of active root systems and reducing the risk of transplantation.

[0067] S3, based on the detection results, determine the optimal root ball size and cutting path, which is the core link to ensure the survival rate of seedling transplantation. The purpose is to minimize the root ball volume under the premise of meeting the physiological needs of the seedling, thereby reducing the difficulty and cost of excavation, transportation, and planting. Specifically:

[0068] Based on the three-dimensional root system distribution model, the direction of the main root, and the root diameter information obtained in step S102, the data processing unit first runs the root ball size optimization algorithm. This algorithm considers the diameter at breast height, tree height, crown width, and tree species requirements for root ball size, such as different tree species having different tolerances to root damage, to determine the minimum effective root ball size. For a specific tree species, based on historical transplant success rate data and root vigor indicators, an empirical root ball diameter and seedling parameter correlation model can be established to assist in determining the initial root ball diameter. This model can be represented as: D 根球 = A 物种 · D 胸径 + B 物种 · H 树高 + C 物种 where D 根球 represents the optimal root ball diameter, D 胸径 represents the diameter at breast height of the seedling, H 树高 represents the tree height of the seedling, A 物种 , B 物种 , and C物种 is a coefficient calibrated according to tree species characteristics and soil type. For example, for shallow-rooted tree species, A 物种 The weight of A is relatively reduced to adapt to its horizontal root distribution characteristics.

[0069] Further, after determining the theoretical size of the root ball, the three-dimensional distribution model of the roots detected in S2 is combined to refine the cutting path planning. The planning process focuses on the following constraints: avoidance of main roots to ensure that important functional roots are not directly cut off; selection of cutting positions outside the dense root area or at lateral root branch points to preserve more capillary roots; avoidance of underground obstacles such as rocks or underground pipes; minimization of earthwork. Through an iterative optimization algorithm, a closed cutting path is found on the three-dimensional root model that meets the root ball size requirement and avoids major root structures. The cutting path is stored in the form of three-dimensional coordinate points and converted into a sequence of executable instructions for the excavating robotic arm, for example, by converting the path into attitude and position instructions for the end effector of the robotic arm through inverse kinematics algorithms. At the same time, the system generates a visual cutting path diagram for the operator to review and adjust. The accurate root ball size and optimized cutting path generated in this step ensure minimal damage to the root system during transplantation, improving the efficiency and survival rate of transplantation. For example, by identifying the horizontal main roots that need special protection, the system can instruct the robotic arm to bypass or adjust the cutting angle to avoid direct cutting, thereby significantly reducing the transplantation shock.

[0070] S4, according to the determined cutting path, accurately positions and binds the target root ball, mainly separating the root ball from the original site accurately and stabilizing the root ball to cope with subsequent excavation and transportation. Specifically:

[0071] First, according to the optimal cutting path generated in step S3, the excavating robot arm or a dedicated root ball cutting device is guided through a positioning system. The positioning system combines a global positioning system module, an inertial measurement unit module, and a visual odometry to achieve centimeter-level or even millimeter-level control of the three-dimensional position and attitude of the cutting tool. The cutting device, such as a vibrating knife, hydraulic shears, or laser cutting head, performs precise cutting according to the planned path. The cutting depth and angle are adjusted in real time by a feedback control system to adapt to changes in soil hardness, root toughness, etc., ensuring a smooth cutting surface and reducing secondary damage to the roots. For example, when cutting encounters thicker and harder roots, the system will dynamically increase the cutting force or adjust the cutting frequency to ensure that the roots can be smoothly cut off. After the root ball cutting is completed, immediate packaging treatment is performed. The choice of packaging material is crucial. Traditional materials such as hemp cloth or straw rope have problems such as easy rotting, poor air permeability, and insufficient strength. The invention uses a new type of high-strength, well-ventilated, and biodegradable composite material, such as a mesh cloth made of polylactic acid fiber and plant fiber, or a biodegradable non-woven fabric with slow-release rooting agent. The packaging process is completed by an automated packaging device.

