A land-air amphibious mangrove forest intelligent planting device and a control method thereof

Abstract

The application discloses a kind of land-air amphibious mangrove forest intelligent planting equipment and control method thereof, belong to agricultural robot field, including land vehicle, aircraft and control system, the top of land vehicle is equipped with docking module, the bottom of land vehicle is equipped with planting mechanism, the top of aircraft is equipped with seedling storage bin, the bottom of aircraft is equipped with docking support matched with docking module, seedling storage bin is equipped with feeding mechanism.The application is realized from the shore to the beach planting of collaborative operation by setting land vehicle, aircraft and control system, by setting bottom pressure sensor and ultrasonic mud depth detection radar, realize dynamic adjustment grounding pressure and speed, encounter deep mud area or tidal ditch automatic trigger anti-trap mode and record dangerous coordinates, by the synergistic effect of feeding mechanism, swing connecting rod, asymmetric spade and backfilling shovel, backfill planting pit after planting, indirectly recognize hard object by angle sensor, aircraft tree seedling is exhausted and automatically returns to base to replenish seedling, realize pit, backfilling and continuous planting.

Description

Technical Field

[0001] This invention relates to the field of agricultural robot technology, and in particular to an amphibious intelligent mangrove planting device and its control method. Background Technology

[0002] Mangroves are a unique ecosystem in the intertidal zone of tropical and subtropical coasts, and have important ecological functions such as wind and wave protection, shoreline protection and seawater purification. Currently, mangrove planting mainly relies on manual labor, which is labor-intensive, inefficient, and unsafe. Although there have been some attempts at automated planting equipment, most of them are single-function devices or simply modified traditional agricultural machinery. These devices generally suffer from the following systemic defects: The various functional modules (such as walking, seedling storage, and planting) are independent of each other and lack coordination, making them unable to cope with complex terrains such as intertidal mud and tidal gullies; the planting process relies on manual intervention and has a low level of intelligence. Intertidal mudflats have complex characteristics such as soft foundation, low bearing capacity, varying mud depth, and distribution of tidal channels. Most existing equipment uses ordinary wheeled or simple tracked walking mechanisms, which lack the ability to perceive and adaptively adjust the ground bearing capacity and mud depth in real time. They are prone to sinking or overturning and are difficult to operate stably and continuously in complex terrain. Because the equipment can only carry a limited number of saplings, it must return to the shore manually to replant them after a period of time. This frequent back-and-forth not only wastes a lot of time but also significantly reduces the equipment's effective operating time, making the daily planting capacity far from meeting the needs of large-scale ecological restoration projects. To address these issues, an amphibious intelligent mangrove planting device and its control method are proposed. Summary of the Invention

[0003] The purpose of this invention is to solve the problems of lack of coordination among the functional modules, poor environmental adaptability, and low level of intelligence in existing mangrove intelligent planting equipment, and to propose an amphibious mangrove intelligent planting equipment and its control method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A land-and-air amphibious intelligent mangrove planting device includes a land vehicle, an aircraft, and a control system. The land vehicle is equipped with a docking module on its top and a planting mechanism on its bottom. The aircraft is equipped with a seedling storage compartment on its top and a docking bracket for matching the docking module on its bottom. The seedling storage compartment is equipped with a feeding mechanism and a feeding nozzle. The planting mechanism includes a swing linkage, with joint motors at both the top and bottom ends of the swing linkage. The joint motor at the top end is rotatably connected to the bottom of the land vehicle, and the joint motor at the bottom end is rotatably connected to a protective sleeve. An asymmetrical shovel blade driven by a hydraulic cylinder and a linkage assembly is installed inside the protective sleeve. An angle sensor is integrated inside the linkage assembly. The feeding mechanism includes a base with a rotating wheel shaft on it. A feeding port is located at the bottom of the base. A partition is provided inside the base, and a rotary motor and an opening / closing motor are located inside the partition. The rotary motor is connected to the rotating wheel shaft. A baffle matching the feeding port is installed at the output end of the opening / closing motor. A feeding wheel is provided on the outer wall of the rotating wheel shaft. Multiple seed tubes are inserted into the feeding wheel, and the ends of the seed tubes are open. Mangrove seedlings are stored in the seed tubes.

