An automatic planting device for reservoir bank ecological restoration and an application method thereof

Abstract

This invention relates to the field of reservoir bank ecological restoration technology and discloses an automated planting device for reservoir bank ecological restoration. It can remotely control a surface drone, an underwater drone, and a buoyancy switch device to plant planting balls on the underwater reservoir bank without going into the water, while ensuring planting effect and efficiency, preventing seeds from scattering into the water, and facilitating the recovery device.

Description

Technical Field

[0001] This invention relates to the field of reservoir bank ecological restoration technology, and in particular to an automated planting device and application method for reservoir bank ecological restoration. Background Technology

[0002] As a crucial transitional zone between lakes and reservoirs and the land, reservoir banks possess unique dynamic ecological characteristics. Influenced by seasonal water level fluctuations and reservoir impoundment and discharge, reservoir banks frequently experience periodic inundation and exposure, creating a unique environment of alternating wet and dry conditions. Based on the water level, they are divided into underwater and above-water slopes. The periodic rise and fall of water levels and repeated wet-dry cycles severely disturb the soil structure and ecosystem, restricting plant growth. Furthermore, the underwater slopes are prone to soil erosion and instability due to water scouring and soaking.

[0003] The shortcomings of existing underwater ecological restoration devices are: 1. Existing patent CN221235414U discloses an underwater forest device and an underwater ecological restoration structure containing the device, including "an underwater forest device and an underwater ecological restoration structure containing the device, the underwater forest device including a biological platform, a plurality of underwater forest units spaced apart on the biological platform, the underwater forest units including submerged plants; a plurality of support units are provided below the biological platform, the support units including support seats on the surface for algae growth; this utility model enables submerged plants and algae located in the upper and lower layers of the water body to jointly play a water purification role, enriching the water body restoration methods, which not only helps to improve the restoration speed and effect of the water body, but also increases the oxygen concentration of the water body through submerged plants and algae, and provides food and habitat for aquatic animals, which is conducive to the restoration or reconstruction of the aquatic ecosystem through the cooperation of plants and animals, and can be applied to water bodies with relatively serious pollution." However, the device requires manual underwater installation, which is labor-intensive, and human activities will have a certain impact on the underwater ecology.

[0004] 2. Existing patent CN221166289U discloses an underwater forest ecological restoration technology device based on water level regulation, comprising "an underwater forest ecological restoration technology device based on water level regulation, including a floating island, which is composed of a control floating platform and a planting floating platform, wherein the planting floating platform and the control floating platform are provided with a splicing structure; wherein, the planting floating platform is provided with an installation hole, and a floating plant planting structure is installed in the installation hole; multiple guide rods are installed at the bottom of the planting floating platform, and a submerged plant planting structure is movably installed on the guide rods; an adjustment structure for adjusting the water level of the submerged plant planting structure is installed on the control floating platform. This utility model, through the setting of the floating island, allows the floating island to automatically rise or fall when the wetland water level rises or falls, ensuring that the distance between the floating and submerged plants and the water surface remains constant, thereby facilitating the growth and development of the floating and submerged plants, enabling the purification of wetland water quality, and promoting the ecological restoration of the underwater forest." However, this device cannot move automatically and perform ecological restoration in different areas.

[0005] 3. Existing patent CN214141775U discloses a modular underwater plant cultivation device, comprising "a modular underwater plant cultivation device, including a module box, a plant cultivation area, and a power device. The plant cultivation area is provided on the module box, and the power device is installed inside the module box. An inlet pipe and an outlet pipe are provided on the outer wall of the module box. This solves the problem that the device cannot improve hydrodynamic conditions, resulting in the inability to exchange water volume and quality, affecting plant growth and the inability to remove pollutants. The advantages of this utility model are: it can improve the hydrodynamics of the water body, enabling vertical water exchange, making water exchange more complete and water quality distribution more uniform; the transmission device is combined with plant cultivation, utilizing natural wind energy to improve water dynamics without the need for additional paid power; and it improves the dissolved oxygen content in the underwater space through natural processes, thus improving the underwater plant growth environment." However, this device is only suitable for small-area underwater cultivation, cannot automatically sow seeds underwater, and prolonged immersion may affect the stability of the device's operation.

[0006] Traditional underwater slope restoration methods, such as artificial planting, constructing concrete frame beams, and laying plant fiber blankets, all suffer from problems such as difficulty in securing plants, high labor costs, unstable growth, long construction periods, and large-scale engineering projects. Furthermore, underwater slopes are prone to large-scale ecological degradation during reservoir impoundment. Therefore, to improve the survival rate of plants and the efficiency of underwater planting, there is an urgent need to invent an automated planting device and application method for reservoir bank ecological restoration to solve the aforementioned problems. Summary of the Invention

[0007] This invention provides an automated planting device and application method for ecological restoration of reservoir banks, aiming to solve the problems of traditional underwater bank management methods such as artificial planting, construction of concrete frame beams, and laying of plant fiber blankets, which have more or less problems such as difficulty in fixing plants, high labor costs, unstable growth, long construction period, and large amount of engineering work. Moreover, underwater banks are prone to large-scale ecological degradation during the reservoir impoundment period.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: An automated planting device for ecological restoration of reservoir banks includes a surface drone and an underwater drone. The surface drone floats on the water surface and has a hollow bottom that can be detachably attached to the underwater drone. The underwater drone is connected to the surface drone via a composite hose. The underwater drone includes a plate-shaped fuselage with several planting tubes detachably mounted on it. The bottom end of each planting tube has a pointed outlet that penetrates the fuselage for insertion into an underwater slope. Several planting balls are placed inside the planting tubes, and the tubes are equipped with a spring-loaded sliding switch to prevent the planting balls from falling out of the pointed outlet. The fuselage is also equipped with several buoyancy switches, and the floating of the buoyancy switches is linked to the opening and closing of the corresponding sliding switches.

