An adaptive linkage control submergent crop planting ship and a precision planting method

Abstract

The application discloses a kind of self-adapting linkage control's submerged crop planting ship and precision planting method, to solve the problems of poor scene adaptability, low planting precision and insufficient automation of existing equipment.The planting ship includes hull, conveying component, grabbing component, planting mechanism and self-adapting linkage control system;The control system contains main controller, multi-sensor unit and actuator driving module, and each component is cooperated through closed-loop feedback control.Planting mechanism adopts lifting adjusting piece and planting claw piece's pull rope linkage structure, realizes "foundation pit excavation-crop release" integrated action;Grabbing component drives double claw petals with digital steering engine, and completes non-destructive grabbing combined with swing arm shaft angle feedback;Conveying component is controlled through conveying belt speed and swing arm shaft rotation timing linkage, to ensure accurate feeding.The application realizes full-process automated planting, planting efficiency is more than 120 plants / hour, planting depth error is ≤±2cm, and adapts to complex water area scene.

Description

Technical Field

[0001] This invention relates to the field of seaweed cultivation technology, and in particular to an adaptive linkage control submerged crop planting vessel and a precision planting method. Background Technology

[0002] Currently, the cultivation of some aquatic crops, such as seaweed, is done either manually or using large-scale machinery. However, large-scale machinery is not suitable for cultivating aquatic crops in complex environments, such as areas with a lot of silt. Manual cultivation increases labor costs and has low overall efficiency. The following technical bottlenecks currently exist in the cultivation of aquatic crops:

[0003] 1. Limited application scenarios for large equipment: Tracked rice transplanters and other equipment are only suitable for open shallow water areas. They are prone to getting stuck or mired in areas with deep silt, narrow waters, or dense aquatic vegetation.

[0004] 2. Insufficient precision of simple placement equipment: Throwing or net-based planting relies on gravity or water flow for diffusion, resulting in a high rate of seedling drift and an inability to control the planting depth, causing the seedling roots to fail to contact the bottom mud.

[0005] 3. Low level of automation: In recent years, some existing technologies have emerged that attempt to improve upon the above-mentioned technical problems. For example, Chinese invention patent CN220755462U discloses a planting boat for submerged plants. It uses a waterproof motor to drive a telescopic rod to insert into the silt, controls the baffle to open, and then resets after seeding, achieving precise seed planting in the silt. However, this planting boat is only suitable for submerged plant seeds and not for the cultivation of aquatic plant seedlings. It also requires manual assistance for feeding or positioning, and has not achieved full automation of the "seedling supply-grabbing-planting" process, still requiring a large amount of manpower.

[0006] Existing technologies have not yet overcome the challenge of synergistic development between "adaptability to complex scenarios" and "precise and efficient planting"; large-scale equipment that prioritizes efficiency sacrifices terrain adaptability; simple equipment that focuses on specific scenarios cannot guarantee planting accuracy and survival rate; and both generally lack the ability to actively control the "foundation pit formation - precise release", which makes it impossible for aquatic crops to establish stable roots and affects their later growth.

[0007] Therefore, developing an aquatic crop cultivation equipment that combines automation, scenario adaptability, and planting precision has become an urgent need to break through the bottleneck in the development of aquatic plant cultivation technology. Summary of the Invention

[0008] To solve the above-mentioned technical problems, the first objective of this invention is to provide an adaptive linkage control submerged crop planting vessel; the second objective is to provide a precise planting method for the planting vessel.

[0009] To achieve the aforementioned first objective, the present invention provides a technical solution for an adaptive linkage control submersible crop planting vessel, comprising:

[0010] Hull, conveying components, gripping components, planting mechanism, and adaptive linkage control system;

[0011] The hull is equipped with a power system that propels the hull to move within the planting area and provides energy supply.

[0012] The conveying component is assembled on the hull and is used to transport submerged crops to the grabbing area;

[0013] The gripping component is assembled on the hull and is used to precisely grip submerged crops and transfer them to the planting facility.

[0014] The planting mechanism is mounted on the hull and uses an adaptive linkage control system to achieve integrated operation of pit formation and release of submerged crops.

[0015] The adaptive linkage control system includes a main controller, a sensor unit electrically connected to the main controller, and an actuator drive module that receives commands from the main controller. The main controller uses signals collected by the sensor unit to control the actuator drive module to drive the conveying component, the gripping component, and the planting mechanism to work together according to the adaptive linkage control algorithm, thereby realizing adaptive linkage control.

[0016] Furthermore, the "adaptive linkage" refers to the real-time acquisition of status data such as position, pressure, and tension of the conveying component, gripping component, and planting mechanism by the sensor unit. The main controller dynamically adjusts parameters such as the action sequence, running speed, and clamping force of each actuator based on the adaptive linkage control algorithm, so that the actions of the entire process of conveying, gripping, and planting are precisely coordinated to adapt to the complex aquatic bottom sediment environment and the planting needs of submerged crops.

[0017] The "adaptive linkage control algorithm" refers to an integrated intelligent algorithm that combines PID timing control, fuzzy adaptive adjustment, and multi-sensor closed-loop feedback mechanism. By performing real-time analysis and calculation on multi-dimensional data collected by sensors, it automatically optimizes the driving parameters of the actuator, realizing the core control algorithm of seamless connection of the actions of the conveying component, the grasping component, and the planting mechanism, and dynamic adaptation of the operation parameters.

[0018] Furthermore, the planting mechanism includes a planting bucket, a lifting and adjusting component, a planting claw component, and a planting component;

[0019] The lifting adjustment component includes a lifting rod, a mounting base, and a pull rope. The lifting rod is mounted on the mounting base, which is mounted on the hull. The planting bucket extends out of the mounting base and is connected to the lifting rod. One end of the pull rope is connected to a pull rope tensioning motor fixed on the mounting base, and the other end is connected to the planting claw component.

[0020] The planting claw includes at least three fan-shaped curved surface structures, which are respectively hinged and assembled at the bottom of the planting bucket. When retracted, they form a cone-shaped body with the tip pointing downwards. Through the linkage of the pull rope and the lifting rod, the excavation of the foundation pit and the release of the crop are integrated.

[0021] Furthermore, the mounting base includes a frame and wheels. The wheels are assembled inside the frame, and the planting bucket extends out of the frame and rolls in close contact with the wheels. The wheels are made of polyurethane and there are at least three of them, which are evenly distributed in an array on the inner edge of the frame.

[0022] Furthermore, the rope tensioning motor integrates a tension sensor, the rope tensioning motor is used to adjust the rope tension, and the tension sensor detects the rope tension in real time and feeds the detection signal back to the main controller.

[0023] Furthermore, the planting component includes a planting frame, a drive gear, a limiting gear, and a rack; the planting frame is mounted on the hull, the rack passes through the holes in the planting frame, the drive gear meshes with the rack, and the rack is raised and lowered by a motor drive; the limiting gear meshes with the other side of the rack to limit the rack's position; the rack is positioned opposite the planting bucket and is used to push the submerged crops in the planting bucket to release them.

[0024] Furthermore, the gripping component adopts a dual independent rotating shaft linkage gripping structure, including a swing arm drive component, a swing arm shaft, a digital servo motor, a control linkage, a limit linkage, a claw handle, and claws.

[0025] The two claw flaps are respectively fixedly connected to the corresponding claw flap handles to form two independent "claw flap-handle" assemblies; each assembly has an independent rotating shaft near the connection between the claw flap and the claw flap handle, and the rotating shaft is rotatably connected to one end of the limiting link.

[0026] The other end of the limiting link is rotatably connected to the limiting shaft at the end of the swing arm shaft. The end of the claw handle is hinged to the control link. The other end of the control link is linked to the output shaft of the digital servo. The two sets of limiting links, claw handles, control links and swing arm shafts each constitute two sets of parallelogram linkage mechanisms, which respectively control the two claws. The digital servo controls the relative rotation of the two control links to synchronously realize the opening, closing and extension of the claws.

[0027] Furthermore, the swing arm drive component is a swing arm motor, which is connected to the swing arm shaft for driving the swing arm shaft to rotate, thereby achieving precise angular positioning of the gripping component with an angle error of ≤±1°.

[0028] Furthermore, the conveying component includes a conveyor belt with a limiting flange and a conveyor basket. The conveyor belt is made of rubber, and its running speed can be precisely controlled by the main controller according to the planting process. The conveyor basket is used to place the submerged crops to be planted, and the submerged crops are transported to the grabbing area by the conveyor belt.

[0029] Furthermore, the conveyor belt is driven by a transmission motor, which is a DC servo motor. The conveyor belt speed can be precisely adjusted within the range of 0.02-0.15m / s, with a speed adjustment accuracy of ±0.01m / s. Real-time feedback of speed and position is achieved through an encoder.