[0005] As a preferred embodiment, the bottom of the land vehicle is equipped with a tracked adaptive traverse system, which includes a bottom pressure sensor and an ultrasonic mud depth detection radar.

[0006] As a preferred embodiment, the seedling storage compartment is equipped with a seedling inventory monitoring sensor and a temperature and humidity sensor, and the docking module and docking bracket are equipped with an electromagnetic locking mechanism to realize the connection and separation of the aircraft and the land vehicle.

[0007] As a preferred embodiment, the aircraft is equipped with a positioning module and a vision camera.

[0008] As a preferred embodiment, the outer wall of the protective sleeve is provided with a backfill shovel for backfilling soil after planting is completed.

[0009] As a preferred embodiment, the aircraft is equipped with a positioning module and a vision camera.

[0010] A control method for an amphibious intelligent mangrove planting device includes the following steps: S1: Initial Operation Planning and Loading: The control system preloads the elevation map and planned path of the planting area, which includes the spacing between planting points and the row spacing; the operator loads the mangrove seedlings into the seedling storage compartment of the aircraft on the shore and connects the land vehicle and the aircraft together through the docking structure; S2: Travel and Positioning: The control system plans the optimal route to the target work point based on Beidou positioning and a preset path. During travel, the bottom pressure sensor and ultrasonic mud depth radar installed at the bottom of the lander provide real-time feedback on ground bearing capacity information. The control system dynamically adjusts the track ground pressure and travel speed based on this information to prevent sinking. Specifically, when the bottom pressure sensor detects that the ground bearing capacity is lower than the first threshold, the control system reduces the track ground pressure and travel speed. When the ultrasonic mud depth radar detects that the mud depth exceeds the second threshold, the control system further reduces the travel speed and triggers the anti-sinking mode. S3: Continuous Automated Planting: When the land vehicle moves to the designated planting point, the swing linkage moves the protective sleeve to below the feeding port, and the feeding mechanism works: the rotary motor drives the seedling storage tray to rotate, and the opening and closing motor drives the baffle to rotate, opening the feeding port. Then, the feeding nozzle accurately pushes the single seedling from the seed tube into the closed asymmetrical shovel blade. Then, the swing linkage resets, the hydraulic cylinder presses down, pushes out the asymmetrical shovel blade and expands it, forming a pit on the ground. If the output force of the hydraulic cylinder does not match the rotation angle of the linkage group, it indicates that the pressing resistance exceeds the preset resistance threshold, or that a hard object or obstacle is encountered. The control system immediately terminates the current action, records the position of the point as an invalid point, and uploads the coordinates and resistance value of the invalid point to the cloud. At the same time, it instructs the equipment to move to the next planting point to avoid damage to the mechanism. If the resistance is normal, after the seedling falls into the pit, the swing linkage drives the protective sleeve to move to below the feeding port on the other side. During this process, backfilling is completed by the backfill shovel. S4: Intelligent monitoring and autonomous resupply: After all the seedlings in the seedling storage tray have been planted, the control system controls the electromagnetic locking mechanism of the docking structure to unlock, and the aircraft takes off automatically. It returns to the shore resupply point through Beidou positioning and visual navigation, where staff replenish the seedlings to shorten the resupply cycle. The aircraft then automatically flies back to the work area and autonomously docks with the lander through visual guidance. After successful docking, it continues to perform the planting task from the break point. S5: Data Interaction and Remote Optimization: The device uploads planting data, invalid point information, and device status to the cloud platform in real time via 4G / 5G communication, and receives remotely updated operation maps or planting parameters for subsequent path planning and parameter adaptive adjustment.

[0011] As a preferred embodiment, the dynamic adjustment of track ground pressure and travel speed in S2 specifically includes: when the bottom pressure sensor detects that the ground bearing capacity is lower than the first threshold, the control system determines that the current ground is a soft area, automatically reduces the track ground pressure and travel speed to prevent the land vehicle from sinking; when the ultrasonic mud depth detection radar detects that the mud depth exceeds the second threshold, the control system determines that the current area is a deep mud area or tidal ditch, further reduces the travel speed and triggers the anti-sinking mode, and records the coordinates of the area for priority avoidance during subsequent path planning.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. By setting up a land vehicle, an aircraft, and a docking module, and combining the control system with coordinated control of stock monitoring, autonomous separation and resupply, and precise docking, this invention can realize coordinated operations from shore-side seedling replenishment to tidal flat planting, solving the problems of lack of coordination and discontinuous operation among the functional modules of walking, seedling storage, and planting in the prior art.