[0072] Further, the automated packaging device tightly packages the root ball in a spiral winding or grid covering manner according to the actual shape and size of the root ball. The tightness of the packaging is monitored and adjusted in real time by a tension sensor to ensure that the packaging material closely adheres to the surface of the root ball, effectively fixing the soil ball and preventing loosening, while maintaining appropriate air permeability to avoid root suffocation. After packaging is completed, the exterior of the root ball is reinforced, such as by a metal mesh or wooden frame to provide additional structural support to enhance the overall stability of the root ball during lifting and transportation. This precise positioning and packaging process effectively reduces root exposure and water loss, providing strong protection for the seedling and laying a foundation for successful transplantation.

[0073] S5, according to the terrain and the weight of the seedling, the root ball is lifted onto the transport tool by an automated lifting device, mainly to safely and efficiently transfer the cut and packaged root ball of the seedling from the excavation location to the prepared transport tool, specifically:

[0074] The automated lifting equipment is usually composed of one or more mechanical arms, lifting tools, balancing systems, and high-precision weighing sensors. First, the lifting tool of the lifting equipment, such as an adjustable sling, clamp or special lifting basket, is self-adapted according to the size and shape of the root ball to ensure uniform stress on the root ball and avoid local stress concentration that may cause soil ball cracking or damage to the seedling. The lifting tool is connected to a high-strength, low-stretch synthetic fiber sling, and the length and number of the sling are dynamically calculated according to the weight and crown width of the seedling. Second, the weighing sensor starts monitoring the real-time weight of the seedling at the moment the lifting tool contacts the root ball, and this data will be used for subsequent accurate calculation of lifting torque and balancing weight. The system determines the optimal lifting path through path planning algorithms based on terrain data such as slope, surface obstacles and seedling weight information, ensures no collision during lifting, and maintains the perpendicularity of the main axis of the seedling. The lifting control system uses multi-axis cooperative control technology to adjust the movement speed, angle and extension length of each mechanical arm in real time through a feedback loop, keeping the seedling stable throughout the lifting process. For example, when the system detects that the seedling has a tendency to tilt, it will immediately adjust the posture of the corresponding mechanical arm to maintain the balance of the seedling through small displacement compensation. In addition, when lifting onto the transport tool, the positioning system on the transport tool is linked with the lifting equipment to ensure that the root ball can be accurately placed on the pre-set support structure of the transport tool, avoiding secondary movement or impact. The transport tool, such as a special flatbed truck or low-bed semi-trailer, usually has a non-slip mat and fixing device on the cargo bed to ensure the stability of the seedling during transportation. This automated lifting process minimizes human intervention, improves job safety, and effectively avoids the risk of seedling damage caused by improper human operation in the traditional lifting process.

[0075] S6, planting the seedling to the target transplanting area and performing preliminary fixation, which is the key to placing the seedling in the new growth environment and establishing initial stability, specifically:

[0076] Before planting, according to the target transplanting area environment state parameters obtained in S1 and the root ball size of the seedling, the planting hole has been dug and prepared in advance. The depth and width of the planting hole are calculated to ensure that the root ball can be completely placed in and the root neck is flush with or slightly higher than the ground surface, while leaving enough space for soil improvement and root stretching. The bottom of the planting hole is usually paved with a layer of substrate with good water and air permeability, such as coarse sand or small stones, and an appropriate amount of slow-release rooting agent and organic fertilizer is applied. The seedling is lifted to the top of the planting hole, and through the linkage of high-precision visual positioning system and lifting equipment, the verticality and orientation of the seedling are accurately adjusted. For example, according to the preset landscape effect or the direction of sunlight, the crown of the seedling is adjusted to face. After the seedling is slowly placed in the planting hole, the system monitors the verticality of the main stem of the seedling through multiple high-precision level sensors and makes fine adjustments to ensure that the posture of the seedling is correct. Then, the soil is filled in layers and initially compacted. The filling material is usually improved nutrient soil or a mixture of original soil and organic matter. Since there is no basis for crop planting in the newly planted area, the original soil may lack the necessary microorganisms and trace elements for seedling growth, and relying solely on the original soil cannot meet the initial conditions for seedling growth. Therefore, the filling material is needed to provide the necessary nutrients for the initial growth of the seedling and optimize the soil structure. The compaction process is carried out by automated compaction equipment, which applies uniform force to avoid damaging the root system. After each layer of soil is filled, the soil density is detected by a soil density sensor until the preset target value is reached, ensuring that the root ball is in close contact with the surrounding soil, eliminating air gaps, and benefiting root growth. Finally, preliminary fixation is performed. By setting three to four pull lines or supports around the seedling, the main stem of the seedling is fixed with soft binding materials such as wide nylon tape to prevent the seedling from tilting or falling due to strong winds or mechanical vibration. The tension of the pull line is monitored by a tension sensor to ensure appropriate fixation without damaging the bark.

[0077] S7, after the seedling is transplanted, maintenance and monitoring are mainly to ensure that the seedling recovers after transplantation and to improve the sustainability of the survival rate. The post-transplantation maintenance and monitoring is a long-term and dynamic process that needs to be adjusted accurately according to the real-time physiological state of the seedling and environmental changes. Specifically:

[0078] First, water management. The system, based on the physiological data of the seedling obtained in S1 and the soil moisture sensor data after S6, combined with local climate conditions such as rainfall, evaporation, and seedling transpiration rate, develops and executes a dynamic irrigation plan through an intelligent irrigation controller. For example, when the tree sap flow sensor indicates that the water stress of the seedling is increasing and the soil moisture sensor shows that the soil water content is below the threshold, the irrigation system will automatically start and perform precise drip irrigation or micro-sprinkling irrigation. The amount of irrigation water is not fixed, but is determined by a calculation model based on evapotranspiration and seedling biomass adjustment, ensuring that each irrigation amount meets the needs of the seedling and avoids excessive watering that causes root hypoxia. The irrigation water calculation model can be expressed as: V灌溉 =E 蒸散 ·K 覆盖 ·A 根系 +L 补偿 , where V 灌溉 E represents the amount of irrigation water per unit time. 蒸散 K represents the reference crop evapotranspiration calculated based on environmental data such as temperature, humidity, and wind speed. 覆盖 A represents the canopy coverage coefficient of seedlings. 根系 L represents the effective absorption area of ​​the root system. 补偿 This represents the compensation amount for soil infiltration and surface runoff loss. This model enables precise, on-demand irrigation, conserving water resources.

[0079] Furthermore, nutrient supply and soil improvement are implemented. Based on the seedling growth vigor, leaf color, and soil nutrient test results, customized nutrient supplementation is provided through an intelligent fertilization system. For example, when the leaf spectral analyzer shows low chlorophyll content and the soil nutrient rapid tester shows insufficient nitrogen, the fertilization system will precisely mix and deliver nitrogen-containing compound fertilizer through an integrated water and fertilizer system (model JZ-SF1). Simultaneously, the soil around the planting hole is regularly tested. If soil compaction or decreased permeability is found, soil structure optimization is achieved through mechanical loosening and the application of organic matter amendments.

