CN117898188B - Crawler-type tree planting robot for desertification control - Google Patents
Crawler-type tree planting robot for desertification control Download PDFInfo
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- CN117898188B CN117898188B CN202410308703.4A CN202410308703A CN117898188B CN 117898188 B CN117898188 B CN 117898188B CN 202410308703 A CN202410308703 A CN 202410308703A CN 117898188 B CN117898188 B CN 117898188B
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- 241000196324 Embryophyta Species 0.000 description 1
- 241001278112 Populus euphratica Species 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/04—Transplanting trees; Devices for grasping the root ball, e.g. stump forceps; Wrappings or packages for transporting trees
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/04—Transplanting trees; Devices for grasping the root ball, e.g. stump forceps; Wrappings or packages for transporting trees
- A01G23/043—Transplanting devices for grasping, undercutting or transporting the root ball
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/099—Auxiliary devices, e.g. felling wedges
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Soil Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses a crawler-type tree planting robot for desertification control, which belongs to the technical field of desertification control and comprises the following components: the crawler frame is vertically provided with a positioning frame on one side of the upper end surface, the positioning frame is provided with a control seat in a vertically sliding manner, spiral pages are arranged on the control seat in a relatively rotatable manner, a seedling storage mechanism is arranged on the crawler frame and positioned on the opposite rear side of the positioning frame, a seedling conveying mechanism is transversely arranged on the crawler frame, a seedling falling disc is arranged on the crawler frame and positioned on the opposite rear side of the seedling conveying mechanism, and a delivery opening is arranged on the crawler frame and positioned under the seedling falling disc; the seedling conveying mechanism is provided with a cloud sapling image acquisition module; the crawler frame is also provided with a self-adaptive soil pressing mechanism; in the control of desert tree planting, a plurality of corresponding soil pressing planting modes can be provided through the self-adaptive soil pressing mechanism in different geographic positions of a desert area and different tree species planting, so that the survival rate of the tree species can be improved.
Description
Technical Field
The invention belongs to the technical field of desert tree planting treatment, and particularly relates to a crawler-type tree planting robot for desert control.
Background
Along with the increasing severity of desertification, the desert tree planting is one of the most important links in the wind prevention and sand fixation process, and the traditional manual tree planting is mainly realized through digging, filling, time and labor consumption, high labor intensity and low efficiency, so that the method is only suitable for small-scale planting. In order to improve the tree planting efficiency, the existing tree planting robot on the market is proposed. However, the unified soil-pressing and seedling-burying mode is adopted during the planting period of the tree planting robot, so that the flexibility of manual tree planting and soil pressing can not be achieved to cope with various complex terrains and soil conditions, and the differences among different tree species and individuals in the same tree species are ignored, so that personalized and targeted tree planting management is not facilitated to be constructed, and especially for tree species with high requirements on soil air permeability and drainage performance, healthy growth of the tree species can be influenced, even later dumping is caused, and the tree cannot survive. Therefore, it is necessary to provide a crawler-type tree planting robot for desertification control to solve the problems in the prior art.
Disclosure of Invention
In order to achieve the above purpose, the present invention provides the following technical solutions: a crawler-type tree planting robot for desertification control, comprising: the seedling planting device comprises a crawler frame, wherein a positioning frame is vertically arranged on one side of the upper end surface of the crawler frame, a control seat is arranged on the positioning frame, the control seat can slide up and down, a spiral page is arranged on the control seat in a relatively rotatable mode and is used for vertically drilling in the desert ground and forming planting holes, a seedling storage mechanism is arranged on one side, far away from the spiral page, of the positioning frame on the crawler frame, a seedling conveying mechanism is transversely arranged on the crawler frame, one side of the seedling conveying mechanism is connected with the seedling storage mechanism, the seedling conveying mechanism is used for arranging and conveying seedlings in the seedling storage mechanism, a seedling falling disc is arranged on the other side of the seedling conveying mechanism, a delivery opening is arranged right below the seedling falling disc on the crawler frame, and the seedling falling disc is used for throwing the seedlings into the planting holes through the delivery opening, so that preliminary pre-burying of the seedlings is completed; the seedling conveying mechanism is provided with a cloud seedling image acquisition module, the cloud seedling image acquisition module adopts a high-precision camera or a multispectral camera to perform discretized point cloud scanning on single seedlings so as to better identify the seedlings and root areas thereof, classify the seedlings according to the information such as typical crown length, rhizome position height and the like, and provide corresponding optimal planting depth and soil pressing and seedling burying modes for individual seedling planting;
the crawler frame is further provided with a self-adaptive soil pressing mechanism, the self-adaptive soil pressing mechanism provides adaptive soil pressing for planted saplings based on the cloud sapling image acquisition module, judges whether further soil pressing is needed to ensure that the saplings stably grow, and marks the saplings needing special treatment in coordinates.