[0013] 2. Through the combined action of the tracked adaptive travel system, bottom pressure sensor and ultrasonic mud depth detection radar, the control system can dynamically adjust the track ground pressure and travel speed, and automatically trigger the anti-sinking mode in deep mud areas or tidal channels. At the same time, it records the coordinates of dangerous areas for subsequent path avoidance, thereby improving the equipment's passability and operational safety in complex terrains such as muddy and soft intertidal zones.

[0014] 3. This invention utilizes the synergistic action of the feeding mechanism, swing linkage, asymmetrical shovel blade, and backfill shovel, along with real-time monitoring of downward pressure resistance by a pressure sensor. It can automatically identify hard objects or obstacles and mark invalid points for avoidance. Simultaneously, the aircraft automatically returns to replenish seedlings after the seedlings are exhausted, while the land vehicle remains on standby to continue the operation, achieving the functions of pit formation, automatic backfilling, and continuous planting, thereby improving planting efficiency and seedling survival rate. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of an amphibious intelligent mangrove planting device proposed in this invention; Figure 2 This is a structural assembly diagram of the aircraft and land vehicle in an amphibious mangrove intelligent planting device proposed in this invention; Figure 3 This is a schematic diagram of the bottom structure of the aircraft in the amphibious mangrove intelligent planting device proposed in this invention; Figure 4 This is a schematic diagram of the bottom structure of the terrestrial vehicle in an amphibious mangrove intelligent planting device proposed in this invention; Figure 5 This is a cross-sectional view of the internal structure of the seedling storage compartment in an amphibious mangrove intelligent planting device proposed in this invention; Figure 6 This is a structural assembly diagram of the base and the feeding wheel in an amphibious mangrove intelligent planting device proposed in this invention; Figure 7 This is a schematic diagram of the internal structure of the base in an amphibious mangrove intelligent planting device proposed in this invention; Figure 8 This is a schematic diagram of the internal structure of the planting mechanism in an amphibious mangrove intelligent planting device proposed in this invention; Figure 9 This is a schematic diagram of the control method for the planting mechanism in an amphibious mangrove intelligent planting device proposed in this invention.

[0016] In the diagram: 1. Land vehicle; 2. Aircraft; 3. Docking module; 4. Seedling storage bin; 5. Docking bracket; 6. Feeding nozzle; 7. Swinging linkage; 8. Joint motor; 9. Protective sleeve; 10. Asymmetric shovel blade; 11. Base; 1101. Partition; 12. Wheel shaft; 13. Feeding port; 14. Rotary motor; 15. Opening and closing motor; 16. Baffle; 17. Seed tube; 18. Bottom pressure sensor; 19. Ultrasonic mud depth detection radar; 20. Backfill shovel; 21. Visual camera. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] Example, refer to Figures 1 to 9 A land-air amphibious mangrove intelligent planting device and its control method include a land vehicle 1, an aircraft 2 and a control system. The land vehicle 1 is provided with a docking module 3 on its top and a planting mechanism on its bottom. The aircraft 2 is provided with a seedling storage chamber 4 on its top and a docking bracket 5 for matching the docking module 3 on its bottom. The seedling storage chamber 4 is provided with a feeding mechanism and a feeding nozzle 6. The planting mechanism includes a swing link 7, with joint motors 8 at both the top and bottom ends of the swing link 7. The joint motor 8 at the top is rotatably connected to the bottom of the land vehicle 1, and the joint motor 8 at the bottom is rotatably connected to a protective sleeve 9. The protective sleeve 9 contains an asymmetric shovel blade 10 driven by a hydraulic cylinder and a linkage group. An angle sensor is integrated into the linkage group. The feeding mechanism includes a base 11, on which a wheel shaft 12 is provided. A feeding port 13 is located at the bottom of the base 11. A partition 1101 is provided inside the base 11. A rotary motor 14 and an opening and closing motor 15 are provided inside the partition 1101. The rotary motor 14 is connected to the wheel shaft 12. A baffle 16 matching the feeding port 13 is installed at the output end of the opening and closing motor 15. A feeding wheel is provided on the outer wall of the wheel shaft 12. Multiple seed tubes 17 are inserted into the feeding wheel. The ends of the seed tubes 17 are open. Mangrove seedlings are stored in the seed tubes 17.