[0080] Then, pest and disease control and physical protection are implemented. A high-resolution vision system is used for routine inspections of the seedlings. Combining image recognition and deep learning algorithms, early symptoms of pests and diseases are identified in real time, such as leaf spots, insect eggs, or insect damage. Once pests or diseases are detected, the system will issue an early warning and recommend appropriate biological or physical control measures based on the type of pest or disease, such as releasing natural enemies or spraying biological pesticides. For areas susceptible to wind damage, snow damage, or human-caused damage, the system will suggest installing protective nets, windbreaks, or reinforced supports to provide additional physical protection. The reinforcement scheme for the supports is not static but dynamically optimized based on data such as seedling height, crown width, local maximum wind speed, and soil bearing capacity, using a mechanical model. The stability assessment of the supports in this mechanical model considers the relationship between the external load on the seedlings and their own resistance torque, with a stability coefficient S. 稳定性 This can be expressed as: Among them, M 抵抗 The overturning moment is provided by the root ball and support system of the seedling, M 风载 It is the wind load overturning moment borne by the tree crown, M 自重 The overturning moment, M, is caused by the uneven distribution of the seedling's own weight. 其他 These are other possible external overturning moments. The larger this coefficient is, the more stable the seedling is.

[0081] Finally, the microenvironment is regulated. In extreme weather conditions such as high temperature and drought, low temperature and frost, the system will start the sunshade net, the spray cooling equipment or the cold protection covering, and accurately regulates the microenvironment of the local seedling, and relieves the stress of the seedling caused by the extreme climate. All the maintenance data such as irrigation amount, fertilizer amount, disease and insect occurrence and environmental parameter change are recorded and stored in the database for subsequent maintenance strategy optimization and seedling growth model calibration. This step greatly improves the survival rate and growth quality of large-sized seedlings through continuous and intelligent monitoring and maintenance.

[0082] Based on the above, the application also provides a large-sized seedling transplanting system, which comprises a data acquisition module, a data processing module, a control execution module, a communication module and an energy management module.

[0083] The data acquisition module is responsible for acquiring various environmental state parameters of the target seedling and the target transplanting area. The module integrates various high-precision sensors, including a three-dimensional laser radar scanner for acquiring three-dimensional point cloud data of the morphological structure of the seedling; a geological radar system for non-invasive detection of underground root distribution and soil layering structure; a high-resolution visual sensor array for image recognition of the seedling health condition and early warning of diseases and pests; soil physical and chemical property sensors such as soil moisture sensor, soil temperature sensor, soil conductivity sensor, pH sensor and nutrient rapid tester for real-time monitoring of soil environmental parameters; non-contact physiological sensors such as leaf spectrum analyzer and sap flow sensor for real-time evaluation of the physiological health condition of the seedling; a miniature weather station for acquiring environmental temperature, humidity, wind speed, wind direction and light intensity of the transplanting area. All the sensors are configured with analog-to-digital conversion units and data buffers to ensure high precision and real-time data acquisition. The collected raw data is transmitted to the data processing module through an internal bus for further processing.

[0084] The data processing module mainly receives and processes all the data from the data acquisition module, and is responsible for algorithm running and decision support. The data processing module is usually composed of high-performance multi-core processors, graphics processor units and large-capacity memories. Its main functions include:

[0085] Data preprocessing, time stamp synchronization, data calibration, denoising filtering, missing value filling and format unification of raw data; seedling morphological structure model reconstruction, three-dimensional digital model of seedling based on laser radar point cloud data;

[0086] Root distribution three-dimensional model construction, combined with geological radar and acoustic tomography data, accurately draw the spatial distribution map of underground root system;

[0087] Root ball size optimization and cutting path planning, based on seedling parameters and root system model, an optimization algorithm is run to generate the optimal root ball diameter and fine cutting path;

[0088] Seedling health assessment and risk prediction, combined with physiological data, environmental data and historical data, to assess the current health status of seedlings, predict the risk of transplantation and survival rate;

[0089] Maintenance strategy generation, according to the recovery status of seedlings and environmental conditions, to dynamically generate irrigation, fertilization, pest control and physical protection maintenance schemes.

[0090] Further, the data processing module also contains a knowledge base, which stores the growth characteristics of various tree species, transplantation experience, pest control schemes and soil improvement formulas, etc. as the basis for decision support.