[0009] Preferably, the amphibious drone is equipped with a recovery device for storing the composite hose.

[0010] Preferably, the recovery device is a hoisting device.

[0011] Preferably, the composite hose includes an air guide tube, a power transmission line, and a signal transmission line.

[0012] Preferably, the top of the waterborne drone is covered with a layer of photovoltaic panels.

[0013] Preferably, propellers are provided at all four corners of the plate-shaped fuselage.

[0014] Preferably, the plate-shaped fuselage is engaged with the hollowed-out part at the bottom of the waterborne drone by a limiting device.

[0015] Preferably, the limiting device is an electric telescopic rod, and the limiting device is symmetrically arranged about the plate-shaped fuselage. One end of the electric telescopic rod is fixedly engaged with the side wall of the plate-shaped fuselage, and the other end of the electric telescopic rod is provided with a rubber friction head. The bottom of the waterborne UAV is hollowed out to form a limiting groove. When the electric telescopic rod is extended, the plate-shaped fuselage is engaged in the limiting groove by the extension of the electric telescopic rod. When the electric telescopic rod is retracted, the plate-shaped fuselage is disengaged.

[0016] Preferably, the plate-shaped body is provided with a number of mounting ports for installing the planting tube. The outer wall of the planting tube is provided with a limiting ring. When the planting tube is inserted into the corresponding mounting port, the limiting ring is supported by the top of the plate-shaped body at the mounting port to form a limit. The limiting ring is detachably fixed to the top of the plate-shaped body by fastening screws.

[0017] Preferably, the planting tube is divided into an upper tube and a lower tube by a sliding switch device, the planting ball is stored in the upper tube, and when the sliding switch device is opened, the upper tube and the lower tube are connected.

[0018] Preferably, the top of the upper tube is detachably provided with a tube cap for sealing.

[0019] Preferably, the sliding switch device includes two sliding grooves with openings facing each other and arranged in parallel. The sliding grooves are located outside the planting tube and are symmetrically arranged about the planting tube. The bottom side of the upper tube and the top side of the lower tube are fixedly engaged with the top side and the bottom side of the sliding groove, respectively. A pull-out sliding door is slidably provided between the sliding grooves to separate the upper tube and the lower tube. One side of the sliding groove has an opening for the pull-out sliding door to slide out after being linked with the buoyancy switch device. The other end of the sliding groove has an extension groove that communicates with the sliding groove. A spring is provided between the pull-out sliding door and the extension groove, and the spring forms an elastic limiting engagement. The spring is located inside the sliding groove.

[0020] Preferably, when the spring is in force balance, pulling the sliding door will completely block the upper tube and the lower tube; When the buoyancy switch device floats up, it causes the sliding door to slide out, the upper tube and the lower tube are connected, and the spring is stretched and in an energy storage state. When the buoyancy switch device lowers the sliding door and loses traction, the spring changes from an energy storage state to an energy release state, pulling the sliding door back to its original position and blocking the upper and lower tubes.

[0021] Preferably, the buoyancy switch device is a syringe-shaped piston mechanism with a float plate inside. When the piston mechanism draws water, the float plate floats up. One buoyancy switch device corresponds to several sliding doors, and the sliding doors are fixed to the float plate of the same corresponding buoyancy switch device by one-to-one traction ropes.

[0022] Preferably, the piston mechanism includes a piston chamber and an electric cylinder chamber that are interconnected. The end of the piston chamber away from the electric cylinder chamber is fixed to the top of the plate-shaped body, and a water inlet is provided at the middle position of the end of the piston chamber away from the electric cylinder chamber, which penetrates the plate-shaped body and communicates with the outside. A piston head that can move is provided in the piston chamber. A float plate is provided in the piston chamber between the piston head and the water inlet. The float plate is connected to the corresponding sliding door through a corresponding traction rope. The traction ropes all pass through the water inlet. An electric telescopic cylinder is provided in the electric cylinder chamber, and the output end of the electric telescopic cylinder forms an axial linkage with the piston head.

[0023] Preferably, there are at least six buoyancy switch devices, four of which are arranged symmetrically about the middle position of the plate-shaped body at the four corners of the plate-shaped body, and the remaining two buoyancy switch devices are arranged symmetrically about the middle position of the two sides of the plate-shaped body.

[0024] Preferably, electronic levels are provided at the same positions on the buoyancy switch devices located at the four corners.

[0025] Preferably, the planting ball comprises the following materials by weight: 35-40 parts soil, 35-40 parts pond bottom mud, 2-3 parts biochar, 0.5 parts microbial agent, and 1-2 parts seeds.

[0026] Preferably, the microbial agent includes Bacillus and / or Actinomycetes.

