Intelligent full-automatic rhizome traditional Chinese medicinal material transplanter and control method

Abstract

The invention relates to an intelligent full-automatic rhizomatic traditional Chinese medicinal material transplanter and a control method. The intelligent full-automatic rhizomatic traditional Chinese medicinal material transplanter comprises an electric crawler-type chassis, a seedling transplanting part, a multi-arm cooperative seedling feeding part, a hole pressing part, a controller and a touch screen human-computer interaction interface, wherein the seedling transplanting part is detachably arranged on the electric crawler-type chassis, the multi-arm cooperative seedling feeding parts are connected to the electric crawler-type chassis and located at the four corners of the seedling transplanting part, and the hole pressing part is arranged on one side of the advancing direction of the electric crawler-type chassis. The controller and touch screen man-machine interaction interface is arranged on the seedling transplanting part and is electrically connected with the chassis power device, and the seedling transplanting power mechanism is electrically connected with the mechanical arm; the electric crawler-type chassis, the seedling transplanting part, the multi-arm cooperative seedling feeding part and the hole pressing part are in intermittent linkage; the problems that a traditional transplanter is high in dependence on tractor power, large in demand quantity of operators and the like can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery equipment, and particularly to an intelligent full-automatic root and stem type Chinese medicinal material transplanting machine. BACKGROUND

[0002] In the future development process, intelligent agricultural equipment will inevitably develop towards less people and unmanned. Based on the assistance of multi-sensor fusion and artificial intelligence technology, the process from theory to reality of smart farm will inevitably be accelerated. The existing Chinese medicinal material transplanting machine relies heavily on tractor manual driving and manual seedling separation, so it does not reduce much labor intensity and improve much transplanting efficiency. Therefore, artificial intervention is still required for the transplanting link, real-time adjustment of plant spacing cannot be realized, and the problems such as easy deviation from the driving path during driving still exist, and therefore it is urgent to develop full-automatic intelligent transplanting equipment. SUMMARY

[0003] To solve or partially solve the problems in the related art, the present application provides an intelligent full-automatic root and stem type Chinese medicinal material transplanting machine, which can solve the problems such as strong dependence on tractor power of traditional transplanting machines and large demand for operation personnel.

[0004] The present application discloses an intelligent full-automatic root and stem type Chinese medicinal material transplanting machine, which comprises: An electric crawler chassis is used to provide moving power for the equipment, comprising a chassis support, a left crawler assembly, a right crawler assembly and a chassis power device. The left crawler assembly and the right crawler assembly are symmetrically arranged on both sides of the chassis support, and the chassis power device is arranged at the bottom of the chassis support to provide power for the left crawler assembly and the right crawler assembly. A seedling transplanting component is used to move seedlings to the planting position, comprising a seedling transplanting component support and a seedling transplanting power mechanism and a seedling laying mechanism arranged thereon. The seedling transplanting power mechanism is connected with the seedling laying mechanism to provide seedling transplanting power for the seedling transplanting power mechanism. A multi-arm cooperative seedling feeding component is used to feed seedlings for the seedling transplanting component and is composed of four six-degree-of-freedom mechanical arms. A hole pressing component is used to uniformly press seedling holes on the ground. A controller and a touch screen man-machine interaction interface are provided. The seedling transplanting component is detachably arranged on the electric crawler chassis. The multi-arm cooperative seedling feeding component is connected and arranged on the electric crawler chassis and located at four corners of the seedling transplanting component. The hole pressing component is arranged on one side of the forward direction of the electric crawler chassis. The controller and the touch screen man-machine interaction interface are arranged on the seedling transplanting component and electrically connected with the chassis power device. The seedling transplanting power mechanism and the mechanical arm are electrically connected. The electric crawler chassis, the seedling transplanting component, the multi-arm cooperative seedling feeding component and the hole pressing component are intermittently linked.

[0005] Optionally, seedling transplanting component support guide tubes are provided at the four corners of the chassis support, and a battery box is provided in the middle of the chassis support, containing batteries to power the entire device; both the left and right track assemblies are provided with side supports, with support rollers rotatably mounted below the side supports, and guide rollers are provided above one side of the side supports. A drive wheel mounting plate is also provided above the first side, with a bearing seat mounted on the drive wheel mounting plate. The drive wheel is rotatably mounted within the bearing seat via a bearing, and a trailing wheel is provided on the drive wheel mounting plate behind the drive wheel. Rubber tracks are provided between the wheels. Tracked travel mechanism; the chassis power unit is symmetrically arranged in two sets, corresponding to the left track assembly and the right track assembly respectively, including sprockets and chains, a gearbox mounting plate, a gearbox, a DC brushless motor, a chain protective cover, and a drive wheel axle; a gearbox mounting plate is set on the chassis bracket, a gearbox is mounted on the gearbox mounting plate, a DC brushless motor is connected to the gearbox, a first sprocket is connected to the gearbox output shaft, and a second sprocket is connected to the drive wheel axle. The first sprocket and the second sprocket are driven by a sprocket and chain, and a chain protective cover is provided at the sprocket and chain.

[0006] Optionally, a seedling transplanting component lifting device is also provided on both sides of the chassis support to adjust the seedling transplanting component by lifting. The seedling transplanting component is inserted into the guide tube of the seedling transplanting component support.

[0007] Optionally, support columns are provided at the four corners of the transplanting component bracket and inserted into the guide tube of the transplanting component bracket; the seedling laying mechanism includes transplanting component side plates, partition-type conveyor belt, roller motor, driven roller shaft, reinforcing support tube, belt tensioning device, upper surface seedling blocking groove, front surface seedling blocking groove, front surface hollow seedling blocking groove, front side fixing plate of transplanting component, rear side fixing plate of transplanting component, lower end fixing plate of transplanting component, and seedling tray; wherein, two transplanting component side plates, together with the front side fixing plate and the rear side fixing plate of transplanting component, constitute the seedling laying groove. A partition-type conveyor belt is installed in the trough, and the partition-type conveyor belt forms multiple upper surface seedling blocking grooves through the partitions; a front surface seedling blocking groove and a front surface hollow seedling blocking groove are set below the front fixing plate of the seedling transplanting component to form a seedling channel that is connected to the upper surface seedling blocking groove; the seedling transplanting power mechanism includes a roller motor, a driven roller shaft, and a belt tensioning device. A roller motor is set below the rear fixing plate of the seedling transplanting component, and the roller motor is connected to the drive shaft of the partition-type conveyor belt. A belt tensioning device is set on the side plate of the seedling transplanting component to tension the partition-type conveyor belt.

[0008] Optionally, the cavitation component includes a cavitation component bracket and a cavitation lifting mechanism consisting of a lifting sleeve, a lifting bearing end cover, a lifting handle, and a lifting inner cylinder. Two symmetrical cavitation lifting mechanisms are set below the cavitation component support. A connecting piece is set at the bottom of each cavitation lifting mechanism via a fixed pin. A support plate is connected to one end of the connecting piece via a rotating shaft. A pressure spring is set on the top of the support plate. The other end of the pressure spring is connected to the lifting inner cylinder via a rotating pin. A top pipe is connected to the rotating shaft of the support plate. A bearing chamber is connected to the top pipe. A bearing is embedded in the bearing chamber and connected to an inner small round tube. An end cap is set on the inner small round tube. An outer large round tube is set between the two end caps. An angle steel is set on the outer large round tube.