Further, as an optimization, the crawler frame is provided with an environment analysis module and a sapling characteristic analysis module, and the environment analysis module forms a reference data set based on the obtained geographic coordinate characteristic data, the topographic feature data, the climatic feature data and the soil feature data of the planting area in the desert area, and builds a planting area environment prediction training model;
the sapling characteristic analysis module is combined with the cloud sapling image acquisition module to acquire characteristic data of individual saplings, and the environment analysis module is used for outputting planting characteristic analysis of the individual saplings, so that target data of the embedding depth and soil compaction form of the individual saplings at planting points of the desert planting area are output, the survival rate and long-term growth effect of the saplings in the desert environment are improved to the greatest extent, and the follow-up self-adaptive soil compacting mechanism 3 is convenient to plant in a corresponding soil burying mode.
Further, preferably, the environmental prediction training model scores importance of geographic coordinate feature data, topography feature data, climate feature data and soil feature data of a planting area of the desert area;
Determining recommended features according to the importance scores;
model training is carried out on the reference data set based on recommended features, and a plurality of candidate regression models are obtained;
and obtaining the model scores of the candidate regression models based on a preset model evaluation method, determining a recommended regression model, and finally selecting an optimal regression model.
Further, preferably, the adaptive soil compacting mechanism includes:
the four sides of the frame are symmetrically provided with rotating shafts, and steering seats are rotatably arranged on the rotating shafts;
the four driving arms are correspondingly arranged on the steering seats, are arranged into two-section rotating structures, and are provided with soil compacting assemblies;
and the soil pressing plate is arranged at one end of the soil pressing assembly.
Further, preferably, the deflection angle of the steering seat is-30 degrees to 30 degrees, so that each driving arm can guide the soil pressing plate to obliquely and circularly press the periphery of the seedling soil in synchronous or asynchronous rotation adjustment along with the steering seat.
Further, preferably, the driving arm is further provided with a rod vibrator parallel to the soil compacting assembly, the driving arm is provided with a telescopic guide rod, one end of the rod vibrator is fixed with a telescopic end of the telescopic guide rod, and the rod vibrator provides axial and radial vibration.
Further, preferably, the soil compacting assembly includes:
The lower end of the adjusting lever arm is coaxially and slidably provided with a guide post;
the connecting rod bracket is fixed at one end of the guide post, and the soil pressing plate is rotatably arranged on the connecting rod bracket;
The inner driving disc is rotatably arranged in the adjusting lever arm, a transmission rod is connected to the inner driving disc, and one end of the transmission rod is connected with the guide post, so that the guide post can be driven to continuously vibrate soil during continuous unidirectional rotation of the inner driving disc.
Further, preferably, fine adjustment rods are symmetrically hinged to the guide posts at two sides of the connecting rod frame, and telescopic ends of the fine adjustment rods are connected to the soil pressing plate;
The fine adjustment rod can assist the soil compacting plate to deflect relative to the connecting rod frame under the cooperation of telescopic adjustment, so that the soil compacting plate can be pressed on sapling soil in parallel or in a relatively inclined manner.
Further, preferably, the soil compacting component compacts the planted sapling by adopting a plurality of different soil compacting actions, so that the soil surrounding the planted sapling is cone-shaped, ring-shaped, flat, slope-shaped or spiral;
before the soil is pressed to the planted sapling by adopting a plurality of different soil pressing actions, the embedded depth of the planted sapling can be adjusted preferentially, wherein the vibrating rod device is obliquely inserted into surrounding soil, and the adjusting rod arm slides gradually to extend out, so that the sapling is pressed into the planting hole slowly.