[0030] Furthermore, the power system includes a power battery and a drive motor electrically connected to it. The drive motor drives the paddle wheels on both sides of the hull to achieve forward, backward, left or right turns and other actions, and can be controlled by a remote control device.

[0031] The hull is designed as a monohull or catamaran, with a through hole in the middle for the planting mechanism to operate. The planting mechanism extends vertically into the water through this through hole to carry out planting operations.

[0032] Furthermore, the sensor unit is electrically connected to the main controller and includes an infrared sensor, a position sensor, and a pressure sensor;

[0033] An infrared sensor is installed above the conveyor belt of the conveying component to detect the position of submerged crops on the conveyor belt;

[0034] Position sensors are installed on the swing arm shaft of the gripping component and the lifting rod of the planting mechanism to detect the swing arm shaft rotation angle and the lifting rod stroke;

[0035] Pressure sensors are installed on the planting claws of the planting mechanism and the claw flaps of the gripping component to detect planting depth, silt pressure information, and claw flap clamping force.

[0036] Furthermore, the actuator drive module includes:

[0037] A swing arm motor is connected to the swing arm shaft of the gripping component to drive the swing arm shaft to rotate, thereby achieving precise angular positioning of the gripping component.

[0038] A digital servo motor, linked with the control linkage of the gripping component, is used to drive the opening, closing, and extension / retraction of the claw flaps, enabling non-destructive gripping of submerged crops.

[0039] A transmission motor is connected to the transmission belt of the transmission component to drive the transmission belt to rotate and transport, thereby achieving precise delivery of submerged crops.

[0040] A hydraulic proportional valve, connected to the lifting rod of the planting mechanism, is used to control the lifting movement of the planting bucket, thereby achieving precise control of the planting depth.

[0041] The planting component motor is connected to the rack drive of the planting component of the planting mechanism, and is used to drive the rack to lift and lower, push the submerged crop, and achieve precise release of the submerged crop.

[0042] To achieve the second objective mentioned above, the present invention provides a technical solution for a precision planting method for the planting vessel, comprising the following steps:

[0043] (1) Submerged crop conveying and positioning: The conveyor belt of the conveyor component conveys the submerged crop to the grabbing area. After the infrared sensor detects that the submerged crop is in place, it feeds back to the main controller to control the conveyor belt to pause or slow down.

[0044] (2) Adaptive gripping: The main controller drives the digital servo motor to adjust the closure of the claw flaps based on the rotation angle of the swing arm shaft fed back by the position sensor, and monitors the gripping force in real time through the pressure sensor to ensure non-destructive gripping;

[0045] (3) Linked planting: The swing arm shaft rotates to the top of the planting bucket to release the submerged crop. The main controller controls the lifting adjustment component to drive the planting bucket to descend. The tension of the pull rope is linked to control the opening of the planting claw. The opening angle is adjusted according to the hardness of the silt based on the adaptive planting algorithm to form a planting pit for submerged crops.

[0046] (4) Precise release: After the planting claw reaches the preset depth, the planting piece moves down to push the submerged crop, and the planting claw fully opens to release the submerged crop into the pit. The lifting adjustment piece drives the planting bucket to rise, and the planting claw retracts and resets.

[0047] Furthermore, the infrared sensor mentioned in step (1) is an infrared beam sensor, and a metal positioning piece is set on the edge of the conveyor belt. A Hall sensor is installed on the side of the gripping area. When the metal positioning piece passes the Hall sensor, a pulse signal is output. The main controller realizes the precise positioning of the conveyor basket by counting the number of pulses.

[0048] Furthermore, the adaptive planting algorithm in step (3) is as follows: based on the silt pressure value fed back by the pressure sensor, the opening angle of the planting claw is automatically adjusted through the fuzzy control algorithm to form a regular foundation pit with a depth of 15-20cm, which is suitable for bottom mud environments with different hardness.

[0049] Furthermore, the precise planting method of the planting vessel is implemented through software control logic. The software control logic uses a PID control algorithm to achieve the timing coordination of the actions of the conveying component, the grasping component, and the planting mechanism, ensuring precise connection of the actions of each mechanism.

[0050] Furthermore, it also includes planting path planning and autonomous navigation for the planting vessel, enabling the vessel to automatically cruise and plant along a preset path, including the following steps:

[0051] (1) Path import and editing: Import preset planting paths through handheld terminals or cloud servers, or generate various planting modes such as parallel paths, diamond paths, and checkerboard paths with one click for regular water areas;

[0052] (2) Autonomous navigation planting: The main controller calculates the direction and distance of the ship's travel based on the coordinates of the next planting point of the path planning module. The power system drives the ship to travel along the planned path. After reaching the next planting point, the positioning unit feeds back the position signal, and the main controller controls the ship to stop precisely and start the planting cycle.

[0053] (3) Automatic return: When the infrared sensor fails to detect submerged crops three times in a row, or when the planting count reaches the preset value, the main controller triggers the return-to-port program, and the ship automatically travels along the return-to-port path.

[0054] The beneficial effects achieved by this invention are as follows:

[0055] 1. Automated and collaborative operations significantly improve planting efficiency:

[0056] Through the integrated design of "transfer components + gripping components + planting mechanism", the submerged crop is fully automated from conveying and gripping to planting. The lifting adjustment component of the planting bucket and the rope linkage structure of the planting claw component complete the "excavation of the foundation pit - release of crops" action simultaneously, eliminating the step-by-step operation process of traditional equipment and adapting to the needs of large-scale aquatic submerged crop planting.

[0057] 2. Precision planting and damage control improve the survival rate of submerged crops:

[0058] Driven by the lifting rod, the fan-shaped planting claw forms a pointed cone structure that automatically opens when inserted into the silt, creating a regular pit with controllable depth. This avoids the problem of uneven depth caused by traditional manual planting. The digital servo motor drives the double claw petals of the gripping component, which, together with the rubber buffer pad, enables non-destructive gripping of the seedling roots.

[0059] 3. Lightweight and adaptable to various scenarios, overcoming the limitations of complex waterways:

[0060] The overall design is lightweight and easy to operate. The conveying components are arranged in a straight line along the length of the hull, and the conveyor basket has a limiting flange, which can be compatible with aquatic crops of different sizes. This solves the limitation that a single device can only be used for specific submerged crops and can be adapted to more planting scenarios.

[0061] 4. Ecological and economic synergy, low cost and easy to popularize:

[0062] The core driving components can all use common market parts, with a simple structure that is easy to assemble and disassemble, low cost, easy maintenance, lower application threshold, convenient operation, and can improve the cultivation efficiency of aquatic plants. At the same time, it avoids the safety risks of manual water operations and has a synergistic effect of ecological and economic value. Attached Figure Description

[0063] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0064] Figure 1 This is a schematic diagram of the structure of the planting vessel in Embodiment 1 of the present invention.

[0065] Figure 2 This is a schematic diagram of the planting mechanism of the planting vessel in Embodiment 1 of the present invention.

[0066] Figure 3 This is a schematic diagram of the mounting base of the planting boat in Embodiment 1 of the present invention.

[0067] Figure 4 This is a schematic diagram of the planting component of the planting boat in Embodiment 1 of the present invention.

[0068] Figure 5 This is a top view of the planting vessel in Embodiment 1 of the present invention.

[0069] Figure 6 This is a schematic diagram of the hull structure of the planting vessel in Embodiment 1 of the present invention.

[0070] Figure 7 This is a schematic diagram of the gripping component of the planting vessel in Embodiment 1 of the present invention.

[0071] Figure 8a This is a block diagram of the core hardware structure of the control system of the planting boat in Embodiment 1 of the present invention.

[0072] Figure 8b This is a block diagram showing the relationship between the main controller and the actuator drive module of the control system of the planting boat in Embodiment 1 of the present invention.

[0073] Figure 9 This is a schematic diagram of the control logic flow of the control system software for the planting vessel in Embodiment 1 of the present invention.

[0074] Figure 10 This is a schematic diagram of the timing coordination of the control system of the planting vessel in Embodiment 1 of the present invention.

[0075] In the picture:

[0076] 1-Hull, 2-Transfer component, 3-Planting mechanism, 4-Grabbing component, 101-Hull, 102-Propulsion component, 101a-Float, 101b-Connecting rod, 201-Conveyor belt, 202-Transfer basket, 301-Mounting base, 301a-Frame, 301b-Wheel, 302-Lifting rod, 303-Planting bucket, 304-Pull rope, 305-Planting claw, 306-Planting component, 306a-Planting frame, 306b-Drive gear, 306c-Limit gear, 306d-Rack, 401-Swing arm drive component, 402-Swing arm shaft, 403-Digital servo, 404-Claw petal, 405-Control link, 406-Limit link, 407-Claw petal handle. Detailed Implementation

[0077] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0078] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0079] Example 1

[0080] Example 1 provides an adaptive linkage control submerged crop planting vessel, including: hull structure, conveying components, planting mechanism and adaptive linkage control system.