[0027] An application method for an automated planting device for reservoir bank ecological restoration, comprising the following steps: Using the aforementioned automated planting device for reservoir bank ecological restoration to arrange planting balls on the underwater bank slope. Step 1: Plan the underwater slope planting area; Step 2: Install the planting ball into the planting tube, install the planting tube in sequence on the plate-shaped body of the underwater drone, connect the sliding switch device of the planting tube to the corresponding buoyancy switch device, and snap the underwater drone into the hollow part of the surface drone to complete the installation of the device. Step 3: Move the entire device to a suitable hovering position using a surface drone, release the connection between the surface drone and the underwater drone, release the composite hose, and operate the underwater drone to move to the planned planting area on the underwater slope for planting. Step 4: The underwater drone descends smoothly until the tip of the planting tube is inserted into the underwater slope. At this time, the buoyancy switch device draws water, and the weight of the underwater drone rises, pressing the planting tube downward into the underwater slope to form a channel. At the same time, the buoyancy switch device draws water and drives the sliding switch device to open, and the planting ball enters the channel from the planting tube to complete the planting. Step 5: The buoyancy switch device drains water, and the sliding switch device resets under elastic action to reseal the planting tube. At the same time, the weight of the underwater drone is reduced, and the underwater drone is controlled to rise. The planting tube is separated from the underwater slope, and the planting ball is self-buried by itself and the slope soil in the channel. Step Six: Recover the underwater drone using the composite hose, and then recover the entire device using a surface drone. After replenishing the planting balls, repeat steps two through six until the entire planned underwater slope planting area is planted.

[0028] The beneficial effects of this invention are: 1. When cultivating plants on underwater bank slopes, the ecological restoration device of the present invention uses a mixture of organic clay soil such as field soil and pond bottom mud to wrap the seeds in planting balls for underwater replanting. This avoids the situation where the seeds float to the water surface during replanting, thus preventing planting failure. It also provides a good growth environment for the initial development of plants and reduces the adverse effects of the original soil environment on the early growth of plants.

[0029] 2. In this invention, the underwater drone descends smoothly until the tip of the planting tube is inserted into the underwater slope. At this point, the buoyancy switch device draws in water, and the weight of the underwater drone increases, pressing the planting tube downward into the underwater slope to form a channel. Simultaneously, the buoyancy switch device draws in water, causing the sliding switch device to open, allowing the planting ball to enter the channel from the planting tube and complete the planting. The buoyancy switch device drains water, and the sliding switch device resets under elasticity to reseal the planting tube. At the same time, the weight of the underwater drone decreases, controlling the underwater drone to rise. The planting tube detaches from the underwater slope, and the planting ball self-buried by itself and the slope soil in the channel, which can improve the underwater planting efficiency of the submersible planter.

[0030] 3. The planting tube of this invention can carry a large number of planting balls, providing well-preserved planting balls over a longer planting cycle; the planting balls in the tube can be quickly replenished, and several planting balls in the tube can meet the needs of multiple plantings with one replenishment, thus improving the overall planting efficiency.

[0031] 4. The composite hose of the present invention is used to connect the surface drone and the underwater drone, and delivers gas, electricity and signals to the underwater environment through the pipeline. It can provide timely feedback on the underwater status and adjust the operating status of the device as needed. When the underwater drone surfaces and is ready for resupply, the composite hose can assist in the recovery of the underwater drone. Furthermore, pulling the composite hose can make the underwater drone fit with the surface drone, accelerating the speed and stability of the overall recovery of the device.

[0032] 5. When performing underwater shoreline ecological restoration, the ecological restoration device of the present invention effectively utilizes the abundant light resources on the lake surface and adopts a combined power supply method of battery and photovoltaic panel power generation. It has the advantages of long endurance, clean energy, low noise, and no pollution, and has minimal impact on the original water area. Moreover, the entire restoration process does not require a large amount of manual labor. It is only necessary to pre-set the planting area, prepare planting balls of corresponding water depth, and reasonably arrange the planting cycle to automatically and efficiently carry out underwater ecological restoration within the predetermined period. Attached Figure Description

[0033] Figure 1 This is a schematic diagram illustrating the application of the device of the present invention on a slope. Figure 2 This is a front view of the device of the present invention after assembly; Figure 3This is a top view of the three-dimensional structure of the planting tube of the present invention installed on an underwater drone; Figure 4 This is a schematic diagram of the bottom of a three-dimensional structure of the planting tube of the present invention installed on an underwater drone; Figure 5 This is a bottom view of the plate-shaped fuselage of the present invention; Figure 6 This is a side view of the plate-shaped body of the present invention; Figure 7 This is a front view of the plate-shaped body of the present invention; Figure 8 This is a perspective view of the implantation tube of the present invention; Figure 9 This is a cross-sectional view of the implantation tube of the present invention; Figure 10 This is a schematic diagram of the planting process of the planting balls according to the present invention; Figure 11 This is a schematic diagram of the buoyancy switch devices at both sides (left) and the buoyancy switch devices at the four corners (right) of the present invention; In the image: 1. Underwater bank slope; 2. Waterborne unmanned aerial vehicles (UAVs); 2.1. Recovery device; 2.2. Photovoltaic panel; 2.3. Limiting groove; 3. Underwater drone; 3.1. Plate-shaped fuselage; 3.1.1. Mounting port; 3.2. Propeller; 3.3. Limiting device; 3.4. Diagonal brace; 3.5. Lighting; 4. Planting tube; 4.1. Sliding switch device; 4.1.1. Slide groove; 4.1.2. Extension groove; 4.1.3. Pull-out sliding door; 4.1.4. Spring; 4.1.5. Opening; 4.2. Upper tube; 4.3. Lower tube; 4.4. Tube cap; 4.5. Limiting ring; 4.6. Fastening screw; 5. Planting bulbs; 6. Composite hose; 7. Buoyancy switch device; 7.2. Piston mechanism; 7.2.1. Piston chamber; 7.2.2. Electric cylinder chamber; 7.2.3. Electric telescopic cylinder; 7.2.4. Piston head; 7.3. Float plate; 7.4. Traction rope; 7.5. Water inlet; 7.6. Electronic level. Detailed Implementation