[0091] The control execution module is responsible for receiving the instructions generated by the data processing module and accurately controlling various mechanical equipment and actuators to complete the transplantation work. The control execution module includes multiple servo controllers, hydraulic control units, motor drivers and safety monitoring units. Specifically including:

[0092] Excavation robotic arm control unit, accurately controls the motion trajectory, posture and cutting force of the robotic arm, realizes the accurate positioning and cutting of the root ball;

[0093] Automatic wrapping device control unit, adjusts the wrapping method and tension of the wrapping material according to the shape and size of the root ball;

[0094] Hoisting equipment control unit, cooperatively controls the grabbing, lifting and balancing of the lifting tool to ensure the stability of the seedlings during hoisting;

[0095] Transportation tool automatic driving and positioning system, accurately guides the transportation vehicle to transport the seedlings to the planting site and accurately aligns;

[0096] Planting and ramming equipment control unit, controls the depth of seedling entry, verticality adjustment, and soil layering backfill and ramming;

[0097] Intelligent irrigation and fertilization system control unit, accurately controls the ratio and supply of water and fertilizer according to the maintenance strategy.

[0098] The control execution module also integrates multiple safety interlocking mechanisms and fault diagnosis systems. When abnormal operation of the equipment or risk of the work environment is detected, the emergency stop program is immediately started to ensure the safety of the workers and equipment.

[0099] The communication module is responsible for data exchange between the internal modules and the external environment, and supports multiple communication protocols, such as Ethernet protocol for high-speed data transmission between internal modules, 5th generation mobile communication technology or satellite communication protocol for external remote monitoring and instruction receiving, and wireless LAN or Bluetooth low energy protocol for short-distance transmission of sensor data. The communication module ensures the real-time, stability and security of data transmission, supports remote operation and fault diagnosis, so that the operating personnel can monitor and intervene in the transplantation process in real time even if they are not on site. All transmitted data are encrypted to prevent unauthorized access and data tampering.

[0100] The energy management module provides stable and reliable power supply for the entire system, including high-capacity lithium-ion battery packs, intelligent charging management systems, backup generators, and power distribution units, specifically:

[0101] The battery pack provides long-term independent working capability for the system, the intelligent charging management system is responsible for monitoring the battery status, optimizing the charging strategy and prolonging the battery life, the backup generator is automatically started when the battery power is insufficient or high-load operation to ensure the continuity of the operation, and the power distribution unit performs voltage conversion and current distribution according to the power consumption demand of each module, and integrates safety mechanisms such as overload protection and short circuit protection to ensure the safety of the system power supply.

[0102] Although embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for transplanting large-sized seedlings, characterized in that, Includes the following steps: S1: Obtain the environmental status parameters of the target seedling and the environmental status parameters of the target transplanting area. The environmental status parameters of the target seedling include its own parameters and growth environment parameters. The environmental status parameters of the target transplanting area include soil data and climate data of the transplanting area. The own parameters include seedling physiological data and seedling morphological structure data. The growth environment parameters include soil and climate data of the original growth environment of the seedling. S2: Multimodal root detection technology is used to detect the growth distribution of the root system of the target seedling and construct a three-dimensional model of the root system distribution. S3: Based on the detection results of step S2 and the seedling morphological structure data obtained in step S1, determine the optimal root ball size and cutting path; S4: Based on the cutting path determined in step S3, accurately position and cut the root ball of the target seedling, and then wrap the cut root ball. S5: Based on the terrain and weight of the target seedlings, the wrapped root balls are lifted onto the transport vehicle using automated lifting equipment; S6: Plant the seedlings transported to the target transplanting area into the pre-set planting holes and perform preliminary fixation on the planted seedlings; S7: Post-transplanting maintenance and monitoring of seedlings, including water management, nutrient supply, pest and disease control, and microenvironment regulation.