Compared with the prior art, the invention has the beneficial effects that:
In the desert tree planting management, a regression model is built based on the tree seedling characteristic analysis module and the environment analysis module, so that multiple corresponding soil pressing planting modes can be provided through the self-adaptive soil pressing mechanism in different geographic positions of a desert region, the survival rate of tree species can be improved, personalized embedded planting of single tree species is realized, the planting depth of individual tree seedlings is ensured, the proper connection of roots (namely the junction of roots and stems) and the ground is ensured, the phenomenon of 'stuffy buds' caused by excessively deep embedded planting affecting ventilation and sprouting of the tree seedlings is avoided, the seedling reviving period is prolonged, and even the death of the tree seedlings is caused.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic representation of a regression model in the present invention;
FIG. 3 is a schematic diagram of an adaptive soil compacting mechanism according to the present invention;
FIG. 4 is a schematic top view of the adaptive soil compacting mechanism according to the present invention;
FIG. 5 is a schematic view of a soil compacting assembly according to the present invention;
in the figure: 1. a track frame; 11. a positioning frame; 12. spiral pages; 2. a reservoir Miao Jigou; 21. a seedling conveying mechanism; 22. seedling tray; 3. self-adaptive soil compacting mechanism; 31. a frame; 32. a steering seat; 33. a rotating shaft; 34. a driving arm; 35. a soil compacting plate; 36. a rod vibrator; 37. a telescopic guide rod; 4. a soil compacting assembly; 41. an adjusting lever arm; 42. a guide post; 43. a connecting rod bracket; 44. an inner drive plate; 45. and (5) fine tuning the rod.
Detailed Description
Referring to fig. 1-5, in an embodiment of the present invention, a crawler-type tree planting robot for desertification control includes: the crawler frame 1 is vertically provided with a positioning frame 11 on one side of the upper end surface, a control seat is arranged on the positioning frame 11, the control seat can slide up and down, a spiral page 12 is arranged on the control seat in a relatively rotatable manner and is used for vertically drilling in the desert ground to form planting holes, a seedling storage mechanism 2 is arranged on one side, far away from the spiral page 12, of the crawler frame 1, a seedling conveying mechanism 21 is transversely arranged on the crawler frame 1, one side, far away from the seedling conveying mechanism 21, of the seedling conveying mechanism 21 is connected with the seedling storage mechanism 2, the seedling conveying mechanism 21 is used for arranging and conveying seedlings in the seedling storage mechanism 2, a seedling dropping disc 22 is arranged on the other side of the seedling conveying mechanism 21, and when the crawler frame 1 passes through the planting holes, the seedling dropping disc 22 is used for throwing seedlings into the planting holes through a delivery port, so that the primary pre-burying of the seedlings is completed, a soil sweeping mechanism can be further arranged on one side, far away from the seedling conveying mechanism 21, which is positioned at the bottom of the crawler frame 1, the seedling storage mechanism 2 is used for carrying out the subsequent soil and the primary soil cleaning of the planting holes; the seedling conveying mechanism 21 is provided with a cloud seedling image acquisition module, the cloud seedling image acquisition module adopts a high-precision camera or a multispectral camera to perform discretization point cloud scanning on single seedlings, and simultaneously performs pretreatment operations such as filtering, enhancing, correcting and the like on acquired images so as to better identify seedlings and root areas thereof, classify the seedlings according to typical crown length, rhizome position height and other information, and further provide corresponding optimal planting depth and soil pressing and seedling burying modes for individual seedling planting;
The crawler frame 1 is further provided with a self-adaptive soil pressing mechanism 3, the self-adaptive soil pressing mechanism 3 is used for providing adaptive soil pressing for planted saplings based on a cloud sapling image acquisition module, wherein a high-precision camera or a multispectral camera can also be used for acquiring image data of soil coverage conditions after the saplings are planted in real time, the image data comprise, but are not limited to, sapling implantation depth, surrounding soil porosity, root coverage conditions and the like, logic processing analysis is carried out on the information, whether further soil pressing is needed to ensure the stable growth of the saplings, and coordinate marking is carried out on the saplings needing special treatment, so that subsequent artificial planting and repair are convenient, the soil pressing effect and strength which are just right are provided for different saplings are ensured, the saplings are not blown down by wind, and the situation that the saplings are normally grown due to excessive soil pressing is avoided.