[0034] The embodiments will be further described below with reference to the accompanying drawings.

[0035] like Figures 1-8As shown in the preferred embodiment 1, an automated planting device for ecological restoration of reservoir banks includes a surface drone 2 and an underwater drone 3. The surface drone 2 floats on the water surface, and the bottom of the surface drone 2 is hollowed out and detachably connected to the underwater drone 3. The underwater drone 3 is connected to the surface drone 2 through a composite hose 6. The underwater drone 3 includes a plate-shaped fuselage 3.1, on which several planting tubes 4 are detachably mounted. The bottom end of each planting tube 4 has a pointed outlet that penetrates the plate-shaped fuselage 3.1 for insertion into the underwater slope 1. Several planting balls 5 are placed inside the planting tubes 4, and the planting tubes 4 are equipped with a spring-loaded sliding switch device 4.1 to prevent the planting balls 5 from falling out of the pointed outlet. Several buoyancy switch devices 7 are mounted on the plate-shaped fuselage 3.1, and the floating of the buoyancy switch devices 7 is linked to the opening and closing of the corresponding sliding switch devices 4.1.

[0036] Using surface drones 2 and underwater drones 3 makes it easier to operate off-shore, eliminating the need for manual underwater restoration and planting. The drones reach the designated location, dive, and insert planting tubes 4 into the underwater slope 1. By activating the buoyancy switch device 7, the sliding switch device 4.1 is opened, allowing the planting tubes 4 to pass through. The planting balls 5 fall into the channel formed by the insertion of the planting tubes 4, completing the planting. When the buoyancy switch device 7 is closed, the sliding switch device 4.1 rebounds to prevent the planting balls 5 from falling further. The remaining planting balls 5 are used for the next planting. At this time, the drones can be retrieved, inspected, and the planting balls 5 can be replenished before planting can be carried out again. The plants are easy to fix, have low labor costs, grow stably, and have a short construction period, enabling timely ecological restoration.

[0037] Preferably, the surface drone 2 and the underwater drone 3 can be equipped with GPS modules to make it easier to determine their positions on and under the water.

[0038] As a preferred embodiment 2, the waterborne drone 2 is equipped with a recovery device 2.1 for storing the composite hose 6.

[0039] The recovery device 2.1 is a winch. Rotating the composite flexible hose 6 can accelerate the recovery of the underwater drone 3 and ensure the stability of the device.

[0040] The composite flexible hose 6 includes an air guide tube, a power transmission line, and a signal transmission line. It provides corresponding wiring connections to the underwater drone 3 and the buoyancy switch device 7, ensuring their functionality.

[0041] As a preferred embodiment 3, a photovoltaic panel 2.2 is laid on the top of the waterborne drone 2.

[0042] When used with solar power generation components, it can generate photovoltaic power by utilizing sunlight on the water, and when combined with a battery, it can improve the driving range.

[0043] As a preferred embodiment 4, propellers 3.2 are provided at each of the four corners of the plate-shaped fuselage 3.1. This is a necessary structure for the implementation of an underwater unmanned aerial vehicle.

[0044] As a preferred embodiment 5, the plate-shaped fuselage 3.1 is engaged with the bottom hollow of the underwater drone 2 by a limiting device 3.3.

[0045] The limiting device 3.3 is an electric telescopic rod, and it is symmetrically arranged about the plate-shaped body 3.1. One end of the electric telescopic rod is fixedly engaged with the side wall of the plate-shaped body 3.1, and the other end is equipped with a rubber friction head. The bottom of the underwater drone 2 has a hollowed-out center to form a limiting groove 2.3. When the electric telescopic rod extends, the plate-shaped body 3.1 is engaged in the limiting groove 2.3 by the extension of the two electric telescopic rods. When the electric telescopic rod retracts, the plate-shaped body 3.1 is disengaged. When fixed together, it moves as a whole, and it is easy to separate during use.

[0046] Preferably, the limiting groove 2.3 can be recessed to both sides to facilitate a limiting fit with the electric telescopic rod.

[0047] As a preferred embodiment 6, the plate-shaped body 3.1 is evenly provided with a plurality of installation ports 3.1.1 for installing the planting tube 4. The outer wall of the planting tube 4 is provided with a limiting ring 4.5. When the planting tube 4 is inserted into the corresponding installation port 3.1.1, the limiting ring 4.5 is supported by the top of the plate-shaped body 3.1 at the installation port 3.1.1 to form a limit. The limiting ring 4.5 is detachably fixed to the top of the plate-shaped body 3.1 by fastening screws 4.6.