[0009] Optionally, a binocular camera is installed on the seedling tray and connected to the controller.

[0010] Optionally, incremental rotary encoders are installed at the output shafts of both gearboxes and at the roller motor, and are electrically connected to the controller; a 16-line lidar is installed on the roof of the machine and is electrically connected to the controller, and an 8-line lidar is installed on the side of the machine and is electrically connected to the controller.

[0011] A control method for an intelligent fully automatic transplanting machine for rhizomes and other medicinal herbs, used in the aforementioned transplanting machine.

[0012] Optionally, the real-time plant spacing can be adjusted during transplanting by changing the ratio of the track motor speed to the drum motor speed.

[0013] Optionally, a fully automated transplanting system can be achieved by combining a lidar sensor with an encoder and a controller.

[0014] The technical solution provided in this application may include the following beneficial effects: This device, as described in this application, uses an electric tracked chassis to propel the equipment forward. A seedling transplanting component guides the seedlings to the desired planting location. During seedling movement, a multi-arm cooperative seedling delivery component lays the seedlings in place. Finally, a planting hole pressing component creates planting holes, which are then filled by the transplanting component to complete the transplanting process. All these actions are automatically controlled by a controller, requiring no human intervention. The controller can also adjust the plant spacing in real time, minimizing deviation from the travel path during movement. It also possesses one of the following advantages: 1) This electric transplanter uses electricity as a clean energy source and has the advantages of simple and lightweight design. It does not rely on traditional fuel and is small and flexible. It is especially suitable for complex operation scenarios with scattered plots and steep slopes and ridges, and can effectively overcome the limitations of mechanized operation in such areas.

[0015] 2) Compared with the traditional Chinese medicinal herb transplanting machine that relies on manual seedling separation, its multi-robotic arm collaborative seedling separation design not only fundamentally reduces the intensity of manual labor and completely liberates manpower, but also significantly shortens the seedling separation cycle and significantly improves the overall transplanting efficiency, solving the core pain points of "high labor costs and low efficiency" in traditional operations.

[0016] 3) Compared with traditional “pre-programmed paths” (fixed row spacing, lack of dynamic obstacle avoidance) and “visual navigation” (susceptible to light intensity and weather changes), LiDAR (Light Detection and Ranging) solutions can accurately perceive dynamic obstacles and complex terrain in the field, and are more adaptable to the complex and ever-changing working environment in the field. They provide stable and reliable navigation support for intelligent transplanting and have become one of the important core technology directions for future intelligent transplanting machines.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0018] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0019] Figure 1 This is a schematic diagram of the structure shown in the embodiments of this application; Figure 2 This is a schematic diagram of the electric tracked chassis structure shown in the embodiments of this application; Figure 3 This is a schematic diagram of the transplanting component structure shown in an embodiment of this application; Figure 4 This is a schematic diagram of the cavitation component structure shown in an embodiment of this application; Figure 5 This is a flowchart illustrating the operation process in an embodiment of this application; Figure 6 This is a flowchart illustrating the overall LiDAR path planning process in an embodiment of this application; Figure label: 100. Electric tracked chassis; 110. Chassis support; 120. Left track assembly; 130. Right track assembly; 140. Chassis power unit; 111. Seedling transplanter lifting device; 112. Seedling transplanter support guide tube; 113. Battery box; 121. Side support; 122. Track roller; 123. Guide wheel; 124. Drive wheel mounting plate; 125. Bearing housing; 126. Drive wheel; 127. Trailer wheel; 128. Rubber Track; 141. Sprocket and chain; 142. Gearbox mounting plate; 143. Gearbox; 144. DC brushless motor; 145. Chain protective cover; 146. Gearbox output shaft; 147. Drive wheel shaft; 148. Incremental rotary encoder; 200. Transplanting component; 210. Transplanting component bracket; 211. Transplanting component side plate; 212. Partition-type conveyor belt; 213. Roller motor; 214. Driven roller shaft; 215. Reinforcing support 216. Pipe; 217. Belt tensioning device; 218. Upper surface seedling retaining groove; 219. Front surface seedling retaining groove; 220. Front surface hollow seedling retaining groove; 221. Front fixing plate of seedling transplanting component; 222. Rear fixing plate of seedling transplanting component; 223. Lower fixing plate of seedling transplanting component; 224. Seedling tray; 225. Binocular camera; 226. Controller; 227. Touch screen human-machine interface; 300. Multi-arm collaborative seedling delivery component; 400. Hole pressing component; 410. 411. Cavity pressing component bracket; 412. Lifting sleeve; 413. Lifting bearing end cover; 414. Lifting crank handle; 415. Pressing spring; 416. Lifting inner cylinder; 417. Connecting round tube; 418. Connecting piece; 419. Support plate; 420. Fixed pin; 421. Rotating pin; 422. Trenching shaft; 422. Jacking pipe; 423. Bearing chamber; 424. Inner ring small round tube; 425. End cover; 426. Outer ring large round tube; 427. Angle steel. Detailed Implementation

[0020] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0021] To address the aforementioned issues, this application provides an intelligent fully automatic transplanting machine for rhizomes and other medicinal herbs. The technical solutions of this application are described in detail below with reference to the accompanying drawings.

[0022] like Figure 1 , Figure 2 and Figure 3 The intelligent fully automatic transplanter for rhizomes and other medicinal herbs shown includes: An electric tracked chassis 100 is used to provide mobility for equipment and includes a chassis support 110, a left track assembly 120, a right track assembly 130, and a chassis power unit 140. This device has a left track assembly 120 and a right track assembly 130 symmetrically arranged on both sides of a chassis support 110. A chassis power unit 140 is located at the bottom of the chassis support 110 to provide power to the left track assembly 120 and the right track assembly 130. It also includes a seedling transplanting component 200, which moves seedlings to the planting position. This component includes a seedling transplanting component support 210 and a seedling transplanting power mechanism and a seedling laying mechanism mounted thereon. The seedling transplanting power mechanism is connected to the seedling laying mechanism to provide transplanting power. Furthermore, it includes a multi-arm cooperative seedling delivery component 300, which fills the seedling transplanting component 200 with seeds and consists of four six-degree-of-freedom robotic arms. Finally, it includes a hole-pressing component 400, which evenly presses out seedling holes on the ground. The device also includes a controller 225 and a touchscreen human-machine interface 226. The transplanting component 200 is detachably mounted on the electric tracked chassis 100. The multi-arm cooperative seedling delivery component 300 is connected to the electric tracked chassis 100 and located at the four corners of the transplanting component 200. The hole-pressing component 400 is located on the forward direction side of the electric tracked chassis 100. The controller 225 and the touch screen human-machine interface 226 are mounted on the transplanting component 200 and electrically connected to the chassis power unit 140. The transplanting power mechanism and the robotic arm are electrically connected. The electric tracked chassis 100, the transplanting component 200, the multi-arm cooperative seedling delivery component 300, and the hole-pressing component 400 are intermittently linked.

[0023] Thus, this application utilizes an electric tracked chassis 100 to propel the equipment forward. The transplanting component 200 guides the seedlings to the desired planting location. During seedling movement, a multi-arm cooperative seedling delivery component 300 lays the seedlings in place. Finally, a planting hole pressing component 400 creates planting holes, which are then filled by the transplanting component 200 to complete the transplanting process. All these actions are automatically controlled by a controller 225, requiring no human intervention. The controller also allows for real-time adjustment of plant spacing, minimizing deviation from the travel path during operation.