[0021] Furthermore, the bottom of the land vehicle 1 is equipped with a tracked adaptive travel system, which includes a bottom pressure sensor 18 and an ultrasonic mud depth detection radar 19. The further advantage of adopting the above is that the tracked adaptive travel system can dynamically adjust the track ground pressure and travel speed based on the ground bearing capacity and mud depth information fed back in real time by the bottom pressure sensor 18 and the ultrasonic mud depth detection radar 19, effectively preventing the equipment from sinking in soft mudflats or deep mud areas, and improving the equipment's passability and operational safety in complex intertidal terrain.

[0022] Furthermore, the docking module 3 and the docking bracket 5 are equipped with an electromagnetic locking mechanism to realize the connection and separation of the aircraft 2 and the lander 1; Furthermore, the outer wall of the protective sleeve 9 is provided with a backfill shovel 20 for backfilling soil after planting is completed; The further advantage of adopting the above is that the backfill shovel 20 can automatically complete the soil backfilling as the protective sleeve 9 moves, without the need for additional power or independent actuators, simplifying the planting process, ensuring the quality of soil covering after the seedlings are planted, and helping to improve the survival rate. Furthermore, the aircraft 2 is equipped with a positioning module and a visual camera 21; When using this invention, the operator first preloads the elevation map and planned path of the planting area through the control system on the shore, including the spacing between planting points and the row spacing. Then, the mangrove seedlings are loaded into the seed tubes 17 in the seed storage chamber 4 of the aircraft 2 in sequence. Each seed tube 17 holds one mangrove seedling. After the seedlings are loaded, the lander 1 and the aircraft 2 are connected as one unit by the cooperation of the docking module 3 and the docking bracket 5 and the electromagnetic locking mechanism.

[0023] Subsequently, the control system plans the optimal route to the target work point based on Beidou positioning and preset path. Lander 1 and aircraft 2 travel together. During the journey, the bottom pressure sensor 18 and ultrasonic mud depth detection radar 19 on the bottom of lander 1 provide real-time feedback on ground bearing capacity information. When the bottom pressure sensor 18 detects that the ground bearing capacity is lower than the first threshold, the control system determines that the current ground is a soft area, automatically reduces the track ground pressure and reduces the travel speed to prevent lander 1 from sinking. When the ultrasonic mud depth detection radar 19 detects that the mud depth exceeds the second threshold, the control system determines that the current area is a deep mud area or tidal ditch, further reduces the travel speed and triggers the anti-sinking mode, and records the coordinates of the area for priority avoidance in subsequent path planning.

[0024] Upon arrival at the work area, continuous automated planting begins. The land vehicle 1 moves to the first predetermined planting point, and the swing linkage 7 adjusts its posture via the joint motors 8 at both ends, moving the protective sleeve 9 below the feeding port 13 at the bottom of the seedling storage bin 4. The control system instructs the feeding mechanism to work: the rotary motor 14 drives the feeding wheel to rotate, aligning the seed tube 17 containing the seedling with the feeding port 13. At the same time, the opening and closing motor 15 drives the baffle 16 to rotate and open the feeding port 13. Then, the feeding nozzle 6 uses pneumatic pressure to push the single seedling from the seed tube 17 into the closed asymmetrical shovel blade 10 below. After the seedling enters the asymmetrical shovel blade 10, the swing linkage 7 resets, making the protective sleeve 9 and the asymmetrical shovel blade 10 vertically aligned with the ground. The hydraulic cylinder drives the asymmetrical shovel blade 10 to press down into the soil. After entering the soil, the asymmetrical shovel blade 10 expands outward under the further drive of the hydraulic cylinder, dynamically forming a planting pit. During this process, the angle sensor inside the protective sleeve 9 monitors the rotation angle of the linkage group in real time. If the output force of the hydraulic cylinder does not match the rotation angle of the linkage group, it indicates that the downward pressure resistance exceeds the preset resistance threshold, or that there are hard objects, stones, or underground roots below the planting point. At this time, the control system immediately terminates the current planting action, marks the point as an invalid point, records its coordinates and resistance value and uploads them to the cloud, and simultaneously instructs the land vehicle 1 to move to the next planting point to avoid damage to the mechanism. If the resistance is normal, the asymmetric shovel blade 10 expands into a pit and the sapling falls into the pit. Then, the swing linkage 7 moves again to drive the protective sleeve 9 to one side. During the movement, the backfill shovel 20 on the outer wall of the protective sleeve 9 backfills the soil into the pit, completing the soil covering and compaction. At the same time, the sensor records the position and depth data of this planting. After completing one planting point, the land vehicle 1 moves to the next planting point and repeats the above automatic planting cycle.