[0081] Hull structure:

[0082] like Figure 1 , Figure 6As shown, the hull structure includes hull 1, which adopts a catamaran design and is made of aluminum alloy or stainless steel, combining lightweight and high strength characteristics. The hull is equipped with a power system, including a power battery, a power distribution box, and a drive motor. The hull 101 includes two floating bodies 101a, with a preset distance between them. The two floating bodies 101a are connected by a connecting rod 101b. A collar can be installed between the two floating bodies 101a, and the collar is connected and fixed to the floating body 101a by a fixing block. The collar is the working through hole of the planting bucket 303. The planting bucket 303 moves vertically through the collar, with one end entering the water and the other end movably connected to the hull. Each of the two floating bodies 101a is equipped with a propulsion component 102, which can be a paddle wheel on both sides of the hull. The paddle wheel is used as the driving force for the hull 101. The drive motor drives the drive rod through a chain, which in turn drives the paddle wheel on both sides of the hull, realizing forward, backward, left or right turns, etc., and can be controlled by a remote control device. The structure of the hull 101 is simple and facilitates the assembly of the planting mechanism 3. The hull 1 is also equipped with an installation platform for fixing the conveying component 2, the gripping component 4, the planting mechanism 3, and related components of the adaptive linkage control system.

[0083] Conveying components:

[0084] like Figure 1 , Figure 5 As shown, the conveying component 2 is arranged around the hull along its length and width to maximize the placement of submerged crops on the hull surface. In Embodiment 1, based on the structural characteristics of the catamaran, the conveying component 2 is arranged in a U-shape around the gripping component 4 on the catamaran, mainly consisting of a conveyor belt 201 and a conveyor basket 202. The conveyor belt 201 has a structure with limiting flanges, which can accommodate submerged crops of different sizes and prevent them from falling or shifting during transport. The conveyor basket 202 is used to place the crops to be planted, and the conveyor belt 201 transports the submerged crops to the gripping area. The operating speed of the conveying component 2 can be precisely controlled by the main controller according to the planting process, and is synchronized with the action sequence of the gripping component 4 to ensure accurate feeding.

[0085] Grab components:

[0086] like Figure 7 As shown, the gripping component 4 is assembled on the hull 1 and surrounded by the conveying component 2. The gripping component 4 adopts a dual independent rotating shaft linkage gripping structure. The core components include a swing arm drive component 401, a swing arm shaft 402, a digital servo motor 403, a control linkage 405, a limit linkage 406, a claw handle 407, and a claw 404.

[0087] Two claw flaps 404 are fixedly connected to the corresponding claw flap handles 407, forming two completely independent "claw flap-handle" assemblies; each assembly has an independent rotating shaft near the connection between the claw flap 404 and the claw flap handle 407, and the rotating shaft is rotatably connected to one end of the limiting link 406.

[0088] The other end of the limiting linkage 406 is rotatably connected to the limiting shaft at the end of the swing arm shaft 402. The end of the claw handle 407 is hinged to the control linkage 405. The other end of the control linkage 405 is linked to the output shaft of the digital servo 403. The two sets of limiting linkages 406, claw handle 407, control linkage 405, and swing arm shaft 402 each constitute two sets of parallelogram linkage mechanisms, which respectively control the two claws 404, forming a limiting system that constrains the extension and retraction trajectory of the claws 404, so that the claws 404 always maintain a specific gripping state for extension and retraction. The digital servo 403 controls the relative rotation of the two control linkages 405 to synchronously realize the opening, closing, extension, and retraction of the claws.

[0089] The swing arm drive component 401 is a high-precision stepper motor, which is connected to the swing arm shaft 402 for transmission. It can drive the entire gripping component to rotate around the swing arm shaft, thereby achieving precise adjustment of the gripping angle.

[0090] Grasping motion (angle positioning → claw flap retraction + synchronous extension → lossless grasping):

[0091] Precise Angle Positioning: When the infrared sensor detects that the submerged crop on the conveyor belt 201 of the conveying component 2 has reached the grasping area, the main controller sends an angle adjustment command to the swing arm drive component 401. The stepper motor drives the swing arm shaft 402 to rotate, causing the entire grasping component 4 to rotate around the axis to a preset angle (the position sensor feedback angle error is ≤ ±1°), so that the double claw gripper is aligned with the optimal grasping position of the submerged crop.

[0092] Claw retraction and synchronous extension: After angle positioning is completed, the main controller sends a retraction command to the digital servo motor 403. The output shaft of the digital servo motor rotates, pulling the two control links 405 closer together. The control links 405 drive the claw handle 407 to rotate around its own independent axis through the hinge point, causing the two claws 404 to retract relative to each other. During this process, the parallelogram mechanism formed by the limit link 406 plays a restraining role, forcing the claws 404 to extend forward in a straight line while retracting. Utilizing its large extension and retraction space, it can adapt to the grasping needs of submerged crops of different sizes.

[0093] Clamping force closed-loop control: The pressure sensor on the inside of the claw flap monitors the clamping force in real time. When the clamping force reaches the preset range of 0.3-0.5N, the main controller sends a stop command to the digital servo motor to maintain the retracted state of the claw flap, thereby achieving non-destructive gripping of submerged crops.

[0094] Release action (transfer and positioning → claw flap opening + synchronous retraction → precise release):

[0095] Transfer to release position: After the gripping is completed, the main controller controls the swing arm drive 401 to rotate the swing arm shaft 402, and moves the gripping component 4 to directly above the planting bucket 303 of the planting mechanism 3, and adjusts it to the release angle.

[0096] Claw flap opening and synchronous retraction: Upon reaching the release position, the main controller sends an opening command to the digital servo motor 403. The output shaft of the digital servo motor 403 rotates in the opposite direction, pushing the two control linkages 405 away from each other, causing the claw flap handle 407 to rotate in the opposite direction around its independent axis, thus opening the two claw flaps 404 relative to each other. At the same time, the parallelogram mechanism formed by the limit linkages 406 constrains the claw flaps 404 to retract backward in a straight line while opening, releasing the submerged crop so that it falls precisely into the planting bucket 303.

[0097] Planting institutions:

[0098] like Figures 2-4 As shown, the planting mechanism 3 is an adaptive planting mechanism, including a planting bucket 303, a lifting adjustment component, a planting claw component 305, and a planting component 306. The lifting adjustment component includes a lifting rod 302, a mounting base 301, and a pull rope 304. The lifting rod 302 is driven by a hydraulic proportional valve, which can realize the lifting movement of the planting bucket 303.

[0099] like Figure 2 As shown, the lifting adjustment component includes a lifting rod 302, a mounting base 301, and a pull rope 304. The lifting rod 302 is mounted on the mounting base 301, which is mounted on the hull 1. The planting bucket 303 extends through the mounting base 301 and is connected to the lifting rod 302. One end of the pull rope 304 is connected to a pull rope tensioning motor fixed on the mounting base 301 (not shown in the figure). The pull rope tensioning motor integrates a tension sensor (not shown in the figure), and the other end is connected to the planting claw 305.

[0100] like Figure 3As shown, the mounting base 301 includes a frame 301a and a wheel 301b. The wheel 301b is assembled inside the frame 301a. The planting bucket 303 extends out of the frame 301a and rolls in contact with the wheel 301b. The wheel 301b includes a wheel seat and a wheel. The wheel is rotatably mounted on the wheel seat via a rotating shaft. The wheel seat is mounted on the frame 301a. There are six wheels 301b, which are evenly distributed in an array on the inner edge of the frame 301a. The wheels are made of polyurethane material, have a diameter of 50mm, and roll in contact with the planting bucket 303, thereby improving the stability of the planting bucket 303 when it is raised or lowered. It is understood that the number of wheels 301b can be selected from three to five. The key is that they can be evenly distributed in an array on the inner frame of the frame 301a (the shape of the inner frame needs to be adapted according to the number of wheels 301b, such as three wheels corresponding to a triangular inner frame, four wheels corresponding to a quadrilateral inner frame, and five wheels corresponding to a pentagonal inner frame), and can roll and fit against the planting bucket 303.