[0048] To facilitate the installation of the planting tube 4, the planting tube 4 is inserted into the corresponding installation port 3.1.1 during installation. The limiting ring 4.5 is supported by the top of the plate-shaped body 3.1 at the installation port 3.1.1 to form a limit. After tightening the fastening screw 4.6, the fixation is completed. Similar to the flange fixing structure, it ensures the fixing effect and facilitates disassembly.

[0049] The limiting ring 4.5 is located near the top of the upper tube 4.2.

[0050] like Figures 9-10 As shown, in a preferred embodiment 7, the planting tube 4 is divided into an upper tube 4.2 and a lower tube 4.3 by a sliding switch device 4.1. The planting ball 5 is stored in the upper tube 4.2. When the sliding switch device 4.1 is opened, the upper tube 4.2 and the lower tube 4.3 are connected.

[0051] The sliding switch device 4.1 includes two parallel sliding grooves 4.1.1 with openings facing each other. The sliding grooves 4.1.1 are located outside the planting tube 4 and are symmetrically arranged about the planting tube 4. The bottom side of the upper tube 4.2 and the top side of the lower tube 4.3 are fixedly engaged with the top and bottom sides of the sliding grooves 4.1.1, respectively. A pull-out sliding door 4.1.3 is slidably provided between the sliding grooves 4.1.1 to separate the upper tube 4.2 and the lower tube 4.3. An opening 4.1.5 is provided on one side of the sliding groove 4.1.1 for pulling the sliding door 4.1.3 to slide out after it is linked with the buoyancy switch device 7. An extension groove 4.1.2 is provided at the other end of the sliding groove 4.1.1 to communicate with the sliding groove 4.1.1. A spring 4.1.4 is provided between the pull-out sliding door 4.1.3 and the extension groove 4.1.2 and forms an elastic limiting engagement through the spring 4.1.4. The spring 4.1.4 is located inside the sliding groove 4.1.1.

[0052] Preferably, the slide groove 4.1.1 and the extension groove 4.1.2 cooperate to form a U-shaped groove, the opening of the U-shaped groove coincides with the opening 4.1.5, the upper tube 4.2 and the lower tube 4.3 are fixed through the U-shaped groove and a gap is left for pulling the sliding door 4.1.3 to slide. The outer wall of the bottom end of the upper tube 4.2 is fixedly engaged with the inner wall of the top end of the U-shaped groove, and the outer wall of the top end of the lower tube 4.3 is fixedly engaged with the inner wall of the bottom end of the U-shaped groove. When the sliding door 4.1.3 is pulled to slide in the slide groove 4.1.1, it just passes through the gap left between the upper tube 4.2 and the lower tube 4.3, which can seal the upper tube 4.2 and the lower tube 4.3.

[0053] When the spring 4.1.4 is in equilibrium, pulling the sliding door 4.1.3 will just completely block the upper tube 4.2 and the lower tube 4.3; When the buoyancy switch device 7 floats up, it causes the sliding door 4.1.3 to slide out, the upper tube 4.2 and the lower tube 4.3 are connected, and the spring 4.1.4 is stretched and in an energy storage state; When the buoyancy switch device 7 lowers and pulls the sliding door 4.1.3 to lose traction, the spring 4.1.4 changes from the energy storage state to the energy release state, pulling the sliding door 4.1.3 back to its original position and blocking the upper tube 4.2 and the lower tube 4.3.

[0054] like Figure 11 As shown, in a preferred embodiment 8, the buoyancy switch device 7 is a syringe-shaped piston mechanism 7.2. The piston mechanism 7.2 is provided with a float plate 7.3. When the piston mechanism 7.2 draws water, the float plate 7.3 floats up. One buoyancy switch device 7 corresponds to several sliding doors 4.1.3. The sliding doors 4.1.3 are fixed to the float plate 7.3 of the same corresponding buoyancy switch device 7 by corresponding traction ropes 7.4.

[0055] When the planting tube 4 is fixed, the opening 4.1.5 faces the corresponding buoyancy switch device 7 to facilitate smooth linkage.

[0056] The piston mechanism 7.2 includes a piston chamber 7.2.1 and an electric cylinder chamber 7.2.2 that are interconnected. The end of the piston chamber 7.2.1 away from the electric cylinder chamber 7.2.2 is fixed to the top of the plate-shaped body 3.1. A water inlet 7.5 is provided at the middle position of the end of the piston chamber 7.2.1 away from the electric cylinder chamber 7.2.2, which passes through the plate-shaped body 3.1 and communicates with the outside. A piston head 7.2.4 that can move is provided in the piston chamber 7.2.1. A float plate 7.3 is provided in the piston chamber 7.2.1 between the piston head 7.2.4 and the water inlet 7.5. The float plate 7.3 is connected to the corresponding sliding door 4.1.3 one by one through the corresponding traction rope 7.4. The traction rope 7.4 all pass out from the water inlet 7.5. An electric telescopic cylinder 7.2.3 is provided in the electric cylinder chamber 7.2.2, and the output end of the electric telescopic cylinder 7.2.3 forms an axial linkage with the piston head 7.2.4.