In this embodiment, an environmental analysis module and a sapling characteristic analysis module are disposed on the crawler frame 1, where the environmental analysis module forms a reference data set based on obtaining geographic coordinate characteristic data, topographic feature data, weather feature data, soil feature data, and the like of a planting area in a desert area, the topographic feature data includes altitude, gradient, slope direction, topographic roughness, and the like, the weather feature data includes annual rainfall, air temperature change, wind speed, sunshine hours, evaporation capacity, and the like, the soil feature data includes soil type, pH value, organic matter content, salt alkalinity, texture (sandy soil, loam or clay), water holding performance, nutrient status, and the like, and builds a planting area environmental prediction training model, and the environmental prediction training model scores importance of geographic coordinate feature data, topographic feature data, weather feature data, and soil feature data of the planting area in the desert area, and determines recommended features according to importance scores; namely, the importance of each type of feature is scored by using a feature selection algorithm (such as recursive feature elimination, feature importance ranking in random forest and the like), and through the process, the key factors with the greatest influence on the planting effect can be identified;
model training is carried out on the reference data set based on recommended features, a plurality of candidate regression models are obtained, and multi-dimensional data mining and machine learning model training are carried out on the reference data set by utilizing the screened recommended feature set so as to obtain a plurality of candidate regression models which are excellent in performance and suitable for different conditions;
obtaining model scores of the candidate regression models based on a preset model evaluation method, and determining a recommended regression model; repeating data training on the recommended regression model, detecting the accuracy of the model through a test set in the reference data set, and finally selecting an optimal regression model through performance evaluation (such as MSE (mean square error), R (score of R) and cross verification result) on the candidate model;
The sapling characteristic analysis module is combined with the cloud sapling image acquisition module to acquire characteristic data of individual saplings, wherein the characteristic data comprise sapling morphological parameters, tree species identification information, health condition assessment and the like, and the characteristic analysis module is used for outputting the planting characteristic analysis of the individual saplings on the basis of the environment, so that target data such as the embedding depth, the soil pressing form and the like of the individual saplings at planting points of a desert planting area are output, and the survival rate and the long-term growth effect of the saplings in the desert environment are improved to the greatest extent;
The regression model can accurately predict the planting characteristic analysis of tree planting at the corresponding position of the desert area according to the combination of the input individual sapling cloud characteristics and planting area data, so that the follow-up self-adaptive soil pressing mechanism 3 can conveniently perform planting in a corresponding soil burying mode;
For example: the planting time of the badanjilin in a grassland area with serious desertification in inner Mongolia is selected to be 3-5 months in spring, the geographic coordinates are approximately 40 DEG to 41 DEG 45' in north latitude, 102 DEG to 106 DEG in east longitude, the earth surface is mainly covered by sandy soil, the gradient is 5 DEG, the average daytime temperature can be above 15 ℃, the monthly precipitation amount is lower than 40 mm, the sunshine time is as long as 8 hours, the solar radiation is strong, the spring is mainly dry, windy and windy weather, and the wind direction is northwest wind; the tree seedling variety is planted, populus euphratica is selected, the diameter of the soil ball wrapped by the root of the tree seedling is about 25cm, so that the planting depth is deduced to be 50 cm-70 cm based on a model, the soil pressing form is annular, the tree seedling can be stabilized, good growth of the root system of the tree seedling can be promoted, and the tree seedling is favorable for moisture retention and infiltration.
As a preferred embodiment, the adaptive soil compacting mechanism 3 includes:
The frame 31, its four sides position all symmetrically distributes the spindle 33, the said spindle 33 rotates and installs the steering seat 32;
Four driving arms 34, which are correspondingly installed on each steering seat 32, wherein the driving arms 34 are arranged into a two-section rotating structure, and soil compacting assemblies 4 are arranged on the driving arms 34;
a soil compacting plate 35 mounted at one end of the soil compacting assembly 4.