2. The method for transplanting large-sized seedlings according to claim 1, characterized in that: In step S1, when acquiring the physiological data of the seedlings, a non-contact sensor is used for data acquisition. The non-contact sensor includes a leaf spectrum analyzer, a trunk sap flow sensor, and a growth potential analysis camera. The physiological data of the seedlings includes chlorophyll content, transpiration rate, photosynthetic efficiency, and branch and leaf growth status. When acquiring the seedling morphological and structural data, a high-precision three-dimensional lidar scanning system is used to collect seedling point cloud data and construct a three-dimensional digital model of the seedling. The seedling morphological and structural data includes tree height, crown width, diameter at breast height, branching point height, and crown geometry. When acquiring soil and climate data of the original growing environment of the seedlings, soil data is collected through a soil physicochemical property sensor array and climate data is collected through a small weather station. The soil data includes soil moisture content, soil temperature, soil salinity, pH and soil nutrient content, and the climate data includes ambient temperature, relative humidity, wind speed, wind direction and solar radiation intensity.

3. The method for transplanting large-sized seedlings according to claim 1, characterized in that: In S2, the multimodal root detection technology includes ground-penetrating radar scanning and acoustic tomography. The ground-penetrating radar scan identifies the depth and distribution of roots, rocks, and underground obstacles in the soil by emitting high-frequency electromagnetic waves and receiving reflected signals, based on the differences in dielectric constants of different media, and generates a root distribution depth slice map. The acoustic tomography method measures the propagation speed of sound waves inside the tree by placing sound wave transmitters and receivers at different heights of the trunk and at the root collar, and combines the changes in propagation speed to determine the orientation and health status of the main root. When constructing the three-dimensional model of the root system distribution, image processing is performed on the ground-penetrating radar scanning data and acoustic tomography data. An edge detection algorithm is used to identify the root system outline. A semantic segmentation model based on deep learning is used to distinguish between living roots, dead roots and non-biological foreign objects. The diameter and length of the main root system are estimated using a root system diameter estimation model.

4. The method for transplanting large-sized seedlings according to claim 1, characterized in that: In step S3, when determining the optimal root ball size, a root ball size optimization algorithm is run. The root ball size optimization algorithm comprehensively considers the seedling diameter at breast height, tree height, crown width, and tree species characteristics, including the tree species' tolerance to root damage. When determining the optimal root ball size, historical transplant success rate data and root vitality indicators were also referenced to establish an empirical correlation model between root ball diameter and seedling parameters. The expression for this correlation model is: D 根球 =A 物种 ·D 胸径 +B 物种 ·H 树高 +C 物种 , where D 根球 D represents the optimal root ball diameter. 胸径 Represents the diameter at breast height (H) of seedlings. 树高 Represents the height of the seedling, A 物种 B 物种 C 物种 It is a coefficient calibrated based on tree species characteristics and soil type; When determining the cutting path, constraints such as avoiding the main root, preserving the capillary root, avoiding underground obstacles, and minimizing the amount of earthwork are used. A closed cutting path is generated through an iterative optimization algorithm. The cutting path is stored in the form of three-dimensional coordinate points and converted into a sequence of instructions that the excavating robot arm can execute.

5. The method for transplanting large-sized seedlings according to claim 1, characterized in that: In step S4, when the root ball is precisely positioned and cut, the excavation robot arm or a special root ball cutting device is guided by a positioning system. The positioning system includes a global positioning system module, an inertial measurement unit module, and a visual odometer to achieve centimeter-level or millimeter-level position and attitude control of the cutting tool. The cutting equipment includes a vibrating knife, hydraulic shears, or a laser cutting head. During the cutting process, the cutting depth and angle are adjusted in real time according to the soil hardness and root toughness. When wrapping the root ball, a biodegradable composite material is used as the wrapping material. The biodegradable composite material includes a mesh cloth made of polylactic acid fiber and plant fiber or a biodegradable non-woven fabric with a slow-release rooting agent. The wrapping is completed by an automated wrapping device, which uses spiral winding or mesh covering methods to wrap the root ball according to its shape and size. The tightness of the wrapping is monitored in real time by a tension sensor. After wrapping, the root ball is reinforced with a metal mesh or wooden frame.