[0101] The planting claw 305 includes four fan-shaped curved surface structures, which are respectively hinged and assembled at the bottom of the planting bucket 303. When the four planting claws 305 are in the retracted state, they form a cone-shaped body with the tip pointing downwards. The hardness of the cone tip is ≥HB80. When inserted into the silt, it can automatically cut the root system of aquatic vegetation. A connecting seat is provided on the planting claw 305, and the pull rope 304 is tightly connected to the connecting seat. The pull rope 304 is linked to the lifting rod 302. When the lifting rod 302 descends, the pull rope 304 is tensioned, which drives the planting claw 305 to open and insert into the silt to form a pit. When the lifting rod 302 rises, the pull rope 304 is relaxed, and the planting claw 305 retracts and returns to its original position. The planting claw 305 can be set to an automatic reset structure by means of a spring. That is, in the default state, the four planting claws 305 are in a retracted cone-shaped state under the action of the spring. The planting claw 305 can also be made of magnetic material. In the retracted state, the adjacent planting claws attract each other and their edges are attached by magnetic force. The planting claw component 305 of this structure makes it convenient and easy to operate for digging foundation pits.

[0102] like Figure 4As shown, the planting mechanism also includes a planting component 306, which includes a planting frame 306a, a drive gear 306b, a limiting gear 306c, and a rack 306d. The planting frame 306a is mounted on the hull 1 and has a through hole. The rack 306d passes through the through hole. An assembly plate is provided on the planting frame 306a, and a drive unit is mounted on the assembly plate. The drive unit meshes with the rack 306d to drive the rack 306d to move along the through hole. The rack 306d is positioned opposite the planting bucket 303 and applies a downward force to the crop inside the planting bucket 303 to detach the crop from the planting bucket 303. The drive unit is a planting component motor, which is connected to the planting component motor via its output shaft. The drive gear 306b meshes with the rack 306d. The limit gear 306c is located on the other side of the rack 306d and also meshes with it. The limit gear 306c is rotatably mounted on the mounting plate, and the friction between it and the mounting plate is relatively large. Without a large external force, the limit gear 306c will not rotate. Similarly, the planting motor is in a self-locking state when it is stopped. Therefore, the limit gear 306c, the mounting plate, the drive gear 306b, and the mounting plate work together to ensure that the rack 306d is in a stable state when there is no external force. The planting motor drives the rack 306d to rise and fall by rotating forward and backward. This structure ensures stable rising and falling. The planting component motor controller of the planting component 306 receives the signal from the actuator drive module, drives the drive gear 306b, and then drives the rack 306d downward to push the submerged crop. In conjunction with the planting claw 305 fully opening, the submerged crop is released into the pit.

[0103] Adaptive linkage control system:

[0104] The adaptive linkage control system includes hardware and software; the hardware structure is as follows: Figures 8a-8b As shown, it includes a sensor unit, a main controller, an actuator drive module, a transmission and control module, and a power conversion module, which are described below:

[0105] Sensor Unit: The sensor unit is electrically connected to the main controller and includes an infrared sensor, a position sensor, and a pressure sensor. The infrared sensor is installed above the conveyor belt 201 of the conveyor component 2 to detect the position of the submerged crops on the conveyor belt 201. The position sensor is installed on the swing arm shaft 402 of the gripping component 4 and the lifting rod 302 of the planting mechanism 3 to detect the rotation angle of the swing arm shaft 402 and the stroke of the lifting rod 302. The pressure sensor is installed on the claw petals 404 of the gripping component 4, the bottom of the planting mechanism 3, and the planting claw 305 to detect the gripping force of the claw petals 404 and the planting claw, the planting depth, and the silt pressure information. The opening and closing timing of the planting claw 305 and the precise coordination of the rack 306d in pushing the submerged crops, combined with the adaptive capability of the planting mechanism 3 to the planting depth and silt, can achieve a planting depth error of ≤±2cm, making the planting boat adaptable to complex water environments. The sensor unit also includes a tension sensor, and each sensor feeds back the detected signals to the main controller in real time.

[0106] Main controller: Includes a high-performance microcontroller, arithmetic unit and memory, configured with linkage control algorithm, according to the feedback signal of sensor unit, and according to the linkage control algorithm, sends control commands to the actuator drive module through the transmission and control module. The actuator drive module includes: submerged crop conveying component (conveyor motor controller), submerged crop gripping component (swing arm motor controller and claw petal digital servo motor) and submerged crop planting mechanism (lifting rod hydraulic proportional valve and planting component motor controller), thereby realizing the timing coordination and parameter adaptive adjustment of conveying component 2, gripping component 4 and planting mechanism 3.

[0107] Actuator drive module:

[0108] Swing arm motor and its controller: The swing arm motor is connected to the swing arm shaft 402 of the gripping component 4 and is used to drive the swing arm shaft 402 to rotate, so as to achieve precise angular positioning of the gripping component 4;

[0109] Digital servo motor 403 that controls the opening and closing of claw petals 404: The digital servo motor 403 is linked with the control linkage 405 of the gripping component 4 to drive the opening, closing and extension of claw petals 404, so as to achieve non-destructive gripping of submerged crops.

[0110] Conveying motor and its controller: The conveying motor is connected to the conveyor belt 201 of the conveying component 2 and is used to drive the conveyor belt 201 to rotate and convey, so as to realize the precise delivery of submerged crops.

[0111] Hydraulic proportional valve: The hydraulic proportional valve is driven and connected to the lifting rod 302 of the planting mechanism 3, and is used to control the lifting and lowering movement of the planting bucket 303 to achieve precise control of the planting depth;

[0112] Planting component motor and its controller: The planting component motor is driven by the planting component 306 of the planting mechanism 3 and is used to drive the rack 306d of the planting component 306 to rise and fall, so as to achieve precise release of submerged crops.

[0113] The digital servo motor 403, the swing arm motor and its controller, the transmission motor and its controller, the hydraulic proportional valve, the planting component motor and its controller, respectively receive instructions from the main controller and drive the corresponding components or mechanisms to move. In addition, the actuator drive module may also include a paddle wheel drive motor and its controller. The main controller sends control instructions to it through the CAN bus to realize independent speed and steering control of the paddle wheels on both sides of the hull.

[0114] Transmission and control module: Data transmission is achieved using ZigBee and NB communication modules. The main controller sends electrical signals to the corresponding modules via serial port through the drive circuit to complete the reception and transmission of wireless data packets.

[0115] Power conversion module: Provides 12V-24V conversion circuit, 5V-3.3V conversion circuit and direct-plug filter circuit, etc., which can cope with various situations such as 220V AC, lithium battery power supply and external 5V DC, and provide stable power supply for various components of the control system.

[0116] The software in question is the adaptive linkage control algorithm, which includes software control logic. This software control logic enables coordinated action timing, such as... Figure 9 As shown, the software control logic is as follows:

[0117] Phase 1: System Initialization and Crop Delivery

[0118] System initialization and self-test:

[0119] After the system is powered on, the main controller first completes its own initialization, including register configuration, memory allocation, and communication port initialization. It then initiates a sensor unit self-test program, sequentially sending detection commands to the infrared sensor, position sensor, and pressure sensor, and receiving feedback signals from each sensor. If all sensors report normal operation, the system enters standby mode, awaiting planting instructions. If any sensor reports an abnormality, the main controller immediately triggers an audible and visual alarm and stops all actuators, while simultaneously storing the fault information in a local log for later troubleshooting.

[0120] Crop transport and positioning control:

[0121] Upon receiving the planting instruction, the main controller sends a start signal to the drive module of the conveyor component, and the conveyor belt begins to run at a preset speed (e.g., 0.1 m / s). Infrared sensors continuously monitor the submerged crops on the conveyor belt. When a crop is detected entering the grasping area, a signal is immediately sent back to the main controller. Based on preset logic, the main controller first controls the conveyor belt to decelerate to a low speed (e.g., 0.02 m / s). Simultaneously, combining this with the positioning signal from the position sensor for the conveyor basket, a stop command is sent when the conveyor basket precisely reaches the grasping position, ensuring the submerged crops are in the optimal grasping position.

[0122] Phase Two: Adaptive Crawling and Planting

[0123] Adaptive grasping control:

[0124] After the conveyor belt stops, the main controller sends an angle adjustment command to the stepper motor of the gripping component, driving the swing arm shaft to rotate. A position sensor detects the rotation angle of the swing arm shaft in real time and feeds the data back to the main controller. When the swing arm shaft reaches a preset angle with an error ≤ ±1°, the main controller sends a claw closure command to the digital servo motor. During claw closure, a pressure sensor monitors the clamping force of the claws in real time. When the clamping force reaches a preset range of 0.3 - 0.5N, the main controller sends a stop command to maintain the closed state of the claws, achieving non-destructive gripping of submerged crops. After gripping, the main controller controls the stepper motor to drive the swing arm shaft to rotate directly above the planting bucket.