[0025] During continuous planting, the control system monitors the remaining number of seedlings in the seedling storage trays in real time. Once all seedlings in seed tubes 17 of the seedling storage trays have been planted, the system automatically triggers a replenishment process. The electromagnetic locking mechanism on the control system command docking module 3 is released, and the aircraft 2 takes off automatically. It returns to the shore supply point via Beidou positioning and visual navigation. The lander 1 remains on standby, waiting for the aircraft 2 to return. After the aircraft 2 returns to the shore, staff replenish the seedling storage compartment with new seedlings to shorten the supply cycle. After replenishment, the aircraft 2 automatically flies back to the work area and uses the visual camera 21 to identify the visual guidance mark on the docking module 3 of the lander 1 to autonomously dock with the lander 1. After successful docking, the control system reads the breakpoint record and continues the planting task from the next position after the last successful planting point.

[0026] Throughout the entire operation, the equipment uses 4G / 5G communication to upload planting data, invalid point information, and equipment status to the cloud platform in real time, and receives remotely updated operation maps or planting parameters for subsequent path planning and parameter adaptive adjustment, thereby realizing unmanned and intelligent operation from shore replenishment to tidal flat planting.

[0027] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An amphibious intelligent mangrove planting device, comprising a land vehicle (1), an aircraft (2), and a control system, characterized in that, The land vehicle (1) is provided with a docking module (3) at the top and a planting mechanism at the bottom. The aircraft (2) is provided with a seedling storage chamber (4) at the top and a docking bracket (5) for the matching docking module (3) at the bottom. The seedling storage chamber (4) is provided with a feeding mechanism and a feeding nozzle (6). The planting mechanism includes a swing link (7), and joint motors (8) are provided at both the upper and lower ends of the swing link (7). The joint motor (8) at the top is rotatably connected to the bottom of the land vehicle (1), and the joint motor (8) at the bottom is rotatably connected to a protective sleeve (9). An asymmetric shovel blade (10) driven by a hydraulic cylinder and a linkage group is provided inside the protective sleeve (9). An angle sensor is integrated inside the linkage group. The feeding mechanism includes a base (11), on which a wheel shaft (12) is provided. A feeding port (13) is located at the bottom of the base (11). A partition (1101) is provided inside the base (11). A rotary motor (14) and an opening and closing motor (15) are provided inside the partition (1101). The rotary motor (14) is connected to the wheel shaft (12). A baffle (16) matching the feeding port (13) is installed at the output end of the opening and closing motor (15). A feeding wheel is provided on the outer wall of the wheel shaft (12). Multiple seed tubes (17) are inserted into the feeding wheel. The ends of the seed tubes (17) are open. Mangrove seedlings are stored in the seed tubes (17).

2. The amphibious intelligent mangrove planting equipment according to claim 1, characterized in that, The bottom of the land vehicle (1) is equipped with a tracked adaptive travel system, which includes a bottom pressure sensor (18) and an ultrasonic mud depth detection radar (19).

3. The amphibious intelligent mangrove planting equipment according to claim 2, characterized in that, The docking module (3) and docking bracket (5) are equipped with electromagnetic locking mechanisms to realize the connection and separation of the aircraft (2) and the lander (1).