[0024] Meanwhile, this electric transplanter uses electricity as a clean energy source and boasts advantages such as a simple and lightweight design. It does not rely on traditional fuel and its compact and flexible body makes it particularly suitable for complex work scenarios with scattered plots and steep slopes, effectively overcoming the limitations of mechanized operations in such areas. Compared to traditional Chinese medicinal herb transplanters that rely on manual seedling separation, its multi-robotic arm collaborative seedling separation design not only fundamentally reduces the intensity of manual labor and completely liberates manpower, but also significantly shortens the seedling separation cycle, significantly improving overall transplanting efficiency and solving the core pain points of "high labor costs and low efficiency" in traditional operations.

[0025] In one embodiment, to accommodate device control and facilitate movement, such as Figure 2 As shown, seedling transplanting component support guide tubes 112 are provided at the four corners of the chassis support 110, and a battery box 113 is provided in the middle of the chassis support 110. The battery box 113 contains batteries that power the entire device. The left track assembly 120 and the right track assembly 130 are both provided with side supports 121. A support roller 122 is rotatably provided below the side support 121. A guide roller 123 is provided above one side of the side support 121. A drive wheel mounting plate 124 is provided above the first side. A bearing seat 125 is mounted on the drive wheel mounting plate 124. A drive wheel 126 is rotatably mounted in the bearing seat 125 through a bearing. A trailing roller 127 is provided on the drive wheel mounting plate 124 behind the drive wheel 126. Rubber tracks 128 are provided between the wheels to form the track. The driving mechanism includes two symmetrical sets of chassis power units 140, corresponding to the left track assembly 120 and the right track assembly 130, respectively. Each set includes a sprocket and chain 141, a gearbox mounting plate 142, a gearbox 143, a DC brushless motor 144, a chain protection cover 145, and a drive wheel axle 147. The gearbox mounting plate 142 is mounted on the chassis bracket 110, and the gearbox 143 is mounted on the gearbox mounting plate 142. The DC brushless motor 144 is connected to the gearbox 143. A first sprocket is connected to the gearbox output shaft 146 of the gearbox 143, and a second sprocket is connected to the drive wheel axle 147 of the drive wheel 126. The first and second sprockets are driven by the sprocket and chain 141, and a chain protection cover 145 is provided at the sprocket and chain 141. Meanwhile, on both sides of the chassis support 110, there are also seedling transplanting component lifting devices 111 to adjust the seedling transplanting component 200 by lifting and lowering. The seedling transplanting component 200 is inserted into the seedling transplanting component support guide tube 112.

[0026] In this application, the bottom of the transplanting component lifting device 111 is installed on both sides of the electric tracked chassis 100, and the upper middle part is installed on the bracket of the transplanting component 200. The transplanting component 200 can be raised and lowered by extending and shortening the lifting device. The transplanting component bracket 210 is installed inside the transplanting component bracket guide tube 112, so that the transplanting component 200 will not tip over during the lifting process. Furthermore, the transplanting component bracket guide tube 112 is equipped with set screws, which can play a good role in fixing after the lifting adjustment is completed, preventing the transplanting component 200 from shaking during operation. The track assembly has a side bracket 121 welded from square tubing, a support roller 122 installed at the bottom, a guide roller 123 installed at the front, a drive wheel mounting plate 124 installed at the rear, a bearing seat 125 installed on the outside of the drive wheel mounting plate 124, a drive wheel 126 installed on the inside of the drive wheel mounting plate 124 via a drive wheel shaft 147, and a towing roller 127 installed at the top. At this point, the track frame is formed. Finally, the rubber track 128 is fitted on and tensioned by the guide roller 123, and the track is formed. The battery of the power unit is placed in the battery box 113 to provide power to the entire transplanter. The DC brushless motor 144 is mounted on the upper part of the gearbox 143. The gearbox 143 is mounted on the rear side of the electric tracked chassis 100 through the gearbox mounting plate 142. The power is output through the gearbox output shaft 146 and transmitted to the power wheel shaft 147 through the sprocket and chain 141 to provide walking power for the entire transplanter. The sprocket and chain 141 are equipped with a chain protection cover 145. An incremental rotary encoder 148 for measuring the rotational speed is mounted on the outside of the gearbox output shaft 146.

[0027] In one embodiment, for the convenience of transplanting seedlings, such as Figure 3As shown, the four corners of the transplanting component bracket are equipped with support columns that are inserted into the guide tube 112 of the transplanting component bracket; the seedling laying mechanism includes a transplanting component side plate 211, a partition-type conveyor belt 212, a roller motor 213, a driven roller shaft 214, a reinforcing support tube 215, a belt tensioning device 216, an upper surface seedling blocking groove 217, a front surface seedling blocking groove 218, a front surface hollow seedling blocking groove 219, a front fixing plate 220 of the transplanting component, a rear fixing plate 221 of the transplanting component, a lower fixing plate 222 of the transplanting component, and a seedling tray 223; wherein, the two transplanting component side plates 211, together with the front fixing plate 220 and the rear fixing plate 221 of the transplanting component, constitute the seedling laying mechanism. The trough contains a partitioned conveyor belt 212, which forms multiple upper surface seedling retaining grooves 217 through partitions. A front surface seedling retaining groove 218 and a front surface hollow seedling retaining groove 219 are provided below the front fixing plate 220 of the transplanting component to form a seedling channel connected to the upper surface seedling retaining grooves 217. The transplanting power mechanism includes a roller motor 213, a driven roller shaft 214, and a belt tensioning device 216. The roller motor 213 is located below the rear fixing plate 221 of the transplanting component and is connected to the drive shaft of the partitioned conveyor belt 212. A belt tensioning device 216 is provided on the side plate 211 of the transplanting component to tension the partitioned conveyor belt 212. The four corners of the transplanting component bracket are equipped with support columns that are inserted into the guide tube 112 of the transplanting component bracket; the seedling laying mechanism includes a transplanting component side plate 211, a partition-type conveyor belt 212, a roller motor 213, a driven roller shaft 214, a reinforcing support tube 215, a belt tensioning device 216, an upper surface seedling blocking groove 217, a front surface seedling blocking groove 218, a front surface hollow seedling blocking groove 219, a front side fixing plate 220 of the transplanting component, a rear side fixing plate 221 of the transplanting component, a lower end fixing plate 222 of the transplanting component, and a seedling tray 223; wherein, the two transplanting component side plates 211, together with the front side fixing plate 220 and the rear side fixing plate 221 of the transplanting component, form a seedling laying groove, in The trough is equipped with a partition-type conveyor belt 212, which forms multiple upper surface seedling blocking grooves 217 through partitions. A front surface seedling blocking groove 218 and a front surface hollow seedling blocking groove 219 are provided below the front fixing plate 220 of the transplanting component to form a seedling channel that is connected to the upper surface seedling blocking grooves 217. The transplanting power mechanism includes a roller motor 213, a driven roller shaft 214, a belt tensioning device 216, etc. The roller motor 213 is provided below the rear fixing plate 221 of the transplanting component and is connected to the drive shaft of the partition-type conveyor belt 212. A belt tensioning device 216 is provided on the side plate 211 of the transplanting component to tension the partition-type conveyor belt 212.