[0125] Joint planting control:

[0126] Once the swing arm reaches directly above the planting bucket, the main controller activates a digital servo motor to open the claw flaps, releasing the submerged crop into the bucket. Subsequently, a descent command is sent to the hydraulic proportional valve, driving the lifting rod to lower the planting bucket. During descent, pressure sensors continuously monitor the pressure of the silt at the bottom of the planting mechanism and feed this data back to the main controller. Based on the silt pressure value, the main controller adjusts the tension of the pull rope using a linkage control algorithm, thereby controlling the opening angle of the planting claw. When the planting claw penetrates the silt-filled pit to a depth of 15-20 cm, the position sensor sends a depth signal back to the main controller, which then sends a stop descent command.

[0127] Phase Three: Precise Release and System Reset

[0128] Precise release and reset control:

[0129] Once the planting claws reach the preset depth, the main controller sends a drive command to the motor of the planting component. The motor drives the drive gear to rotate, which in turn drives the rack downwards to push the submerged crop. Simultaneously, the main controller fully opens the planting claws, releasing the submerged crop into the pit. After release, the main controller sends a rise command to the hydraulic proportional valve, driving the lifting rod to raise the planting bucket. During the rise, the pull rope gradually loosens, and the planting claws retract and reset under the action of a torsion spring or magnetic force. When the lifting rod reaches the initial position, the position sensor feeds back a reset signal to the main controller, which then determines whether to continue planting.

[0130] Phase Four: Relocation and Planting, and Waiting for Return to Port

[0131] Transplantation Path Planning and Implementation:

[0132] Preset path parameters: Supports setting planting row spacing, plant spacing and number of planting rows via handheld terminal, and the main controller automatically generates the optimal relocation path.

[0133] Straight-line displacement control: After a single planting cycle is completed, the main controller calculates the target displacement based on the preset row spacing and adjusts the speed difference between the two paddle wheels (speed difference ≤ 5 rpm) through a PID algorithm to ensure that the straight-line deviation of the hull is ≤ ± 5 cm. The position sensor monitors the hull's movement distance in real time, and when the target position is reached, a braking command is sent to bring the paddle wheels to a smooth stop within 0.3 seconds.

[0134] Steering and shifting control: When it is necessary to change rows for planting, the main controller calculates the turning radius based on the hull width, controls one side of the paddle wheel to stop rotating, and the other side of the paddle wheel to rotate at a speed of 0.2m / s, achieving on-the-spot turning with a turning angle error of ≤±2°. After the turning is completed, it automatically switches to straight-line shifting mode.

[0135] Standby return-to-port control logic:

[0136] Task completion determination: When the infrared sensor fails to detect submerged crops three times in a row, or when the planting count reaches the preset value, the main controller triggers the return-to-port procedure.

[0137] Return route planning: Prioritizes using pre-stored port coordinates to generate a return route; if no pre-stored coordinates are available, automatically records the current location as the starting point and returns along the route taken from the port.

[0138] Automatic return-to-home control: The main controller controls the paddle wheels to cruise at a speed of 0.3 m / s. The millimeter-wave radar scans obstacles ahead in real time (detection distance 0-50 m). When an obstacle is detected at a distance of ≤10 m, the speed is automatically reduced to 0.1 m / s and the course is adjusted to avoid it.

[0139] Port berthing control: When the ship arrives at the port area, the main controller controls the paddle wheels to gradually decelerate and uses a visual positioning system to identify port signs to achieve precise berthing.

[0140] like Figure 10 As shown, the key time nodes for the action timing coordination implemented by the software control logic are as follows:

[0141] (1) System initialization phase (0 - 3s):

[0142] 0s: The system powers on and the main controller begins its initialization process.

[0143] 1 - 2s: Perform self-tests on the infrared sensor, position sensor, and pressure sensor in sequence, and each sensor will provide feedback on its status.

[0144] 2-3s: The main controller summarizes the sensor self-test information. If all sensors are normal, the system enters standby mode; if an abnormality is found, an alarm is triggered and the system stops.

[0145] (2) Crop transport and positioning stage (3-10s):

[0146] 3-5s: The main controller receives the planting instruction and sends a start signal to the conveyor drive module, and the conveyor belt starts running at a speed of 0.1m / s.

[0147] 5-8s: The infrared sensor detects that the crop has entered the grabbing area and sends a feedback signal to the main controller, which then controls the conveyor belt to decelerate to 0.02m / s.

[0148] 8-10s: The position sensor detects that the conveyor basket has reached the grab position, the main controller sends a stop command, and the conveyor belt stops precisely.

[0149] (3) Adaptive grasping phase (10-20s):

[0150] 10s: The main controller sends an angle adjustment command to the stepper motor of the gripping component, and the swing arm shaft begins to rotate.

[0151] 12 - 15s: The position sensor reports that the swing arm shaft rotation angle has reached the preset angle and the error is ≤ ±1°. The main controller sends a claw flap closing command to the digital servo.

[0152] 15-18s: The pressure sensor detects that the clamping force of the claw flap reaches 0.3-0.5N, and the main controller sends a stop closing command to keep the claw flap closed.

[0153] 18 - 20s: The main controller controls the stepper motor to drive the swing arm shaft to rotate to directly above the planting bucket.

[0154] (4) Co-planting stage (20-38s):

[0155] 20s: The main controller controls the digital servo motor to drive the claw flaps to open, releasing the crop into the planting bucket.

[0156] 21-30s: The main controller sends a descent command to the hydraulic proportional valve, and the planting bucket begins to descend.

[0157] 30-35s: The pressure sensor provides real-time feedback on the sludge pressure. The main controller adjusts the tension of the pull rope based on the pressure value to control the opening angle of the planting claw.

[0158] 35-37s: The position sensor reports that the planting depth has reached 15-20cm, and the main controller sends a stop descent command.

[0159] (5) Precise release and reset phase (37-50s):

[0160] 37-43s: The main controller sends a drive command to the planting component motor, and the rack begins to descend and push the crop.

[0161] 43-45s: The planting claws fully open, the crop is released into the pit, and the pressure sensor sends a signal indicating that the release is complete.

[0162] 43-48s: The main controller sends a rising command to the hydraulic proportional valve, the planting bucket begins to rise, and the planting claw retracts and resets.

[0163] 48-50s: The position sensor feedback indicates that the lifting rod has reset to its initial position. The main controller determines whether to continue planting. If to continue, it returns to the crop conveying and positioning stage; if not to continue, the system stops.

[0164] The coordinated action sequence is achieved through software control logic. The software control logic uses a PID control algorithm to achieve coordinated action sequence of the conveying component, the grasping component, and the planting mechanism, ensuring precise connection of the actions of each mechanism. The purpose of the coordinated action sequence design in Example 1 is to clearly illustrate the process of achieving coordinated action sequence through the software control logic in Example 1. It can be understood that the time of the coordinated action sequence in Example 1 can be further optimized and compressed. In addition to the further optimization and compression of a single sequence, other components such as the conveying component and the grasping component can operate synchronously (saving 10 seconds), and the grasping component and the planting mechanism can operate synchronously (saving 10 seconds). Excluding the system initialization time, the planting cycle of a single crop is ≤30 seconds, and the planting efficiency is ≥120 plants / hour.

[0165] Example 1 also provides a precise planting method for the submerged crop planting vessel, including the following steps:

[0166] (1) Crop conveying and positioning: The conveyor belt 201 of the conveying component 2 conveys the submerged crop to the grabbing area. After the infrared sensor detects that the submerged crop is in place, it sends a feedback signal to the main controller. The main controller controls the conveyor belt 201 to pause or slow down to ensure that the submerged crop is in the best grabbing position.

[0167] (2) Adaptive gripping: The main controller drives the digital servo motor 403 to adjust the closing of the claw flap 404 based on the rotation angle of the swing arm shaft fed back by the position sensor. The clamping force is monitored in real time by the pressure sensor to ensure non-destructive gripping within the range of 0.3-0.5N. After gripping is completed, the swing arm shaft 402 rotates to be directly above the planting bucket 303.

[0168] (3) Linked Planting: The swing arm shaft 402 rotates to the position directly above the planting bucket 303 to release the submerged crop. The main controller controls the lifting adjustment component to drive the planting bucket 303 to descend. During the descent, the pressure sensor senses the silt pressure information in real time. Based on the silt pressure information, the main controller controls the opening angle of the planting claw 305 through the tension of the pull rope 304. The angle is adaptively adjusted according to the hardness of the silt to form a pit with a depth of 15-20cm.

[0169] (4) Precise release: After the planting claw 305 reaches the preset depth, the rack 306d of the planting component 306 moves downward to push the submerged crop, and the planting claw 305 fully opens to release the submerged crop into the pit. Then, the lifting adjustment component drives the planting bucket 303 to rise, and the planting claw 305 retracts and resets, completing one planting cycle.