6. The method for transplanting large-sized seedlings according to claim 1, characterized in that: In S5, the automated lifting equipment includes a robotic arm, a lifting device, a balancing system, and a high-precision weighing sensor; The lifting device includes adjustable slings, clamps, or a special hanging basket. The lifting device is adaptively adjusted according to the size and shape of the root ball. The lifting device is connected to high-strength, low-elasticity synthetic fiber slings. The length and number of slings are calculated and determined based on the weight of the seedling and the crown width. The high-precision weighing sensor monitors the real-time weight of the seedling when the lifting device contacts the root ball, and is used to calculate the lifting torque and balance weight. During the hoisting process, the optimal hoisting path is determined by a path planning algorithm based on terrain data, and multi-axis collaborative control technology is used to adjust the motion parameters of the robotic arm to keep the seedlings hoisted smoothly. The transport vehicle includes a dedicated flatbed truck or a low-bed semi-trailer. The platform of the transport vehicle is equipped with anti-slip mats and fixing devices. The positioning system of the transport vehicle is linked with the lifting equipment to accurately place the root ball on the preset support structure of the platform.

7. The method for transplanting large-sized seedlings according to claim 1, characterized in that: In step S6, the preset planting hole is dug before planting according to the environmental status parameters of the target transplanting area and the root ball size obtained in step S1. The bottom of the planting hole is covered with a water-permeable and air-permeable substrate and a slow-release rooting agent and organic fertilizer are applied. The water-permeable and air-permeable substrate includes coarse sand or small stones. During planting, a high-precision visual positioning system is linked with the lifting equipment to adjust the verticality and crown orientation of the seedlings. After the seedlings are placed in the planting hole, a horizontal sensor monitors and fine-tunes the verticality of the main trunk of the seedlings. During the planting process, in-situ soil is used for backfilling. On-site construction will excavate the in-situ soil and transport it to the new planting area, where it will be filled in layers with improved soil. The improved soil includes nutrient soil or a mixture of original soil and organic matter. After each layer of soil is filled, it is compacted by automated compaction equipment, and soil density sensors are used to detect the soil compaction. The initial fixation is achieved by setting up three to four guy wires or supports around the seedling, using wide nylon tape to tie the main trunk of the seedling, and monitoring the tension of the guy wires through a tension sensor.

8. The method for transplanting large-sized seedlings according to claim 1, characterized in that: In step S7, the water management is implemented by a smart irrigation controller to execute a dynamic irrigation plan, which is based on the seedling physiological data obtained in step S1, the soil moisture sensor data after step S6, local climate conditions, and seedling transpiration rate. The intelligent irrigation controller determines the irrigation volume based on an irrigation volume calculation model, the expression of which is V. 灌溉 =E 蒸散 ·K 覆盖 ·A 根系 +L 补偿 , where V 灌溉 E represents the amount of irrigation water per unit time. 蒸散 K represents the reference crop evapotranspiration calculated based on environmental data such as temperature, humidity, and wind speed. 覆盖 A represents the canopy coverage coefficient of seedlings. 根系 L represents the effective absorption area of ​​the root system. 补偿 This represents the amount of compensation for soil infiltration and surface runoff loss. The nutrient supply is achieved through an intelligent fertilization system, which accurately delivers fertilizer through an integrated water and fertilizer equipment based on the chlorophyll content detected by a leaf spectrometer and the soil nutrient content detected by a soil nutrient rapid tester. The pest and disease control measures are implemented through high-resolution vision system inspection, combined with image recognition and deep learning algorithms to identify early symptoms of pests and diseases, trigger early warnings and recommend biological or physical control solutions. The microenvironment control system activates control equipment during extreme weather conditions. The control equipment includes shade nets, misting cooling devices, or cold-proof coverings.