[0028] In this application, a roller motor 213 and two driven rollers 214 are installed in the middle of the side plate 211 of the seedling transplanting component. Finally, the belt tensioning device 216 tensions the partition-type conveyor belt 212 into an L-shape. The middle part of the conveyor belt is also equipped with a reinforcing support tube 215 to enhance the belt's support. The upper surface seedling blocking groove 217 is installed on the upper surface of the partition-type conveyor belt 212 to prevent the seedlings on the upper surface from moving left and right. The front surface seedling blocking groove 218 is installed on the front surface of the partition-type conveyor belt 212 to prevent the seedlings on the front surface from moving left and right. The front surface hollow seedling blocking groove 219 is installed on the front surface of the partition-type conveyor belt 212 to prevent the seedlings on the front surface from moving forward and falling off prematurely.

[0029] In one embodiment, for ease of acupressure, such as Figure 4 As shown, the cavitation pressing component 400 includes a cavitation pressing component bracket 410 and a cavitation pressing lifting mechanism composed of a lifting sleeve 411, a lifting bearing end cover 412, a lifting handle 413 and a lifting inner cylinder 415. Two symmetrically arranged cavitation lifting mechanisms are provided below the cavitation component support 410. A connecting piece 417 is connected to the bottom of each cavitation lifting mechanism via a fixed pin 419. A support plate 418 is connected to one end of the connecting piece 417 via a rotating shaft. A pressure spring 414 is provided on the top of the support plate 418. The other end of the pressure spring 414 is connected to the lifting inner cylinder 415 via a rotating pin 420. A top pipe 422 is connected to the rotating shaft of the support plate 418. A bearing chamber 423 is connected to the top pipe 422. A bearing is embedded in the bearing chamber 423 and connected to an inner small round tube 424. An end cap 425 is provided on the inner small round tube 424. An outer large round tube 426 is provided between the two end caps 425. An angle steel 427 is provided on the outer large round tube 426.

[0030] In this application, the cavitation pressing component 400 consists of a trenching lifting device and a cavitation pressing mechanism. The trenching lifting device consists of a lifting sleeve 411, a lifting bearing end cover 412, a lifting crank 413, a pressing spring 414, a lifting inner cylinder 415, a connecting round tube 416, a connecting piece 417, a support plate 418, a fixed pin 419, and a rotating pin 420. The cavitation pressing mechanism consists of a trenching shaft 421, a jacking pipe 422, a bearing chamber 423, an inner small round tube 424, an end cover 425, an outer large round tube 426, an angle steel 427, and a cavitation pressing component bracket 410. The pressing hole component 400 bracket is installed at the front end of the chassis bracket 110. When the lifting handle 413 is cranked, the screw device inside the trenching lifting device rotates accordingly, thereby realizing the lifting of the entire pressing hole mechanism. When the pressing hole mechanism descends to contact the ground, the lifting mechanism continues to descend and the pressing spring 414 is compressed, firmly pressing the pressing hole component 400 onto the ground. The transplanter moves forward and the cylinder with angle steel 427 rotates accordingly, thereby pressing out evenly spaced seedling holes on the ground.

[0031] In one embodiment, a binocular camera 224 is installed on the seedling tray 223 and connected to the controller 225. Incremental rotary encoders 148 are installed at the output shafts 146 of the two gearboxes 143 and at the roller motor 213 and are electrically connected to the controller 225. A 16-line lidar is installed on the roof of the machine and electrically connected to the controller, and an 8-line lidar is installed on the side of the machine and electrically connected to the controller. This facilitates the detection and control of the equipment.

[0032] In one embodiment, to achieve automatic operation of the device, this application provides a control method such as... Figure 5 and Figure 6 As shown. Importantly, this application achieves real-time plant spacing adjustment during transplanting by adjusting the ratio of the track motor speed to the drum motor speed; and achieves fully automated transplanting by using a laser radar combined with an encoder and controller.

[0033] In this application, the overall process of the transplanter operation is as follows: First, the system sets the plant spacing. Then, the multi-arm cooperative seedling delivery component 300 begins loading seedlings. Sensors on the transplanting component 200 monitor whether the seedlings on the conveyor belt surface are fully loaded. If the main controller determines that the loading is not complete, loading continues. If the main controller determines that the loading is complete, the transplanter begins operation, and the walking motor and seedling delivery motor start running. The main controller uses the pulse count fed back by the incremental rotary encoder 148 to determine whether the ratio K of the transplanting speed to the walking speed is equal to the set value. If the main controller determines that the loading is not complete, the ratio of the transplanting speed to the walking speed is adjusted to be equal to the set value. If the main controller determines that the loading is complete, operation continues. The main controller uses real-time 3D scene information transmitted by the LiDAR to determine whether the transplanter's travel path has deviated or encountered obstacles. If the main controller determines that the loading is complete, it uses the real-time 3D scene information transmitted by the LiDAR to issue path correction instructions to avoid obstacles. If the main controller determines that the loading is not complete, operation continues. Once the seedlings on the conveyor belt surface have been transplanted, one transplanting cycle is complete. Then, the seedling filling operation is repeated to start the next transplanting cycle.

[0034] like Figure 6 As shown, the overall process of LiDAR path planning consists of the following steps: The first step is LiDAR environmental perception. A 16-line LiDAR on the roof (120° forward field of view, 20m detection range) and an 8-line LiDAR on the side of the fuselage (scanning furrows downwards) actively emit laser beams and receive reflected signals, generating a high-precision 3D point cloud using the time-of-flight principle. This is used to characterize the raw spatial data of the surrounding environment (ridges, crops, obstacles).

[0035] The second step is data processing and feature extraction. The original 3D point cloud is input, and statistical filtering is used to remove noise points caused by weeds, etc. The RANSAC algorithm is then used to separate the point cloud into "ground points" (ridge surface, field ridges) and "non-ground points" (crops, stones). Finally, feature extraction is performed to fit the ridge centerline (as a reference for the global path) and the furrow edge line (to determine the safe driving boundary of the transplanter and prevent the furrow from collapsing).

[0036] The third step is path planning layering, which consists of two parallel and collaborative parts: global path planning and local path planning. In global path planning, a "reciprocating" approach is used, with a fixed line spacing of 90cm and a turning radius of no less than 3m to avoid crushing seedlings, outputting an ideal, barrier-free global reference path. In local path planning, the trigger condition is the detection of static obstacles (such as stones) with a diameter >10cm by LiDAR, using A... The algorithm replans in real time, generating obstacle avoidance paths (bypassing from the left or right) and ensuring a safe distance of ≥30cm from obstacles. The seedling transplanting action is paused during obstacle avoidance.

[0037] The fourth step is path execution and control, which uses the model predictive control (MPC) algorithm as the control core. Based on the dynamic model of the transplanter, MPC predicts the motion state in the future, calculates the optimal steering and speed control commands through rolling optimization, and sends them to the actuator (motor).

[0038] The fifth step, multi-sensor feedback, is a crucial closed-loop correction step used to ensure accuracy during long-term operation. The IMU (Inertial Measurement Unit) can detect the transplanter's own attitude (such as tilt and steering angular velocity) in real time, compensating for LiDAR point cloud jitter and positioning drift caused by road bumps. The incremental rotary encoder 148 can accurately measure the actual number of rotations of the drive shaft, providing accurate travel distance and speed feedback, which is fused with LiDAR positioning information to correct accumulated errors. This flowchart and description fully demonstrate how LiDAR acts as the "eyes," combined with the IMU and encoder (the "cerebellum" responsible for balance and proprioception), and under the command of the MPC (Multi-sensor Control Center), drives the transplanter, an intelligent device, to achieve high-precision, autonomous path planning and operation tasks in complex fields.