[0170] Example 2

[0171] Example 2 provides an adaptive linkage control submersible crop planting vessel. The submersible crop planting vessel of Example 2 differs from that of Example 1 in hull structure, conveying components, and planting mechanism.

[0172] Hull structure:

[0173] The hull structure of Example 2 is a monohull structure, with two paddle wheels set on both sides of the monohull. An operating passage is set in the center of the hull, and a waterproof enclosure is set around the operating passage. The installation platform is set on the operating passage, and the planting mechanism passes through the operating passage to carry out planting operations.

[0174] Conveying components:

[0175] In the conveying component of Embodiment 2, the conveyor belt has a double U-shaped three-dimensional structure. The upper U-shaped rotating part surrounds the gripping component and the planting mechanism, and the lower U-shaped rotating part surrounds the working through hole, making full use of the space inside the cabin. The upper U-shaped opening and the lower U-shaped opening are connected to each other to form a rotating conveying structure. A rotating shaft is provided on the upper part of the conveyor basket, and the rotating shaft is rotatably connected to the conveyor stand provided on the transmission belt. When the conveyor belt conveys submerged plants, the conveyor basket automatically adapts to the up and down rotation of the conveyor belt due to gravity and maintains an upright state.

[0176] Planting institutions:

[0177] The planting mechanism in Example 2 is an adaptive linkage submerged crop planting unit, mainly composed of a planting bucket, a lifting and adjusting component, an adaptive planting claw system, a precision planting component, and a mud bottom triggering sensor module. It achieves fully automated control of the "descent-bottom contact-claw opening-seedling planting-reset" process through rope linkage and electrical signal feedback. The following is a detailed description of the relevant components:

[0178] 1. Lifting and Adjustment Components:

[0179] Drive unit: The lifting rod is driven by a hydraulic proportional valve, with a stroke accuracy controlled within ±1mm. The hydraulic flow is adjusted in a closed loop by the main controller to achieve uniform lifting and lowering of the planting bucket.

[0180] Guiding structure: The mounting base has 8 sets of polyurethane wheels arranged in a ring array around the outer periphery of the planting bucket, with a rolling friction coefficient of ≤0.05, ensuring that the vertical lifting deviation of the planting bucket is ≤±2°.

[0181] The pull rope linkage system uses a 1.5mm diameter stainless steel wire pull rope. One end is fixed to the lower edge of the mounting base, and the other end is rigidly connected to the connecting seat of the planting claw through a tension adjusting bolt. The pretension of a single pull rope is maintained at 50-80N.

[0182] 2. Adaptive implant claw system:

[0183] Mechanical structure: Three fan-shaped curved planting claws (arc length 120mm, thickness 8mm) are hinged to the bottom of the planting bucket by stainless steel pins. When closed, they form a pointed cone structure with a cone angle of 30° (cone tip hardness ≥HRC45). When inserted into the silt, they can automatically cut the vegetation roots. The opening angle range is 0°-60°, corresponding to a pit diameter of 200-350mm.

[0184] Reset mechanism: A torsion spring (torque 15N•m) is built into the hinge of the implantation claw and the implantation barrel, which keeps it closed in the default state; neodymium iron boron permanent magnets (attraction force ≥30N) are installed on the edges of adjacent implantation claws to further ensure the sealing when not in operation.

[0185] Bottom contact sensing module: Each planting claw integrates a pressure sensor (range 0-500N, accuracy ±2%) on its outer tip. When the detected pressure value is ≥50N, it is determined to be in contact with the mud bottom and a trigger signal is sent to the main controller.

[0186] 3. Rope tension control unit:

[0187] Tensioning trigger device: After receiving the bottom contact signal of the planting claw, the main controller sends a "pressure holding command" to the hydraulic proportional valve of the lifting rod, and at the same time starts the rope tensioning motor (torque 20N•m), and achieves linear increase of tension force by winding the rope (tension force increases from the initial pre-tension force to 150-200N).

[0188] Tension feedback: The tensioning motor integrates a tension sensor (range 0-300N) to provide real-time feedback of tension data to the main controller. When the tension reaches the preset threshold, the tensioning motor stops and remains in a self-locking state.

[0189] Anti-false triggering design: In the initial stage of the planting bucket's descent (stroke 0-100mm), the main controller blocks the trigger signal of the planting claw pressure sensor. Only when the lifting rod stroke is ≥100mm and the pressure sensor signal is ≥50N is it determined to be a valid bottom contact.

[0190] Example 3

[0191] Example 3 provides an adaptive linkage control submerged crop planting boat, which differs from Example 1 in that: the conveying component of Example 3 is a closed-loop intelligent conveying unit, mainly composed of a conveyor belt drive system, a positioning sensor module, a conveyor basket support structure, and a collaborative control unit. Through motor drive, sensor recognition, and interaction with the main controller commands, it realizes the full-process automation of precise conveying, positioning and grabbing of submerged crops, and empty basket retrieval. The relevant components are described in detail below:

[0192] 1. Conveyor belt drive system:

[0193] Power unit: It adopts a 400W DC servo motor to drive the conveyor belt through a synchronous pulley group (transmission ratio 1:2), with a speed range of 0.05-0.2m / s and a speed adjustment accuracy of ±0.01m / s; the motor has a built-in encoder (1000 lines resolution) to provide real-time feedback of speed and position information to the main controller.

[0194] Tension adjustment mechanism: A spring-type tensioning device is set at the end of the drive wheel of the conveyor belt, and the tension force can be adjusted within the range of 50-150N; a displacement sensor is configured at the end of the driven wheel to monitor the slack of the conveyor belt in real time. When the displacement deviation is ≥5mm, the main controller automatically triggers the tensioning motor to adjust.

[0195] Guiding structure: Polyurethane limiting flanges with a height of 15mm are set on both sides of the conveyor belt, and a polytetrafluoroethylene wear-resistant layer (friction coefficient ≤0.08) is pasted on the inner side of the flange to prevent the conveyor basket 202 from shifting or getting stuck; a set of support rollers is set at the bottom of the conveyor belt every 300mm to ensure that the sag of the conveyor belt is ≤2mm.

[0196] 2. Positioning sensor module:

[0197] Crop detection unit: An infrared beam sensor (detection distance 0-500mm, response time ≤10ms) is installed directly above the grabbing area. The transmitter and receiver are respectively arranged on both sides of the conveyor belt. When the submerged crop in the conveyor basket blocks the infrared beam, the sensor outputs a high-level signal to the main controller.

[0198] Conveyor basket positioning unit: A metal positioning piece is set every 250mm along the edge of the conveyor belt. A Hall sensor (detection distance 0-10mm) is installed on the side of the gripping area. When the positioning piece passes the sensor, it outputs a pulse signal. The main controller achieves accurate positioning of the conveyor basket by counting the number of pulses (positioning error ≤ ±2mm).

[0199] Empty basket identification unit: A weight sensor (range 0-5kg, accuracy ±5g) is installed on the return section of the conveyor belt. When the conveyor basket passes by, if the detected weight is ≤100g (empty basket weight is 85g), it is determined to be an empty basket and feedback is sent to the main controller.

[0200] 3. Conveyor basket load-bearing structure:

[0201] Standardized design: The conveyor basket is made of PP material injection molding, with external dimensions of 250mm×150mm×80mm. The bottom is equipped with water permeable holes with a diameter of 5mm (opening rate ≥30%) to reduce resistance during underwater transportation. The basket body is equipped with guide grooves on both sides that match the limiting flange of the conveyor belt to ensure operational stability.

[0202] Anti-detachment structure: A T-shaped groove is set at the bottom of the conveyor basket, which cooperates with the T-shaped protrusion on the surface of the conveyor belt. The gap between the groove and the protrusion is ≤0.5mm, which prevents the conveyor basket from falling off during acceleration or deceleration.

[0203] The workflow and linkage control logic of the conveying component in Example 3 are as follows:

[0204] 1. Crop transport and positioning:

[0205] The main controller starts the servo motor, driving the conveyor belt to run at a speed of 0.1m / s; when the infrared beam sensor detects that there are submerged crops in the conveyor basket, the main controller starts counting the pulse signals of the Hall sensor.

[0206] When the pulse count reaches the preset value (corresponding to the conveyor basket moving directly below the grabbing area), the main controller sends a deceleration command to the servo motor, and the conveyor belt decelerates to 0.02m / s within 0.2s; when the positioning plate is completely aligned with the Hall sensor, a stop command is sent, and the conveyor belt stops precisely (positioning error ≤ ±2mm).