[0057] When the buoyancy switch device 7 is activated, the electric telescopic cylinder 7.2.3 retracts, the piston head 7.2.4 moves upward, the piston chamber 7.2.1 draws in water, and the float plate 7.3 moves upward, pulling the corresponding sliding door 4.1.3 out through the traction rope 7.4, thereby connecting the upper pipe 4.2 and the lower pipe 4.3. When the buoyancy switch device 7 is closed, the electric telescopic cylinder 7.2.3 outputs power, the piston head 7.2.4 moves down, the piston chamber 7.2.1 drains water, the float 7.3 moves down to release the tension of the traction rope 7.4, and the corresponding sliding door 4.1.3 resets under the release of energy from the spring 4.1.4, thus re-separating the upper tube 4.2 and the lower tube 4.3.

[0058] In a preferred embodiment 9, at least six buoyancy switch devices 7 are provided. Four buoyancy switch devices 7 are arranged symmetrically in pairs at the four corners of the plate-shaped body 3.1 and about the center of the plate-shaped body 3.1. The remaining two buoyancy switch devices 7 are arranged symmetrically in pairs at the center of the two sides of the plate-shaped body 3.1. The positions of the sliding door 4.1.3 and the corresponding buoyancy switch device 7 are kept as far apart as possible to reduce the buoyancy required for the buoyancy switch device 7 to pull out the corresponding sliding door 4.1.3, while ensuring the stability of the planting.

[0059] Electronic levels 7.6 are installed at the same positions on the buoyancy switch devices 7 located at the four corners. This allows for remote determination of whether the underwater drone 3 is operating stably.

[0060] In a preferred embodiment 10, the top of the upper tube 4.2 is detachably fitted with a cap for sealing. This cap is used to seal the top of the implantation tube 4 and prevent the implantation ball 5 from escaping.

[0061] Preferably, the cap is threadedly engaged with the threaded opening at the top of the upper tube 4.2.

[0062] like Figures 5-7As shown, in a preferred embodiment 11, the bottom of the plate-shaped body 3.1 forms a grid structure, and the mounting ports 3.1.1 are all located at the intersection of the grids. Lighting lamps 3.5 are fixed inside the grids by diagonal rods 3.4. The diagonal rods 3.4 are symmetrical about the lighting lamps 3.5. The lighting lamps 3.5 use fluorescent lamps or supplemental lighting lamps that simulate sunlight. When the device is not used for planting, it can provide supplemental lighting on the slope to further improve the survival rate of seeds and promote their growth.

[0063] As a preferred embodiment 11, the planting ball 5 comprises the following materials by weight: 35-40 parts soil, 35-40 parts pond bottom mud, 2-3 parts biochar, 0.5 parts microbial agent, and 1-2 parts seeds.

[0064] The seeds are wrapped in an outer shell made of organic clay mixed with microbial agents to form planting balls 5. This makes planting convenient, as there is no need to fill the soil after planting, and it also provides a substrate and nutrients for seed development.

[0065] The microbial agent includes Bacillus and / or Actinomycetes. It can decompose uneaten feed, feces, and organic matter, prevent the bottom sediment from turning black and smelly, and inhibit harmful bacteria. Combining it with the supplemental lighting and oxygenation steps of this device can make its effect more stable and effectively improve the underwater vegetation environment.

[0066] As a preferred embodiment 12, an application method of an automated planting device for reservoir bank ecological restoration involves arranging planting balls 5 on the underwater bank slope 1 using the aforementioned automated planting device for reservoir bank ecological restoration, including the following steps: Step 1: Plan the planting area on the underwater bank slope 1; Step 2: Install the planting ball 5 into the planting tube 4, install the planting tube 4 sequentially on the plate-shaped body 3.1 of the underwater drone 3, connect the sliding switch device 4.1 of the planting tube 4 to the corresponding buoyancy switch device 7, and snap the underwater drone 3 into the hollow part of the surface drone 2 to complete the installation of the device. Step 3: Move the entire device to a suitable hovering position using the surface drone 2, release the connection between the surface drone 2 and the underwater drone 3, release the composite hose 6, and operate the underwater drone 3 to move to the planned planting area above the underwater slope 1 for planting. Step 4: The underwater drone 3 descends smoothly until the pointed outlet of the planting tube 4 is inserted into the underwater slope 1. At this time, the buoyancy switch device 7 draws water, and the weight of the underwater drone 3 rises, pressing the planting tube 4 downward into the underwater slope 1 to form a channel. At the same time, the buoyancy switch device 7 draws water and drives the sliding switch device 4.1 to open, and the planting ball 5 enters the channel from the planting tube 4 to complete the planting. Step 5: The buoyancy switch device 7 drains water, and the sliding switch device 4.1 resets under elastic action to re-seal the planting pipe 4. At the same time, the weight of the underwater drone 3 is reduced, and the underwater drone 3 is controlled to rise. The planting pipe 4 is separated from the underwater bank slope 1, and the planting ball 5 forms a self-burial with the slope soil in the channel. Step Six: Recover the underwater drone 3 using the composite hose 6, and recover the entire device using the surface drone 2. After replenishing the planting balls 5, repeat steps two through six until the entire planting area of ​​the planned underwater slope 1 is planted.