In this embodiment, the deflection angle of the steering seat 32 is-30 ° to 30 °, so that each driving arm 34 can guide the soil compacting plate 35 to incline and press around the tree seedling soil in synchronous or asynchronous rotation adjustment along with the steering seat 32, so as to perform multi-mode conical soil compacting, and help to provide uniform support around the tree seedling, so that water flows around the tree more easily; the four steering seats 32 rotate independently, so that the driving arms 34 on the steering seats 32 can rotate independently and adjust correspondingly, and the soil compacting plates 35 are guided to perform soil compacting respectively.
When the driving arms 34 at two sides are turned to approach to the other driving arm 34 in the middle, the three soil compacting plates 35 can be gathered at the driving arm 34 in the middle position, so that confining pressure on one side of surrounding soil is realized, and the soil compacting device is suitable for soil burying reinforcement at slope geology.
In this embodiment, the driving arm 34 is further provided with a rod vibrator 36 parallel to the soil compacting component 4, the driving arm 34 is provided with a telescopic guide rod 37, one end of the rod vibrator 36 is fixed to the telescopic end of the telescopic guide rod 37, the rod vibrator 36 can provide axial and radial vibration, and is obliquely inserted into surrounding soil in the soil burying process, so that the soil compacting component 4 is matched to compact soil in the soil compacting holes, and the compactness of the soil is improved, so that the soil is compacted more.
In this embodiment, the soil compacting assembly 4 includes:
the adjusting lever arm 41 is slidably mounted in the driving arm 34 under the action of hydraulic drive, and a guide post 42 is coaxially slidably arranged at the lower end of the adjusting lever arm 41;
a link frame 43 fixed at one end of the guide post 42, and the soil compacting plate 35 is rotatably installed on the link frame 43;
The inner driving disc 44 is rotatably arranged in the adjusting lever arm 41, a transmission rod is connected to the inner driving disc 44, and one end of the transmission rod is connected with the guide post 42, so that the guide post 42 can be driven to continuously vibrate soil during continuous unidirectional rotation of the inner driving disc 44.
As a preferred embodiment, the guide posts 42 are symmetrically hinged with fine adjustment rods 45 at two sides of the connecting rod frame 43, and the telescopic ends of the fine adjustment rods 45 are connected with the soil compacting plate 35;
the fine adjustment rod 45 can assist the soil compacting plate 35 to deflect relative to the connecting rod rest 43 under the coordination of telescopic adjustment, so that the soil compacting plate 35 can be pressed on the sapling soil in parallel or in a relatively inclined manner.
In this embodiment, the soil compacting component 4 uses a plurality of different soil compacting actions to compact the planted sapling, so that the soil surrounding the sapling is cone-shaped, ring-shaped, flat, slope-shaped or spiral;
Wherein, the conical shape is a common surrounding soil compaction mode, and the forming action is as follows: each adjusting lever arm 41 in the soil pressing assembly 4 uniformly carries out confining pressure through the soil pressing plate 35 from the corresponding direction, the soil pressing plate 35 can incline and face the sapling under the telescopic fit of the fine adjusting lever 45, the inner driving disc 44 uniformly drives the soil pressing plate 35 to vibrate and press, and meanwhile, the adjusting lever arms 41 gradually extend out under the hydraulic drive;
Annular groove shape, namely, a certain space is reserved around the root and stem of the sapling for storing water and keeping soil moisture, and the forming action is as follows: the soil compacting plate 35 is in a micro-tilting state preferentially, the driving arm 34 is used for controlling the even confining pressure of soil, then the soil compacting plate 35 is tilted in height and faces toward seedlings under the telescopic adjustment of the fine adjusting rod 45, at the moment, the soil is subjected to downward compression molding by the edge of the soil compacting plate 35 to form an inner concave cavity, and meanwhile, the fine adjusting rod 45 is subjected to the secondary telescopic adjustment to enable the soil compacting plate 35 to rotate downwards;
The flat shape is a common surrounding soil horizontal compaction mode, the soil compacting plate 35 is horizontal relative to the ground, the surface is relatively flat, the soil loss is prevented, and the uniform distribution of water is ensured;
Slope form carries out the confining pressure reinforcement in one side of sapling promptly for corresponding side is high strength confining pressure, is suitable for in slope geology or pothole geology, and its shaping moves as: the driving arms on the two opposite sides deflect to one side along with the steering seat 32, so that the three soil compacting plates 35 gather and synchronously push soil to be piled up, at the moment, each soil compacting plate 35 can alternately press tree seedling surrounding soil one by one under the control of the inner driving disc, and the other soil compacting plate 35 is pressed at the other side in a vibrating way;
Spiral shape: namely, the soil compacting plate 35 performs confining pressure from the tangential direction, and the forming action thereof is as follows: the driving arms 34 synchronously rotate and adjust along with the steering seat 32 synchronously, at the moment, the soil pressing plates 35 form tangential staggering, and the soil pressing plates 35 are used for surrounding soil of the sapling by adopting vibration pressing action.