9. A large-size seedling transplanting system for implementing the large-size seedling transplanting method according to any one of claims 1-8, characterized in that, It includes a data acquisition module, a data processing module, a control execution module, a communication module, and an energy management module; The data acquisition module is used to acquire environmental state parameters of the target seedlings and the target transplantation area. The data acquisition module includes a 3D LiDAR scanner, a ground-penetrating radar system, a high-resolution visual sensor array, a soil physicochemical property sensor, a non-contact physiological sensor, and a micro weather station. The 3D LiDAR scanner is used to perform 3D scanning of the target seedlings. The ground-penetrating radar system emits high-frequency electromagnetic waves into the soil area where the roots of the target seedlings are located, receives and analyzes the reflected signals. The high-resolution visual sensor array acquires high-resolution images of the leaf color, texture, and morphology of the target seedlings, the condition of the branch bark, and the growth of flowers and fruits, and captures and analyzes the information. The soil physicochemical property sensor collects soil data including, but not limited to, physicochemical parameters such as pH value, organic matter content, concentration of nutrients such as nitrogen, phosphorus, and potassium, soil moisture content, soil electrical conductivity, and soil compaction. The non-contact physiological sensor is used to monitor the physiological activity of the seedlings in real time. The micro weather station collects meteorological parameters including, but not limited to, air temperature, air humidity, light intensity, precipitation, wind speed, wind direction, and atmospheric pressure, and records parameter changes. The data processing module is used to receive and process the data collected by the data acquisition module, run algorithms and provide decision support. The data processing module includes a multi-core processor, a graphics processing unit, a large-capacity memory and a knowledge base. The knowledge base stores tree species growth characteristics, transplanting experience, pest and disease control plans and soil improvement formulas. The control execution module is used to receive instructions from the data processing module and control the mechanical equipment to complete the transplantation operation. The control execution module includes a servo controller, a hydraulic control unit, a motor driver, and a safety monitoring unit. The communication module is used to realize data exchange between various modules within the system and between the system and the external environment, and supports Ethernet protocol, fifth-generation mobile communication technology, satellite communication protocol, wireless local area network protocol and Bluetooth Low Energy protocol; The energy management module is used to provide power to the system, and the energy management module includes a lithium-ion battery pack, an intelligent charging management system, a backup generator, and a power distribution unit.

10. A large-scale seedling transplanting system according to claim 9, characterized in that: The data processing module's processing functions include: data preprocessing, including timestamp synchronization, data calibration, noise reduction filtering, missing value filling, and format standardization of raw data; seedling morphological structure model reconstruction, constructing a three-dimensional digital model of seedlings based on lidar point cloud data; root system distribution three-dimensional model construction, drawing a spatial distribution map of the root system by combining ground-penetrating radar and acoustic tomography data; root ball size optimization and cutting path planning, generating the optimal root ball diameter and cutting path; seedling health assessment and risk prediction, assessing the health status of seedlings and predicting transplantation risks; and maintenance strategy generation, dynamically generating irrigation, fertilization, pest and disease control, and physical protection plans. The control functions of the control execution module include: controlling the movement trajectory, posture, and cutting force of the excavating robotic arm; controlling the automated wrapping device to adjust the wrapping material winding method and tension; controlling the lifting equipment's lifting, hoisting, and balancing; controlling the automatic driving and positioning of the transport vehicle; controlling the planting and compaction equipment to adjust the seedling planting depth, verticality, and soil backfilling and compaction; and controlling the intelligent irrigation and fertilization system to adjust the water and fertilizer ratio and supply. The communication module encrypts the transmitted data; the power distribution unit of the energy management module integrates overload protection and short-circuit protection mechanisms; the intelligent charging management system monitors the battery status and optimizes the charging strategy; and the backup generator automatically starts when the battery power is insufficient or the system is under high load.

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