Claims

1. An automated planting device for ecological restoration of reservoir banks, comprising a surface drone (2) and an underwater drone (3), characterized in that, The surface drone (2) floats on the water surface, and the bottom of the surface drone (2) is hollowed out and can be detachably attached to the underwater drone (3). The underwater drone (3) is connected to the surface drone (2) through a composite hose (6). The underwater drone (3) includes a plate-shaped fuselage (3.1), on which several planting tubes (4) are detachably provided. The bottom end of the planting tube (4) is provided with a pointed outlet that penetrates the plate-shaped fuselage (3.1) for insertion into the underwater slope (1). Several planting balls (5) are placed inside the planting tube (4), and the planting tube (4) is provided with a spring-loaded sliding switch device (4.1) to prevent the planting balls (5) from falling out from the pointed outlet. Several buoyancy switch devices (7) are provided on the plate-shaped fuselage (3.1), and the floating of the buoyancy switch device (7) is linked with the opening and closing of the corresponding sliding switch device (4.1).

2. The automated planting device for ecological restoration of reservoir banks according to claim 1, characterized in that, The unmanned aerial vehicle (2) is equipped with a recovery device (2.1) for storing the composite hose (6).

3. The automated planting device for ecological restoration of reservoir banks according to claim 2, characterized in that, The recovery device (2.1) is a hoisting device.

4. An automated planting device for ecological restoration of reservoir banks according to claim 2, characterized in that, The composite hose (6) includes an air guide tube, a power transmission line, and a signal transmission line.

5. An automated planting device for ecological restoration of reservoir banks according to claim 1, characterized in that, The top of the waterborne drone (2) is covered with a layer of photovoltaic panels (2.2).

6. An automated planting device for ecological restoration of reservoir banks according to claim 1, characterized in that, The plate-shaped fuselage (3.1) is equipped with propellers (3.2) at each of its four corners.

7. An automated planting device for ecological restoration of reservoir banks according to claim 1, characterized in that, The plate-shaped fuselage (3.1) is engaged with the bottom hollow of the waterborne unmanned aerial vehicle (2) by a limiting device (3.3).

8. An automated planting device for ecological restoration of reservoir banks according to claim 7, characterized in that, The limiting device (3.3) is an electric telescopic rod, and the limiting device (3.3) is symmetrically arranged about the plate-shaped body (3.1). One end of the electric telescopic rod is fixedly engaged with the side wall of the plate-shaped body (3.1), and the other end of the electric telescopic rod is provided with a rubber friction head. The bottom of the waterborne drone (2) is hollowed out to form a limiting groove (2.3). When the electric telescopic rod is extended, the plate-shaped body (3.1) is engaged in the limiting groove (2.3) by the extension of the electric telescopic rod. When the electric telescopic rod is retracted, the plate-shaped body (3.1) is disengaged.

9. An automated planting device for ecological restoration of reservoir banks according to claim 1, characterized in that, The plate-shaped body (3.1) is evenly provided with a number of installation ports (3.1.1) for installing the planting tube (4). The outer wall of the planting tube (4) is provided with a limiting ring (4.5). When the planting tube (4) is inserted into the corresponding installation port (3.1.1), the limiting ring (4.5) is supported by the top of the plate-shaped body (3.1) at the installation port (3.1.1) to form a limit. The limiting ring (4.5) is detachably fixed to the top of the plate-shaped body (3.1) by fastening screws (4.6).

10. An automated planting device for ecological restoration of reservoir banks according to claim 1, characterized in that, The planting tube (4) is divided into an upper tube (4.2) and a lower tube (4.3) by a sliding switch device (4.1). The planting ball (5) is stored in the upper tube (4.2). When the sliding switch device (4.1) is opened, the upper tube (4.2) and the lower tube (4.3) are connected.

11. An automated planting device for ecological restoration of reservoir banks according to claim 10, characterized in that, The top of the upper tube (4.2) is detachably fitted with a cap for sealing.

12. An automated planting device for ecological restoration of reservoir banks according to claim 10, characterized in that, The sliding switch device (4.1) includes two parallel sliding grooves (4.1.1) with openings facing each other. The sliding grooves (4.1.1) are located outside the planting tube (4) and are symmetrically arranged about the planting tube (4). The bottom side of the upper tube (4.2) and the top side of the lower tube (4.3) are fixedly engaged with the top side and bottom side of the sliding grooves (4.1.1), respectively. A sliding door (4.1.3) is slidably provided between the sliding grooves (4.1.1) to separate the upper tube (4.2) and the lower tube (4.3). An opening (4.1.5) is provided on one side of the groove (4.1.1) for pulling the sliding door (4.1.3) to slide out after being linked with the buoyancy switch device (7). An extension groove (4.1.2) is provided at the other end of the groove (4.1.1) to communicate with the groove (4.1.1). A spring (4.1.4) is provided between the sliding door (4.1.3) and the extension groove (4.1.2) and forms an elastic limiting fit through the spring (4.1.4). The spring (4.1.4) is located in the groove (4.1.1).