In this embodiment, before the soil compacting is performed on the planted seedlings by using a plurality of different soil compacting actions, the embedded depth of the planted seedlings can be preferentially adjusted, wherein the vibration lever device 36 is obliquely inserted into the surrounding soil, and the lever arm 41 is adjusted to gradually slide and stretch out at this time, so that the planted seedlings are slowly pressed into the planting holes.
The foregoing description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical solution of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (6)
1. Crawler-type tree planting robot is administered in desertification, its characterized in that includes: the seedling planting device comprises a crawler frame (1), wherein a positioning frame (11) is vertically arranged on one side of the upper end face of the crawler frame (1), a control seat is arranged on the positioning frame (11), the control seat can slide up and down, a spiral page (12) is arranged on the control seat in a relatively rotatable mode and is used for vertically drilling into the desert ground to form planting holes, a seedling storage mechanism (2) is arranged on one side, far away from the spiral page (12), of the positioning frame (11) on the crawler frame (1), a seedling conveying mechanism (21) is transversely arranged on the crawler frame (1), one side of the seedling conveying mechanism (21) is connected with the seedling storage mechanism (2), the seedling conveying mechanism (21) is used for arranging and conveying seedlings in the seedling storage mechanism (2), a seedling dropping disc (22) is arranged on the other side of the seedling conveying mechanism (21), a seedling delivering opening is arranged under the seedling dropping disc (22) on the crawler frame (1), and the seedlings are planted into the holes through the seedling dropping opening, so that preliminary pre-embedding of the seedlings is completed; the seedling conveying mechanism (21) is provided with a cloud seedling image acquisition module, and the cloud seedling image acquisition module adopts a high-precision camera or a multispectral camera to perform discretized point cloud scanning on single seedlings so as to better identify the seedlings and root areas thereof, classify the seedlings according to typical crown length and rhizome position height and provide corresponding optimal planting depth and soil pressing and seedling burying modes for individual seedling planting;
The crawler frame (1) is also provided with a self-adaptive soil pressing mechanism (3), the self-adaptive soil pressing mechanism (3) is used for providing adaptive soil pressing for planted seedlings based on a cloud seedling image acquisition module, judging whether further soil pressing is needed to ensure the seedlings to stably grow or not, and carrying out coordinate marking on the seedlings needing special treatment;
The crawler frame (1) is provided with an environment analysis module and a sapling characteristic analysis module, wherein the environment analysis module forms a reference data set based on the obtained geographic coordinate characteristic data, the topographic and topographic characteristic data, the climatic characteristic data and the soil characteristic data of a planting area in a desert area, and builds a planting area environment prediction training model;
The sapling characteristic analysis module is combined with the cloud sapling image acquisition module to acquire characteristic data of individual saplings, and the environment analysis module is used for outputting planting characteristic analysis of the individual saplings, so that target data of the embedding depth and soil compacting form of the individual saplings at planting points of a desert planting area are output, the survival rate and long-term growth effect of the saplings in the desert environment are improved to the greatest extent, and the follow-up self-adaptive soil compacting mechanism (3) can conveniently perform planting in a corresponding soil burying mode;
the adaptive soil compacting mechanism (3) comprises:
The four-side position of the frame (31) is symmetrically provided with rotating shafts (33), and steering seats (32) are rotatably arranged on the rotating shafts (33);
Four driving arms (34) are correspondingly arranged on each steering seat (32), the driving arms (34) are arranged into a two-section rotating structure, and soil compacting assemblies (4) are arranged on the driving arms (34);
A soil compacting plate (35) which is arranged at one end of the soil compacting assembly (4);
the soil compacting assembly (4) comprises:
The adjusting lever arm (41) is slidably mounted in the driving arm (34) under the action of hydraulic drive, and a guide post (42) is coaxially slidably arranged at the lower end of the adjusting lever arm (41);
The connecting rod bracket (43) is fixed at one end of the guide post (42), and the soil compacting plate (35) is rotatably arranged on the connecting rod bracket (43);
the inner driving disc (44) is rotatably arranged in the adjusting lever arm (41), a transmission rod is connected to the inner driving disc (44), one end of the transmission rod is connected with the guide post (42), and accordingly the guide post (42) can be driven to continuously shake soil during continuous unidirectional rotation of the inner driving disc (44).