4. The amphibious intelligent mangrove planting equipment according to claim 3, characterized in that, The outer wall of the protective sleeve (9) is provided with a backfill shovel (20) for backfilling soil after planting is completed.

5. The amphibious intelligent mangrove planting equipment according to claim 4, characterized in that, The aircraft (2) is equipped with a positioning module and a vision camera (21).

6. The control method for an amphibious mangrove intelligent planting device according to any one of claims 1-5, characterized in that, Includes the following steps: S1: Initial operation planning and loading: The control system preloads the elevation map and planning path of the planting area, the planning path including the spacing between planting points and the row spacing; the operator loads the mangrove seedlings into the seedling storage compartment (4) of the aircraft (2) on the shore, and connects the land vehicle (1) and the aircraft (2) into one unit through the docking structure; S2: Travel and Positioning: The control system plans the optimal route to the target work point based on Beidou positioning and preset path; during travel, the bottom pressure sensor (18) and ultrasonic mud depth detection radar (19) set at the bottom of the land vehicle (1) provide real-time feedback on ground bearing capacity information, and the control system dynamically adjusts the track ground pressure and travel speed according to the information to prevent sinking; specifically, when the bottom pressure sensor (18) detects that the ground bearing capacity is lower than the first threshold, the control system reduces the track ground pressure and reduces the travel speed; when the ultrasonic mud depth detection radar (19) detects that the mud depth exceeds the second threshold, the control system further reduces the travel speed and triggers the anti-sinking mode; S3: Continuous Automated Planting: The land vehicle (1) moves to the predetermined planting point, and the swing linkage (7) moves the protective sleeve (9) to below the feeding port (13). The feeding mechanism works: the rotary motor (14) drives the seedling storage tray to rotate, and the opening and closing motor (15) drives the baffle (16) to rotate, so that the feeding port (13) opens. Then, the feeding nozzle (6) accurately pushes the single seedling from the seed tube (17) into the closed asymmetric shovel blade (10). Then, the swing linkage (7) resets, the hydraulic cylinder presses down, pushes out the asymmetric shovel blade (10) and expands it on the ground. If the output force of the hydraulic cylinder does not match the rotation angle of the connecting rod assembly, it indicates that the downward pressure resistance exceeds the preset resistance threshold. There are hard objects, stones or underground roots below the planting point. The control system stops the planting action, records the position of the point as invalid, and uploads the coordinates and resistance value of the invalid point to the cloud. At the same time, it instructs the equipment to move to the next planting point to avoid damage to the mechanism. If the resistance is normal, after the seedling falls into the pit, the swing connecting rod (7) drives the protective sleeve (9) to move to the bottom of the feeding port (13) on the other side. During this process, the backfilling is completed by the backfilling shovel (20). S4: Intelligent monitoring and autonomous resupply: After all the seedlings in the seedling storage tray are planted, the control system controls the electromagnetic locking mechanism of the docking structure to unlock, and the aircraft (2) takes off automatically. It returns to the shore resupply point through Beidou positioning and visual navigation. The staff replenishes new mangrove seedlings to shorten the resupply cycle. Then the aircraft (2) automatically flies back to the work area and autonomously docks with the land vehicle (1) through visual guidance. After successful docking, it continues to perform the planting task from the break point. S5: Data Interaction and Remote Optimization: The device uploads planting data, invalid point information, and device status to the cloud platform in real time via 4G / 5G communication, and receives remotely updated operation maps or planting parameters for subsequent path planning and parameter adaptive adjustment.

7. The control method according to claim 6, characterized in that, The dynamic adjustment of track ground pressure and travel speed in S2 specifically includes: when the bottom pressure sensor (18) detects that the ground bearing capacity is lower than the first threshold, the control system determines that the current ground is a soft area, automatically reduces the track ground pressure and travel speed to prevent the land vehicle (1) from sinking. When the ultrasonic mud depth detection radar (19) detects that the mud depth exceeds the second threshold, the control system determines that the current area is a deep mud area or tidal ditch, further reduces the travel speed and triggers the anti-sinking mode, and records the coordinate position of the area for priority avoidance in subsequent path planning.

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