13. An automated planting device for ecological restoration of reservoir banks according to claim 12, characterized in that, When the spring (4.1.4) is in force equilibrium, pulling the sliding door (4.1.3) will just completely block the upper tube (4.2) and the lower tube (4.3). When the buoyancy switch device (7) floats up, it drives the sliding door (4.1.3) to slide out, the upper tube (4.2) and the lower tube (4.3) are connected, and the spring (4.1.4) is stretched and in an energy storage state; When the buoyancy switch device (7) lowers the sliding door (4.1.3) and loses traction, the spring (4.1.4) changes from the energy storage state to the energy release state and pulls the sliding door (4.1.3) to reset the upper tube (4.2) and lower tube (4.3).

14. An automated planting device for ecological restoration of reservoir banks according to claim 1, characterized in that, The buoyancy switch devices (7) are all syringe-shaped piston mechanisms (7.2). The piston mechanism (7.2) is equipped with a float plate (7.3). When the piston mechanism (7.2) draws water, the float plate (7.3) floats up. One buoyancy switch device (7) corresponds to several sliding doors (4.1.3). The sliding doors (4.1.3) are fixed to the float plate (7.3) of the same corresponding buoyancy switch device (7) by corresponding traction ropes (7.4).

15. An automated planting device for ecological restoration of reservoir banks according to claim 14, characterized in that, The piston mechanism (7.2) includes a piston chamber (7.2.1) and an electric cylinder chamber (7.2.2) that are interconnected. The end of the piston chamber (7.2.1) away from the electric cylinder chamber (7.2.2) is fixed to the top of the plate-shaped body (3.1). A water inlet (7.5) is located at the middle position of the end of the piston chamber (7.2.1) away from the electric cylinder chamber (7.2.2), penetrating the plate-shaped body (3.1) and communicating with the outside. A piston head capable of piston movement is provided inside the piston chamber (7.2.1). 7.2.4), a float plate (7.3) is provided in the piston chamber (7.2.1) between the piston head (7.2.4) and the water inlet (7.5). The float plate (7.3) is connected to the corresponding sliding door via a corresponding traction rope (7.4). 4.1.3) Connected one by one, the traction ropes (7.4) all pass through the water inlet (7.5), the electric cylinder cavity (7.2.2) is equipped with an electric telescopic cylinder (7.2.3), and the output end of the electric telescopic cylinder (7.2.3) forms an axial linkage with the piston head (7.2.4).

16. An automated planting device for ecological restoration of reservoir banks according to claim 15, characterized in that, The buoyancy switch device (7) is at least six, of which four buoyancy switch devices (7) are arranged at the four corners of the plate-shaped body (3.1) and are symmetrical about the middle position of the plate-shaped body (3.1), and the remaining two buoyancy switch devices (7) are arranged at the middle positions of both sides of the plate-shaped body (3.1) and are symmetrical about the middle position of the plate-shaped body (3.1).

17. An automated planting device for ecological restoration of reservoir banks according to claim 16, characterized in that, Electronic levels (7.6) are provided at the same positions on the buoyancy switch devices (7) located at the four corners.

18. An automated planting device for ecological restoration of reservoir banks according to claim 1, characterized in that, The planting ball (5) comprises the following materials by weight: 35-40 parts soil, 35-40 parts pond bottom mud, 2-3 parts biochar, 0.5 parts microbial agent, and 1-2 parts seeds.

19. An automated planting device for ecological restoration of reservoir banks according to claim 18, characterized in that, The microbial agents include Bacillus and / or Actinomycetes.

20. An application method for an automated planting device for ecological restoration of reservoir banks, characterized in that, The automated planting device for ecological restoration of reservoir banks as described in any one of claims 1 to 19 is used to arrange planting balls (5) on the underwater bank slope (1), including the following steps: Step 1: Plan the planting area of ​​the underwater bank slope (1); Step 2: Install the planting ball (5) into the planting tube (4), install the planting tube (4) on the plate-shaped body (3.1) of the underwater drone (3) in sequence, connect the sliding switch device (4.1) of the planting tube (4) to the corresponding buoyancy switch device (7), and snap the underwater drone (3) into the hollow part of the surface drone (2) to complete the installation of the device body; Step 3: Move the entire device to a suitable hovering position using the surface drone (2), release the connection between the surface drone (2) and the underwater drone (3), release the composite hose (6), and operate the underwater drone (3) to move to the planting area planned on the underwater slope (1) for planting. Step 4: The underwater drone (3) descends smoothly until the pointed outlet of the planting tube (4) is inserted into the underwater slope (1). At this time, the buoyancy switch device (7) draws water, and the weight of the underwater drone (3) rises, pressing the planting tube (4) downward into the underwater slope (1) to form a channel. At the same time, the buoyancy switch device (7) draws water and drives the sliding switch device (4.1) to open, and the planting ball (5) enters the channel from the planting tube (4) to complete the planting. Step 5: The buoyancy switch device (7) drains water, and the sliding switch device (4.1) resets under elastic action to re-seal the planting tube (4). At the same time, the weight of the underwater drone (3) is reduced, and the underwater drone (3) is controlled to rise. The planting tube (4) is separated from the underwater bank slope (1), and the planting ball (5) forms a self-burial with the slope soil in the channel. Step 6: Recover the underwater drone (3) by recycling the composite hose (6), and recover the entire device by the surface drone (2). Replenish the planting balls (5) and repeat steps 2 to 6 in sequence until the entire planting area of ​​the planned underwater slope (1) is planted.

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