[0039] In one embodiment, to address the pain points of existing transplanters, such as heavy reliance on manual seedling separation and driving, inability to adapt to scattered plots, inability to adjust plant spacing in real time, and easy deviation of the working path leading to low transplanting qualification rate, an intelligent electric transplanter is designed that can adaptively adjust plant spacing, drive automatically, and automatically separate seedlings, thereby realizing unmanned operation in the field, with the machine itself completing automatic driving, seedling placement, and transplanting.

[0040] To achieve the above objectives, this invention provides an intelligent fully automatic transplanter for rhizomes and other medicinal herbs. The intelligent fully automatic transplanter for rhizomes and other medicinal herbs comprises an electric tracked chassis 100, a transplanting component 200, a multi-arm cooperative seedling delivery component 300, a planting hole component 400, and a chassis frame. The electric tracked chassis 100 includes a chassis support 110 and connected, symmetrically arranged left and right track assemblies 130 and a chassis power unit 140. The chassis support 110 is connected to the track assemblies at its lower part, and has lifting devices for the transplanting component 200 and guide tubes for the transplanting component 200 support arranged on both sides at its upper part, with two battery boxes 113 arranged in the middle. The track assembly consists of side supports 121, support rollers 122, guide rollers 123, trailing rollers 127, power wheels 126, and rubber tracks 128. The chassis power unit 140 consists of a sprocket and chain 141, a gearbox 143, a DC brushless motor 144, and a chain protection cover 145. The gearbox 143 and the motor are symmetrically arranged above the left and right track assemblies 130 and are mounted on the chassis frame via a gearbox 143 mounting plate. Power is output from the DC brushless motor 144, then through the gearbox 143, and finally through the gearbox output shaft 146, and finally transmitted to the drive wheel 126 via chain drive to provide power for the entire chassis.

[0041] The upper part of the transplanter described in this application is a transplanting component 200, which consists of a transplanting component support 210, a transplanting component side plate 211, a partition-type conveyor belt 212, a roller motor 213, a driven roller shaft 214, a reinforcing support tube 215, a belt tensioning device 216, an upper surface seedling blocking groove 217, a front surface seedling blocking groove 218, a front surface hollow seedling blocking groove 219, a front side fixing plate 220, a rear side fixing plate 221, a lower end fixing plate 222, a seedling tray 223, a transplanting component lifting device, a controller 225, and a touch screen human-machine interface 226. The transplanting component support is installed in the transplanting component support guide tube 112 on the chassis support 110. The upper end of the transplanting component support guide tube 112 is provided with a set screw to prevent the actuators above the transplanter chassis from shaking due to the unstable center of gravity of the transplanting component 200. The lower end of the seedling transplanting component lifting device is mounted on the chassis bracket 110, and the upper end is mounted on the seedling transplanting component bracket. The seedling transplanting component 200 and the multi-arm coordinated seedling delivery component 300 can be simultaneously raised and lowered by shaking the rocker arm. It is particularly important to note that during raising and lowering, the lifting mechanisms at both ends must move upwards to approximately the same height simultaneously to prevent the seedling transplanting component bracket from getting stuck in the guide tube 112. The seedling transplanting component side plate 211 is mounted on the seedling transplanting component bracket. The partition-type conveyor belt is installed between the two seedling transplanting components 200 via a roller motor 213, two driven roller shafts 214, and four reinforcing support tubes 215. The roller motor 213 and the two driven roller shafts 214 are mounted on the seedling transplanting component side plate 211 via roller mounting bearings, and the four reinforcing support tubes 215 are fixed to the seedling transplanting component side plate 211 with bolts. The partition is an independent divider on the conveyor belt. The upper and front surfaces of the partition-type conveyor belt 212 of the transplanting component 200 are provided with seedling-blocking grooves to prevent root and rhizome Chinese medicinal materials from moving left and right during transplanting. The upper surface seedling-blocking groove 217 is installed between the front fixing plate 220 and the rear fixing plate 221 of the transplanting component. The front surface seedling-blocking groove 218 is installed between the front fixing plate 222 and the lower fixing plate 222 of the transplanting component. Their function is to prevent the seedlings from moving left and right during the movement of the conveyor belt. The front surface hollow seedling-blocking groove 219 is installed between the front fixing plate 222 and the lower fixing plate 222 of the transplanting component. Its function is to prevent the seedlings from falling off the partition during the vertical downward movement of the conveyor belt. On the other hand, the hollow groove structure makes it easy to observe the transportation of the seedlings on the conveyor belt. There is a seedling box at the front and a seedling box at the back of the transplanting component, which are respectively fixed to the front fixing plate 22 and the rear fixing plate 221 of the transplanting component.After the multi-arm cooperative seedling delivery component 300 takes the seedling from the seedling box, it is placed in the partition of the partition-type conveyor belt 212. The power is provided by the rolling motor, which drives the belt to rotate. The seedling moves forward with the conveyor belt. The seedling first moves horizontally and then changes to vertical downward. During the movement, the upper surface seedling blocking groove 217, the front surface seedling blocking groove 218, and the front surface hollow seedling blocking groove 219 can ensure that the seedling is always within the partition, thus ensuring the accuracy of transplanting. Finally, the seedling is placed into the seedling hole pressed by the pressing component 400 at the end of the conveyor belt, thus completing the entire transplanting process.

[0042] The entire transplanting process of the equipment is intermittent. That is, when the upper surface of the transplanting component 200 is filled with seeds, the transplanter starts working. After the seedlings are transplanted, the transplanter stops working and waits for filling. Then, the filling-working-filling process is repeated. The advantage of this intermittent process is that the conveyor belt is stationary during the seed delivery process. That is, the relative position of the conveyor belt compartment and the robotic arm is fixed. The robotic arm does not need to dynamically track the position of the compartment in real time to place the seedlings into the compartment. At the same time, the working efficiency of the intermittent process is not much lower than that of the continuous process. In the continuous process, although the conveyor belt speed can be adjusted to be very fast, the seed delivery speed of the robotic arm is limited, which greatly limits the upper limit of the conveyor belt speed. In contrast, although there is no working during the seed delivery process in the intermittent operation mode, there is no upper limit to the conveyor belt speed after the seed delivery is completed. As long as the walking speed and the conveying speed are matched, the stability of the transplanting spacing can be guaranteed. The time wasted by the transplanter stopping to wait for filling is compensated for here.