[0207] 2. Capture trigger and pause control:

[0208] After the conveyor belt stops, the main controller sends a gripping command to the gripping component, and the swing arm drive drives the swing arm shaft to rotate directly above the conveyor basket; the position sensor feeds back the swing arm shaft rotation angle signal, and when the rotation angle error is ≤±1°, the main controller drives the digital servo motor to adjust the claw flap to close.

[0209] During the grasping process, the conveyor belt remains paused; the pressure sensor monitors the gripping force of the claw in real time. When the gripping force reaches 0.3-0.5N, the main controller sends a grasping completion signal, and the swing arm shaft rotates to directly above the planting bucket to release the crop.

[0210] 3. Conveyor belt restart and empty basket recovery:

[0211] After the crop is released, the position sensor sends a reset signal to the swing arm shaft, and the main controller sends a start command to the servo motor. The conveyor belt runs at a speed of 0.15m / s, transporting the empty conveyor basket to the return section.

[0212] After the weight sensor detects an empty basket during the return trip, it sends a signal to the main controller. When three empty baskets are detected consecutively, the main controller determines that the crop is about to be exhausted and sends a "decelerate and prepare to return" command to the ship's power system. When five empty baskets are detected consecutively, it determines that the crop has been completely picked up and sends a "stop delivery + start return" command, and the ship returns to the port according to the preset route.

[0213] 4. Exception handling mechanism:

[0214] If the infrared beam sensor detects the crop but the Hall sensor does not detect the positioning plate signal, the main controller determines that the conveyor basket is misaligned, immediately stops the conveyor belt, and issues an alarm signal.

[0215] If the weight sensor detects a basket weight ≥ 500g and the infrared sensor does not detect any crops, it is determined that there are foreign objects in the conveyor basket, and the main controller controls the conveyor belt to transport it to the foreign object collection area.

[0216] Example 4

[0217] Example 4 provides an adaptive linkage control submersible crop planting vessel based on path planning. Building upon Example 1, it adds a planting path planning module and an autonomous navigation system, enabling the planting vessel to automatically cruise and plant along a preset path, improving the efficiency and intelligence of large-scale operations. The key differences from Example 1 are explained below:

[0218] The hardware components include a new high-precision positioning unit, an environmental perception sensor, and a wireless communication module.

[0219] 1. High-precision positioning unit:

[0220] It integrates a GPS / BeiDou dual-mode positioning module (positioning accuracy ≤ ±5cm) with a ship attitude sensor (gyroscope + accelerometer) to collect data such as the ship's latitude and longitude, heading angle, and speed in real time, and transmits the data to the main controller via CAN bus.

[0221] By adding UWB ultra-broadband base stations in complex water areas (such as rivers and lotus ponds), centimeter-level seamless indoor and outdoor positioning can be achieved, avoiding positioning failure caused by satellite signal blockage.

[0222] 2. Environmental sensing sensors:

[0223] The bow of the vessel is equipped with a millimeter-wave radar (detection range 0-50m) and a high-definition camera to scan for obstacles in the water (such as wooden stakes, aquatic plants, and shipwreck debris) in real time, and to identify and measure the distance to the obstacles through an edge computing module.

[0224] A water depth sensor is installed on the bottom of the ship to detect changes in water depth in real time, providing water depth data support for path planning.

[0225] 3. Wireless communication module:

[0226] Upgraded to 5G+ZigBee dual communication mode, 5G is used for big data interaction with cloud servers (such as path uploading and planting data back transmission), and ZigBee is used for local control of the hull and handheld terminal, with a communication latency of ≤100ms.

[0227] The software has been optimized for the adaptive linkage control system, with the addition of a planting path planning module and an autonomous navigation control algorithm, as well as optimizations for relocation planting and standby return to port.

[0228] 1. Planting Path Planning Module:

[0229] Path import and editing: Supports importing preset planting paths (such as KML and GPX formats) via handheld terminals or cloud servers. Path nodes can be manually adjusted on the map interface, and planting row spacing (default 1.5m, customizable within the range of 0.5-3m) and plant spacing (default 0.8m, customizable within the range of 0.3-1.5m) can be set.

[0230] Automatic path generation: For regular water bodies (such as rectangular ponds), it supports one-click generation of various planting patterns such as parallel paths, diamond paths, and checkerboard paths; for irregular water bodies, it automatically fits the optimal planting path through AI algorithms to ensure a planting coverage rate of ≥95%.

[0231] Dynamic path adjustment: By combining environmental perception sensor data, obstacles are avoided in real time, and local paths are automatically replanned to avoid ship collisions or planting blind spots.

[0232] 2. Autonomous navigation control algorithm:

[0233] Track tracking control: Using PID + fuzzy control algorithm, the speed and direction of the power system are automatically adjusted according to the deviation between the ship's position fed back by the positioning unit and the preset path, so as to ensure that the ship travels along the planned path with a track deviation of ≤ ±10cm.

[0234] Adaptive speed adjustment: The vehicle speed is automatically adjusted (0.1-0.5m / s) according to the planting density and the load on the hull to ensure that the planting action and the driving action are precisely synchronized, and to avoid missing or repeating planting.

[0235] Precise positioning of planting points: When the ship reaches the preset planting point, the main controller triggers the positioning correction program to achieve secondary positioning of the planting point through UWB base station or visual positioning. The positioning accuracy is ≤±2cm, ensuring accurate planting position.

[0236] 3. Optimization logic for relocation planting and standby return to port:

[0237] 3.1 Transplanting process:

[0238] 3.1.1 After a single planting cycle is completed, the main controller calculates the ship's direction of travel and distance based on the coordinates of the next planting point from the path planning module.

[0239] 3.1.2 The power system drives the hull to travel along the planned path, and the environmental perception sensor monitors obstacles in real time. If an obstacle is encountered, the path is automatically adjusted.

[0240] 3.1.3 Upon reaching the next planting point, the positioning unit sends back a position signal, and the main controller controls the hull to stop precisely, starting the next planting cycle.

[0241] 3.2. Standby return-to-port procedure:

[0242] 3.2.1 When the infrared sensor fails to detect submerged crops three times in a row, or when the planting count reaches the preset value, the main controller triggers the return-to-port procedure.

[0243] 3.2.2 The route planning module automatically generates the optimal return route from the current location to the port, prioritizing routes with sufficient water depth and few obstacles.

[0244] 3.2.3 The hull travels automatically along the return route. In case of emergency (such as power system failure or communication interruption), it can be switched to manual remote control mode via handheld terminal.

[0245] 3.2.4 Upon arrival at the port, the main controller shuts down all actuators, the system enters standby mode, and simultaneously sends a notification of completion to the management personnel.

[0246] The above description of the embodiments is provided to enable those skilled in the art to understand and use the present invention. It will be apparent to those skilled in the art that various modifications can be easily made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention are within the protection scope of the present invention.

Claims

1. A submersible crop planting vessel with adaptive linkage control, characterized in that, include: Hull, conveying components, gripping components, planting mechanism, and adaptive linkage control system; The hull is equipped with a power system that propels the hull to move within the planting area and provides energy supply. The conveying component is assembled on the hull and is used to transport submerged crops to the grabbing area; The gripping component is assembled on the hull and is used to precisely grip submerged crops and transfer them to the planting facility. The planting mechanism is mounted on the hull and uses an adaptive linkage control system to achieve integrated operation of pit formation and release of submerged crops. The planting mechanism includes a planting bucket, a lifting and adjusting component, a planting claw component, and a planting component; The lifting adjustment component includes a lifting rod, a mounting base, and a pull rope. The lifting rod is mounted on the mounting base, which is mounted on the hull. The planting bucket extends out of the mounting base and is connected to the lifting rod. One end of the pull rope is connected to a pull rope tensioning motor fixed on the mounting base, and the other end is connected to the planting claw component. The planting claw includes at least three fan-shaped curved surface structures, which are respectively hinged and assembled at the bottom of the planting bucket. When the claw is folded up, it forms a cone-shaped body with the tip pointing downwards. It is linked with the lifting rod by a pull rope to realize the integrated action of pit excavation and crop release. The adaptive linkage control system includes a main controller, a sensor unit electrically connected to the main controller, and an actuator drive module that receives instructions from the main controller. The main controller uses the signals collected by the sensor unit to control the actuator drive module to drive the conveying component, the gripping component, and the planting mechanism to work together according to the adaptive linkage control algorithm, thereby realizing adaptive linkage control. Pressure sensors are installed on the claws of the gripping component, the bottom of the planting mechanism, and the planting claws to detect the gripping force of the claws and planting claws, the planting depth, and the silt pressure. The timing of the opening and closing of the planting claws and the precise coordination with the pushing of submerged crops, coupled with the adaptive ability of the planting mechanism to the planting depth and silt, can achieve a planting depth error of ≤±2cm and make the planting boat adaptable to complex water scenarios. The adaptive capability is achieved through an adaptive planting algorithm: based on the silt pressure value fed back by the pressure sensor, the opening angle of the planting claw is automatically adjusted through a fuzzy control algorithm to form a regular pit with a depth of 15-20cm, adapting to bottom mud environments with different hardness. Through the integrated design of "transfer components + gripping components + planting mechanism", the submerged crops can be transported, gripped and planted in a fully automated manner.