2. The desertification control crawler-type tree planting robot according to claim 1, wherein: the environment prediction training model scores importance of geographic coordinate feature data, topography feature data, climate feature data and soil feature data of a planting area in a desert area;
Determining recommended features according to the importance scores;
model training is carried out on the reference data set based on recommended features, and a plurality of candidate regression models are obtained;
and obtaining the model scores of the candidate regression models based on a preset model evaluation method, determining a recommended regression model, and finally selecting an optimal regression model.
3. The desertification control crawler-type tree planting robot according to claim 1, wherein: the deflection angle of the steering seat (32) is-30 degrees to 30 degrees, so that each driving arm (34) can guide the soil pressing plate (35) to obliquely and circularly press the periphery of the seedling soil in synchronous or asynchronous rotation adjustment along with the steering seat (32).
4. The desertification control crawler-type tree planting robot according to claim 1, wherein: the driving arm (34) is further provided with a rod vibrator (36) parallel to the soil compacting assembly (4), the driving arm (34) is provided with a telescopic guide rod (37), one end of the rod vibrator (36) is fixed with the telescopic end of the telescopic guide rod (37), and the rod vibrator (36) provides axial and radial vibration.
5. The desertification control crawler-type tree planting robot according to claim 1, wherein: two sides of the guide post (42) positioned on the connecting rod rest (43) are symmetrically hinged with fine tuning rods (45), and the telescopic ends of the fine tuning rods (45) are connected to the soil compacting plate (35);
The fine adjustment rod (45) can assist the soil compacting plate (35) to deflect relative to the connecting rod rest (43) under the cooperation of telescopic adjustment, so that the soil compacting plate (35) can be pressed on the seedling soil in parallel or in a relatively inclined manner.
6. The desertification control crawler-type tree planting robot according to claim 1, wherein: the soil pressing assembly (4) presses soil for planting saplings by adopting a plurality of different soil pressing actions, so that the soil surrounding the saplings is cone-shaped, ring-shaped, flat, slope-shaped or spiral;
Before the soil is pressed on the planted saplings by adopting a plurality of different soil pressing actions, the embedded depth of the planted saplings can be adjusted preferentially, wherein the vibration lever device (36) is obliquely inserted into surrounding soil, and the lever arm (41) is adjusted to gradually slide and stretch out at the moment so as to slowly press the saplings into the planting holes.
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| US4807543A (en) * | 1987-07-13 | 1989-02-28 | Paul Lowell A | Seedling planter |
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| CN116369006A (en) * | 2023-03-22 | 2023-07-04 | 成都理工大学 | Intelligent haloxylon ammodendron tree seed inserting machine |
| CN116636362A (en) * | 2023-06-26 | 2023-08-25 | 安徽润田沃地生态科技有限公司 | Equipment and method for improving soil nutrients |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11263707B2 (en) * | 2017-08-08 | 2022-03-01 | Indigo Ag, Inc. | Machine learning in agricultural planting, growing, and harvesting contexts |
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| US4807543A (en) * | 1987-07-13 | 1989-02-28 | Paul Lowell A | Seedling planter |
| TW564663U (en) * | 2001-04-06 | 2003-12-01 | Tainan Distr Agricultural Res | Device for laying plastic sheet in ridge making |
| JP2015053898A (en) * | 2013-09-12 | 2015-03-23 | 関東農機株式会社 | Ridge top surface stripe-shaped soil cover forming machine |
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