[0043] The seedling box is equipped with a binocular camera 224, which can provide the robotic arm with the position information of the seedling inside the seedling box. By establishing a coordinate system with the mechanical origin of the robotic arm as the origin, the position information fed back by the binocular camera 224 can be used to determine the coordinates of the seedling relative to the robotic arm, thereby achieving precise positioning of the seedling and enabling the robotic arm to accurately pick up the seedling during the seedling grabbing process. After the robotic arm retrieves the seedling, it returns to its origin and places the seedling into the corresponding conveyor belt compartment. Since the relative coordinates of the robotic arm's origin with respect to each conveyor belt compartment remain constant (i.e., the coordinates of each compartment are fixed), there's no need to use binocular cameras (e.g., 224) to measure position information. Specifically, the robotic arm's origin is coordinate A, the seedling's position is coordinate B, and the conveyor belt compartment's position is coordinate C. The entire seedling transfer process involves the binocular camera (e.g., 224) feeding back the position information at coordinate B to the robotic arm. The robotic arm then moves from coordinate A to coordinate B, retrieves the seedling at coordinate B, and returns to coordinate A. Because the relative position of A and C remains constant, coordinate C remains constant as well. Finally, the robotic arm carries the seedling from coordinate A to coordinate C and places it into the conveyor belt compartment, thus completing one seedling transfer cycle. The upper surface of the seedling transplanting component 200 is divided into four areas. Each robotic arm is responsible for delivering seedlings to its corresponding area. During operation, each robotic arm repeatedly takes seedlings from the seedling box and places them into the conveyor belt compartment. In this process, each robotic arm needs to cooperate to ensure the accuracy and efficiency of seedling delivery, and to prevent accidents caused by the robotic arms colliding with each other during operation.

[0044] The cavitation pressing component 400 consists of a trenching lifting device and a cavitation pressing mechanism. The trenching lifting device consists of a lifting sleeve 411, a lifting bearing end cover 412, a lifting crank 413, a pressing spring 414, a lifting inner cylinder 415, a lead screw device, a connecting round tube 416, a connecting piece 417, a support plate 418, a fixed pin 419, and a rotating pin. The cavitation pressing mechanism consists of a trenching shaft, a jacking pipe, a bearing chamber 423, an inner small round tube 424, an end cover 425, an outer large round tube 426, an angle steel 427, and a cavitation pressing component bracket 410. The hole-pressing component bracket 410 is installed at the front end of the chassis bracket 110. When the lifting handle 413 is cranked, the screw device inside the trenching lifting device rotates accordingly, thereby realizing the lifting of the entire hole-pressing mechanism. When the hole-pressing mechanism descends to contact the ground, the lifting mechanism continues to descend and the pressing spring 414 is compressed, firmly pressing the hole-pressing component 400 onto the ground. The transplanter moves forward and the cylinder with angle steel 427 rotates accordingly, thereby pressing out evenly spaced seedling holes on the ground.

[0045] This application involves installing incremental rotary encoders 148 for speed measurement in three parts of the machine. These three parts are the output shafts 146 of the two gearboxes 143 and the drum motor 213. The main function of the encoders at the output shafts 146 of the two gearboxes 143 is to measure the actual rotational speed of the output shafts 146 of the gearboxes 143, which is obtained according to the following formula. and in, : Linear velocity of the left track; Linear velocity of the right track; and All are correction factors; Circumference of the pitch circle of the drive gear; : Sprocket transmission ratio; The rotational speed measured by the encoder on the left side; The rotational speed measured by the encoder on the right; The rotational speed of the drive gear is calculated using the reduction ratio of the sprocket, thus determining the travel speed of the left and right tracks. During this calculation, due to the influence of transmission efficiency and the inconsistency of the pulses fed back from the encoders on both sides, different correction coefficients K1 and K2 are introduced (the correction coefficients differ for different track gears; here, only the operating speed is corrected to ensure accuracy). The track travel speed calculated using these correction coefficients, compared to the data obtained from the encoders, is highly similar to the actual track travel speed. Simultaneously, accurate measurement of the left and right track travel speeds provides a practical basis for differential steering. When the left track travel speed is greater than the right track travel speed and the direction is the same, the transplanter turns right; when the left track travel speed is less than the right track travel speed and the direction is the same, the transplanter turns left; when the left and right track speeds are equal in magnitude but opposite in direction, a turn on the spot is achieved. The encoder at roller motor 213 primarily measures the actual rotational speed of roller motor 213 and calculates the linear speed of the belt using a formula. in, Linear speed of the conveyor belt; Correction factor; : Drum motor diameter; The rotational speed of the drum motor as measured by the encoder; Similarly, a correction factor is introduced here. This is because belt slippage is unavoidable during belt conveyor operation.

[0046] To adjust the seedling spacing, the transplanting speed and the walking speed must be matched. The transplanting speed refers to the number of seedlings transplanted per unit time, while the walking speed refers to the displacement of the transplanter per unit time. The ratio K of the walking speed to the seedling spacing determines the seedling spacing. A larger K value results in a larger seedling spacing, and a smaller K value results in a smaller seedling spacing. The K value is only related to the structural parameters of the transplanter itself and the system-set seedling spacing. Once the structural parameters and the set seedling spacing are determined, the K value is constant. By using a fuzzy PID control algorithm to keep the ratio K of the seedling spacing and walking speed relatively stable, the actual seedling spacing is highly consistent with the set seedling spacing.

[0047] During the movement, when the transplanter moves forward... There is a direct proportional relationship between transplanting speed and walking speed, that is... and There exists a direct proportional relationship between them and it is a constant. ( The rotational speed measured by the left encoder. The speed of the drum motor measured by the encoder. Correction factor Plant spacing, Spacing between partitions Circumference of the pitch circle of the drive gear (Sprocket transmission ratio) The structural parameters of the transplanter, once confirmed, will not change. As long as a suitable plant spacing is set, the K value will also be constant. Therefore, the main controller only needs to control... and The ratio corresponding to the K value ensures that the plant spacing is the set value, and this can be adjusted in real time. and This ratio allows for real-time adjustment of plant spacing during transplanting.

[0048] The multi-arm collaborative transplanting system of the robotic arm is designed for Panax notoginseng seedlings that are randomly piled up in boxes, containing only root substrate and no stems or leaves. The transplanter is equipped with a binocular camera 224 (with multi-angle ring LED light source to reduce stacking shadows) to capture multi-angle images and acquire 3D data of the seedlings in the boxes. First, image noise reduction and contrast enhancement are used to weaken background interference. Then, an instance segmentation algorithm (such as Mask R-CNN) is used to separate the outline of individual seedlings from the stacked group, and their 3D shape is reconstructed by combining 3D point cloud data. Next, individuals that can be grasped are selected based on features such as the size and roundness of the substrate block. The world coordinates (X, Y, Z) of the geometric center and the optimal grasping posture (such as the orientation of the exposed surface of the substrate block) are calculated, and seedlings with severe occlusion or abnormal shape are excluded simultaneously. Finally, the coordinates and posture information of the selected effective seedlings are fed back to the robotic arm control system in real time, providing a positioning reference for accurate grasping in disordered scenes.

[0049] The transplanter is equipped with a seedling box at the front and a rear. The robotic arms work in pairs. When each pair grabs seedlings in the same seedling box, it achieves interference-free operation through "virtual partitioning + dynamic obstacle avoidance": First, the seedling box is divided into two dynamic sub-regions, left and right, based on visual recognition (the boundaries can be adjusted in real time as the number of seedlings decreases). Each arm is initially responsible for one region. The vision system and the arm-end encoder track the three-dimensional coordinates of the ends of the two arms and the seedlings in real time. The main controller predicts the intersection of trajectories through the fast collision detection algorithm GJK. If an arm needs to grab across regions, it triggers the "first-come, first-served" priority mechanism - the arm that has entered the target region completes the action first, while the other arm waits temporarily in the safe zone (≥30mm from the other arm's end) or fine-tunes its path. At the same time, the status is exchanged through a microsecond-level industrial bus to ensure that the action commands are synchronized, ultimately achieving efficient collaborative grabbing within the same box without interference.