2. The submersible crop planting vessel with adaptive linkage control according to claim 1, characterized in that, The mounting base includes a frame and wheels. The wheels are assembled inside the frame. The planting bucket extends out of the frame and rolls in close contact with the wheels. The wheels are made of polyurethane and there are at least three of them, which are evenly distributed in an array on the inner edge of the frame.

3. The submersible crop planting vessel with adaptive linkage control according to claim 1, characterized in that, The tensioning motor integrates a tension sensor and is used to adjust the tension of the rope. The tension sensor detects the tension of the rope in real time and feeds the detection signal back to the main controller.

4. The submersible crop planting vessel with adaptive linkage control according to claim 1, characterized in that, The planting component includes a planting frame, a drive gear, a limiting gear, and a rack. The planting frame is mounted on the hull, and the rack passes through a hole in the planting frame. The drive gear meshes with the rack, and the rack is raised and lowered by a motor. The limiting gear meshes with the other side of the rack to limit the rack's position. The rack is positioned opposite the planting bucket and is used to push the submerged crops in the planting bucket to release them.

5. The submersible crop planting vessel with adaptive linkage control according to claim 1, characterized in that, The gripping component adopts a dual independent rotating shaft linkage gripping structure, including a swing arm drive component, a swing arm shaft, a digital servo motor, a control link, a limit link, a claw handle, and claws. The two claw flaps are respectively fixedly connected to the corresponding claw flap handles to form two independent "claw flap-handle" assemblies; each assembly has an independent rotating shaft near the connection between the claw flap and the claw flap handle, and the rotating shaft is rotatably connected to one end of the limiting link. The other end of the limiting link is rotatably connected to the limiting shaft at the end of the swing arm shaft. The end of the claw handle is hinged to the control link. The other end of the control link is linked to the output shaft of the digital servo. The two sets of limiting links, claw handles, control links and swing arm shafts each constitute two sets of parallelogram linkage mechanisms, which respectively control the two claws. The digital servo controls the relative rotation of the two control links to synchronously realize the opening, closing and extension of the claws.

6. The submersible crop planting vessel with adaptive linkage control according to claim 5, characterized in that, The swing arm drive component is a swing arm motor, which is connected to the swing arm shaft for transmission. It is used to drive the swing arm shaft to rotate, so as to achieve precise angular positioning of the gripping component with an angle error of ≤±1°.

7. The submersible crop planting vessel with adaptive linkage control according to claim 1, characterized in that, The conveying components include a conveyor belt with a limiting flange and a conveyor basket. The conveyor belt is made of rubber, and its running speed can be precisely controlled by the main controller according to the planting process. The conveyor basket is used to place the submerged crops to be planted, and the submerged crops are transported to the grabbing area by the conveyor belt.

8. The submersible crop planting vessel with adaptive linkage control according to claim 7, characterized in that, The conveyor belt is driven by a DC servo motor. The conveyor belt speed can be precisely adjusted within the range of 0.02-0.15m / s with a speed adjustment accuracy of ±0.01m / s. Real-time feedback of speed and position is achieved through an encoder.

9. The submersible crop planting vessel with adaptive linkage control according to claim 1, characterized in that, The power system includes a power battery and a drive motor electrically connected to it. The drive motor drives the paddle wheels on both sides of the hull to achieve forward, backward, left or right turns and other actions, and can be controlled by a remote control device. The hull is designed as a monohull or catamaran, with a through hole in the middle for the planting mechanism to operate. The planting mechanism extends vertically into the water through this through hole to perform planting operations.

10. The submersible crop planting vessel with adaptive linkage control according to claim 1, characterized in that, The sensor unit is electrically connected to the main controller and includes an infrared sensor, a position sensor, and a pressure sensor. An infrared sensor is installed above the conveyor belt of the conveying component to detect the position of submerged crops on the conveyor belt; Position sensors are installed on the swing arm shaft of the gripping component and the lifting rod of the planting mechanism to detect the rotation angle of the swing arm shaft and the stroke of the lifting rod; Pressure sensors are installed on the planting claws of the planting mechanism and the claw flaps of the gripping component to detect planting depth, silt pressure information, and claw flap clamping force.

11. The submersible crop planting vessel with adaptive linkage control according to claim 10, characterized in that, The actuator drive module includes: A swing arm motor is connected to the swing arm shaft of the gripping component to drive the swing arm shaft to rotate, thereby achieving precise angular positioning of the gripping component. A digital servo motor, linked with the control linkage of the gripping component, is used to drive the opening, closing, and extension / retraction of the claw flaps, enabling non-destructive gripping of submerged crops. A transmission motor is connected to the transmission belt of the transmission component to drive the transmission belt to rotate and convey, thereby achieving precise delivery of submerged crops. A hydraulic proportional valve, connected to the lifting rod of the planting mechanism, is used to control the lifting movement of the planting bucket, thereby achieving precise control of the planting depth. The planting component motor is connected to the rack drive of the planting component of the planting mechanism, and is used to drive the rack to lift and lower, push the submerged crop, and achieve precise release of the submerged crop.

12. A precision planting method based on the planting vessel of claim 11, characterized in that, Includes the following steps: (1) Submerged crop conveying and positioning: The conveyor belt of the conveyor component conveys the submerged crop to the grabbing area. After the infrared sensor detects that the submerged crop is in place, it feeds back to the main controller to control the conveyor belt to pause or slow down. (2) Adaptive gripping: The main controller drives the digital servo motor to adjust the closure of the claw flaps based on the rotation angle of the swing arm shaft fed back by the position sensor, and monitors the gripping force in real time through the pressure sensor to ensure non-destructive gripping; (3) Linked planting: The swing arm shaft rotates to the top of the planting bucket to release the submerged crop. The main controller controls the lifting adjustment component to drive the planting bucket to descend. The tension of the pull rope is linked to control the opening of the planting claw. The opening angle is adjusted according to the hardness of the silt based on the adaptive planting algorithm to form a planting pit for submerged crops. (4) Precise release: After the planting claw reaches the preset depth, the planting piece moves down to push the submerged crop, and the planting claw fully opens to release the submerged crop into the pit. The lifting adjustment piece drives the planting bucket to rise, and the planting claw retracts and resets.

13. The precision planting method for the planting vessel according to claim 12, characterized in that, The infrared sensor mentioned in step (1) is an infrared beam sensor, and a metal positioning piece is set on the edge of the conveyor belt. A Hall sensor is installed on the side of the gripping area. When the metal positioning piece passes the Hall sensor, it outputs a pulse signal. The main controller realizes the precise positioning of the conveyor basket by counting the number of pulses.

14. The precision planting method for the planting vessel according to claim 12, characterized in that, The adaptive planting algorithm described in step (3) is as follows: based on the silt pressure value fed back by the pressure sensor, the opening angle of the planting claw is automatically adjusted through the fuzzy control algorithm to form a regular foundation pit with a depth of 15-20cm, which is suitable for bottom mud environments with different hardness.

15. The precision planting method for the planting vessel according to claim 12, characterized in that, The precise planting method of the planting vessel is implemented through software control logic. The software control logic uses a PID control algorithm to achieve the timing coordination of the actions of the conveying component, the grasping component, and the planting mechanism, ensuring that the actions of each mechanism are precisely connected.

16. The precision planting method of the planting vessel according to claim 12, characterized in that, It also includes planting path planning and autonomous navigation for the planting vessel, enabling the vessel to automatically cruise and plant along a preset path, including the following steps: (1) Path import and editing: Import preset planting paths through handheld terminals or cloud servers, or generate various planting modes such as parallel paths, diamond paths, and checkerboard paths with one click for regular water areas; (2) Autonomous navigation planting: The main controller calculates the direction and distance of the ship's travel based on the coordinates of the next planting point of the path planning module. The power system drives the ship to travel along the planned path. After reaching the next planting point, the positioning unit feeds back the position signal, and the main controller controls the ship to stop precisely and start the planting cycle. (3) Automatic return: When the infrared sensor fails to detect submerged crops for three consecutive times, or when the planting count reaches the preset value, the main controller triggers the return-to-port program, and the ship automatically travels along the return-to-port path.

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