[0050] Path planning is achieved using LiDAR (Light Detection and Ranging). LiDAR is essentially an active sensing technology that uses laser beams to perceive the environment and calculate the distance and position of targets. Its core function is to convert the three-dimensional spatial information of the physical world into computable "data," hence the name "LiDAR." The core logic of LiDAR for field path planning in transplanters is as follows: based on high-precision environmental perception, key field features are extracted through data processing; then, the path is planned in two layers—global and local; finally, closed-loop feedback ensures the accuracy of path execution and the quality of work. Compared to traditional "pre-programmed paths" (fixed row spacing, unable to avoid obstacles) or "visual navigation" (highly affected by lighting), the LiDAR solution is more adaptable to the complex and dynamic environment of the field and is one of the core technological directions for future intelligent transplanters.

[0051] The core components of LiDAR include a laser emitter, an optical receiver, a time measurement unit, and a signal processing unit. The entire system calculates the target distance using the "time of flight of light," and the specific process is as follows: The first step is to emit a laser beam: The laser emitter (such as a semiconductor laser) emits pulsed laser beams at a fixed frequency (tens of thousands to millions of times per second) towards the target area. The laser beam spreads into extremely fine "points" (typically millimeters in diameter), covering the sensing range. The second step is laser reflection: After the laser beam contacts an object (such as the ground, trees, vehicles, or crops), it is reflected by the object's surface, forming "reflected light." The third step is to receive the reflected light: The optical receiver (such as a photodiode) captures the reflected light and records its "time of arrival." The fourth step is to calculate the distance and position: Based on the physical law of "constant speed of light," the straight-line distance between the LiDAR and the target point is calculated using the formula: distance = (speed of light × laser round-trip time) / 2. Simultaneously, combined with the LiDAR's own position (such as the coordinates on the device) and the laser emission angle, the three-dimensional spatial coordinates (X / Y / Z) of the target point are further calculated. By continuously emitting and receiving lasers, LiDAR generates a massive number of "three-dimensional coordinate points" in a very short time (such as 10-20 times per second). The collection of these points is what we commonly call "point cloud" - point cloud can intuitively restore the three-dimensional features of a target, such as the outline, position, and height, like the outline of obstacles such as field ridges and stones, the shape of vehicles, and the undulations of terrain.

[0052] LiDAR is essentially a sensor that uses lasers to map the three-dimensional world. Its core value lies in converting the spatial information of the physical environment into digital signals, providing intelligent devices (such as transplanters) with the ability to perceive the environment in a "visible and accurate" way. In the agricultural field, it is not only the "eyes" for transplanter path planning, but can also be used for crop growth monitoring, yield estimation, soil topography mapping, and other scenarios. It is one of the key technologies driving the upgrade of agriculture from "manual operation" to "intelligent unmanned operation".

[0053] The LiDAR path planning of the intelligent fully automatic rhizome transplanter for Chinese medicinal herbs, taking a row spacing of 90cm and an operating speed of 1.2m / s as an example, is as follows: Hardware Installation: A 16-line LiDAR (120° forward field of view, 20m range) is mounted on the roof, and an 8-line LiDAR (scanning furrows downwards) is mounted on the side of the machine, along with an IMU and an incremental rotary encoder 148. The IMU (Inertial Measurement Unit) is a core "attitude and motion sensing component" in intelligent equipment such as transplanters. Its main function is to measure the equipment's acceleration and angular velocity in real time, assisting in positioning, attitude judgment, and path deviation correction. It is a key auxiliary hardware component in LiDAR path planning to "ensure driving accuracy." In field operation scenarios, although LiDAR can achieve environmental perception and positioning, it suffers from "positioning drift" problems (such as the accumulation of point cloud matching errors after long-term operation). Simultaneously, transplanters may face dynamic situations such as bumps (ridge surface undulations), steering, and speed changes. LiDAR alone cannot capture its own "attitude changes" (such as whether it is tilted or what the steering angle is) in real time. The incremental rotary encoder 148 is a core sensing component that calculates the equipment's travel distance and speed by measuring the rotation state of the power gears. Its essence is to "convert the mechanical rotational motion of the wheel into an electrical signal", providing the equipment with basic data on "its own movement distance". It is an important aid to LiDAR and IMU (inertial measurement unit) to jointly ensure the accuracy of path planning.

[0054] Data processing: Statistical filtering removes weed noise. ANSAC (Random Sample Consensus) is a classic algorithm used to accurately extract the target model (such as the ground or crop row lines) from data containing noise and outliers. The ANSAC algorithm is used to separate ground points, thereby fitting the ridge centerline (global reference path), separating ground points (ridges, field ridges) from non-ground points (crops, stones), avoiding interference from ground undulations in path calculation, and fitting the edge lines of furrows to determine the transplanter's "driving boundary" (preventing wheels from crushing furrows). Global path: Planned in a "reciprocating" manner, with a row spacing of 90cm and a turning radius of 3m (to avoid crushing seedlings). Local path: When LiDAR detects a rock (obstacle) with a diameter >10cm in the field, it travels through A... The algorithm generates an "obstacle avoidance path" (bypassing the stone from the left / right side, maintaining a distance of ≥30cm from the stone), while pausing the seedling transplanting action, and resuming the operation after bypassing the obstacle; Feedback Correction: If the IMU detects a lateral deviation of 4cm in the transplanter, then MPC (Model Predictive Control) is an advanced control method based on "rolling optimization". Its core logic is: by establishing a mathematical model of the controlled object (such as a transplanter), predicting its motion state over a future period, then solving for the "optimal control sequence" through an optimization algorithm, and executing only the first step of the sequence, then repeating this process, thereby achieving high-precision and robust path tracking. It is particularly suitable for dealing with the "nonlinear, time-varying, and constrained" characteristics of transplanters traveling in the field (such as changes in soil resistance, wheel slippage, and steering delay). Based on this algorithm, the transplanter's steering is controlled, correcting the deviation to <2cm within 1s, ensuring that the row spacing error of the transplanter is ≤±3cm. Compared to traditional "pre-programmed paths" (fixed row spacing, lacking dynamic obstacle avoidance capabilities) and "visual navigation" (susceptible to light intensity and weather changes), the LiDAR (Light Detection and Ranging) solution can accurately perceive dynamic obstacles and complex terrain in the field, and is more adaptable to the complex and ever-changing working environment in the field, providing stable and reliable navigation support for intelligent transplanting.

[0055] The intelligent fully automatic rhizome transplanter of this invention uses batteries as its power source. The batteries are housed in a battery box 113 and sealed with a top cover to prevent water ingress. The controller is integrated into the control box, and the main controlled components include a walking motor, a seedling feeding motor, and a seedling delivery robot, which respectively realize the transplanter's movement, seedling transplanting, and seedling loading operations. The system adopts a modular design, breaking the system down into functionally independent modules with clear interfaces. This achieves decoupling and reuse, simplifies maintenance, improves expansion flexibility and development efficiency, and reduces the lifecycle management cost of complex systems.

[0056] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A smart full-automatic rhizome Chinese herbal medicine transplanting machine, characterized in that, The utility model relates to a kind of electric crawler chassis (100), seedling moving component (200), multi-arm collaborative seedling sending component (300) and press hole component (400) for seedling transplanting device, including chassis support (110), left track assembly (120), right track assembly (130), chassis power device (140);Left track assembly (120) and right track assembly (130) are symmetrically arranged on the two sides of chassis support (110), and chassis power device (140) is arranged at the bottom of chassis support (110) to provide power for left track assembly (120) and right track assembly (130);And Seedling moving component (200) is used to move seedling to the location of planting, including seedling moving component support (210) and seedling moving power mechanism and seedling laying mechanism arranged thereon, and the seedling moving power mechanism is connected with seedling laying mechanism to provide seedling moving power for it;Multi-arm collaborative seedling sending component (300) is used to charge seedling for seedling moving component (200), and is composed of four six-degree-of-freedom mechanical arms; Press hole component (400) is used to uniformly press seedling hole in ground; Controller (225) and touch screen man-machine interface (226) are provided; Wherein, seedling moving component (200) is detachably arranged on electric crawler chassis (100), multi-arm collaborative seedling sending component (300) is connected and arranged on electric crawler chassis (100) and located at four corners of seedling moving component (200), press hole component (400) is arranged on the side of the advancing direction of electric crawler chassis (100), controller (225) and touch screen man-machine interface (226) are arranged on seedling moving component (200) and electrically connected with chassis power device (140), seedling moving power mechanism and mechanical arm are electrically connected;Electric crawler chassis (100), seedling moving component (200), multi-arm collaborative seedling sending component (300) and press hole component (400) are intermittently linked. Seedling moving component support guide pipe (112) is arranged at four corners of chassis support (110), battery box (113) is arranged in the middle of chassis support (110), and battery is arranged in battery box (113) to supply power to the whole device; Left track assembly (120) and right track assembly (130) are both provided with side support (121), supporting wheel (122) is rotatably arranged below side support (121), guide wheel (123) is arranged above one side of side support (121), power wheel mounting plate (124) is arranged above the other side, bearing seat (125) is arranged on power wheel mounting plate (124), power wheel (126) is rotatably arranged in bearing seat (125) through bearing, drag belt wheel (127) is arranged on the rear of power wheel mounting plate (124) of power wheel (126), and rubber track (128) is arranged between each wheel to form track driving mechanism. ​ 2. The intelligent full-automatic root rhizome Chinese herbal medicine transplanting machine according to claim 1, characterized in that: ​ ​ The chassis power device (140) is symmetrically provided with two sets, corresponding to the left track assembly (120) and the right track assembly (130) respectively, including a chain wheel and chain (141), a reduction box mounting plate (142), a reduction box (143), a direct current brushless motor (144), a chain protection cover (145), and a power wheel shaft (147); The reduction box mounting plate (142) is arranged on the chassis support (110), the reduction box (143) is arranged on the reduction box mounting plate (142), the direct current brushless motor (144) is connected and arranged on the reduction box (143), the first chain wheel is connected and arranged on the reduction box output shaft (146) of the reduction box (143), the second chain wheel is connected and arranged on the rotating shaft power wheel shaft (147) of the power wheel (126), the first chain wheel and the second chain wheel are chain driven through the chain wheel and chain (141), and the chain protection cover (145) is arranged at the chain wheel and chain (141).

3. The intelligent full-automatic root rhizome Chinese herbal medicine transplanting machine according to claim 2, characterized in that: The seedling moving part (200) is inserted into the seedling moving part support guide pipe (112).

4. The intelligent full-automatic root rhizome Chinese herbal medicine transplanting machine according to claim 1, characterized in that: The seedling moving part support is provided with support columns at four corners and is inserted into the seedling moving part support guide pipe (112). The seedling laying mechanism comprises seedling moving part side plates (211), a baffle type conveying belt (212), a roller motor (213), a driven roller shaft (214), a reinforced support pipe (215), a belt tensioning device (216), an upper surface seedling blocking groove (217), a front surface seedling blocking groove (218), a front surface hollow seedling blocking groove (219), a seedling moving part front side fixed plate (220), a seedling moving part rear side fixed plate (221), a seedling moving part lower end fixed plate (222), and a seedling tray (223). The two seedling moving part side plates (211), the seedling moving part front side fixed plate (220) and the seedling moving part rear side fixed plate (221) form a seedling laying groove, and the baffle type conveying belt (212) is arranged in the groove and forms a plurality of upper surface seedling blocking grooves (217) through baffles. The front surface seedling blocking groove (218) and the front surface hollow seedling blocking groove (219) are arranged below the seedling moving part front side fixed plate (220) to form a seedling passing channel connected with the upper surface seedling blocking groove (217). The seedling moving power mechanism comprises the roller motor (213), the driven roller shaft (214), and the belt tensioning device (216). The roller motor (213) is arranged below the seedling moving part rear side fixed plate (221) and connected to a driving shaft of the baffle type conveying belt (212). The belt tensioning device (216) is arranged on the seedling moving part side plate (211) to tension the baffle type conveying belt (212).

5. The intelligent full-automatic root rhizome Chinese herbal medicine transplanting machine according to claim 1, characterized in that: The hole pressing part (400) comprises a hole pressing part support (410) and a hole pressing part lifting mechanism comprising a lifting sleeve (411), a lifting bearing end cover (412), a lifting crank (413), and a lifting inner cylinder (415). Two pressing hole lifting mechanisms are symmetrically arranged below the pressing hole component support (410), a connecting piece (417) is connected and arranged at the bottom of each pressing hole lifting mechanism through a fixed pin shaft (419), a support plate (418) is connected and arranged at one end of the connecting piece (417) through a rotating shaft, a pressing spring (414) is arranged at the top of the support plate (418), the other end of the pressing spring (414) is connected and arranged on the lifting inner cylinder (415) through a rotating pin shaft (420); a top pipe (422) is connected and arranged on the rotating shaft of the support plate (418), a bearing chamber (423) is connected and arranged on the top pipe (422), a bearing is embedded in the bearing chamber (423) and a small inner circle pipe (424) is connected and arranged, end covers (425) are arranged on the small inner circle pipe (424), an outer circle large pipe (426) is arranged between the two end covers (425), and an angle steel (427) is arranged on the outer circle large pipe (426). 6.The intelligent full-automatic root-stem type Chinese herbal medicine transplanting machine according to claim 1, characterized in that: A binocular camera (224) is arranged on the seedling tray (223) and connected to the controller (225).

7. The intelligent full-automatic root-stem type Chinese herbal medicine transplanting machine according to claim 1, characterized in that: Incremental rotary encoders (148) are arranged at the speed reducer output shaft (146) of the two speed reducers (143) and the drum motor (213) and electrically connected to the controller (225); a 16-line laser radar is arranged on the top of the whole machine and electrically connected to the controller, and an 8-line laser radar is arranged on the side of the whole machine and electrically connected to the controller.

8. A control method of an intelligent full-automatic rhizome Chinese herbal medicine transplanting machine, characterized in that: The transplanting machine according to any one of claims 1 to 7.

9. The control method according to claim 8, characterized in that: The real-time plant spacing adjustment in the transplanting process is realized by real-time changing the motor speed ratio of the track and the speed of the drum motor.

10. The control method according to claim 9, characterized in that: The full-automatic transplanting of the whole machine is realized by the laser radar collection encoder and the joint controller.

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