CN118415109A

CN118415109A - A kind of automatic coral planting device and planting method

Info

Publication number: CN118415109A
Application number: CN202410632570.6A
Authority: CN
Inventors: 姚宇; 易云; 李江夏; 游翔宇
Original assignee: Changsha University of Science and Technology
Current assignee: Changsha University of Science and Technology
Priority date: 2024-05-21
Filing date: 2024-05-21
Publication date: 2024-08-02
Anticipated expiration: 2044-05-21
Also published as: CN118415109B

Abstract

The present application relates to the technical field of coral planting, and provides an automatic coral planting device and a planting method, the planting device comprising: a cabin, a camera system and a lighting system, a rotating platform is provided at the bottom of the cabin, a drilling assembly and a planting assembly are symmetrically provided on the rotating platform, a plurality of automatic telescopic brackets are provided at equal arc distances on the cabin, and a plurality of underwater thrusters are provided at equal arc distances on the side wall of the cabin; an inner cabin is provided in the cabin, a hatch is provided on the top of the cabin, and a power source is provided in the hatch; a multi-layer seedling delivery tray is provided in the inner cabin, a plurality of coral units are placed at equal arc distances in each seedling delivery tray, a material-dividing assembly is provided on each seedling delivery tray, and the multi-layer seedling delivery trays are connected by a telescopic material-discharging sleeve, and the telescopic material-discharging sleeve is docked with the planting assembly. The planting device is suspended on the seabed, and the contact area between the automatic telescopic bracket and the reef bed is small, so the damage caused to the original reef bed and corals is relatively small, and the corals can be automatically planted, which reduces the difficulty and cost of planting.

Description

Automatic coral planting device and method

Technical Field

The application belongs to the technical field of coral planting, and particularly relates to an automatic coral planting device and a coral planting method.

Background

Coral reefs are coral worms composed of calcium carbonate and formed during deposition for hundreds to thousands of years, and are widely distributed in tropical and subtropical shallow sea areas. The population number of the coral reef ecological system directly or indirectly depends on the world to live is hundreds of millions, the coral reef occupies less than 0.2% of the global sea area, and over 1/4 of marine organisms are cultivated, so that the coral reef is an important component of the marine ecological system.

Over 70% of coral reefs have been destroyed to varying degrees worldwide, with nearly 30% having lost viability. However, in recent decades, as global warming increases and human activities increase, the threat of coral reefs increases and the whole is in decline. Therefore, a series of positive measures are needed to protect coral reef resources.

Ecological restoration of coral reefs is currently mainly performed by artificial cultivation and planting. The artificial coral is planted mainly through throwing in the artificial reef body at the seabed to attract the adsorption of coral, or fix the coral broken branch of gathering or cultivating in the needs to repair coral reef bottom with artificial mode, artificial mode needs diver to carry out long-time operation at the seabed, has hidden danger to diver's health and safety to the artificial coral reef efficiency of planting is lower, and implementation cost is higher. Therefore, there is a need for an automatic coral planting device to improve the current situation.

Disclosure of Invention

Aiming at the defects of manual coral planting in the prior art, the embodiment of the application aims to provide an automatic coral planting device for realizing automatic coral planting.

In order to achieve the above purpose, the application adopts the following technical scheme: provided is an automatic coral planting device, comprising: the automatic underwater vehicle comprises a cabin body, a camera system and an illumination system, wherein a rotary table is arranged at the bottom of the cabin body, drilling components and planting components are symmetrically arranged on the rotary table, a plurality of automatic telescopic brackets are arranged on the cabin body at equal arc distances, and a plurality of underwater propellers are arranged on the side wall of the cabin body at equal arc distances; an inner cabin is arranged in the cabin body, a cabin cover capable of being opened and closed is arranged at the top of the cabin body, and a power source is arranged in the cabin cover; the inner cabin is internally provided with a plurality of layers of seedling conveying trays, a plurality of coral units are placed in each seedling conveying tray at equal arc distances, each seedling conveying tray is provided with a stirring assembly, the plurality of layers of seedling conveying trays are communicated through telescopic blanking sleeves, and the telescopic blanking sleeves are in butt joint with the planting assemblies; the stirring assembly stirs one coral unit into the telescopic blanking group sleeve each time, and then the coral unit is implanted into a planting hole drilled by the drilling assembly through the planting assembly.

In one embodiment, the stirring assembly comprises a turntable, rotary stirring sheets and a steering motor, wherein the steering motor is connected with the turntable, a plurality of equal arc distances of the rotary stirring sheets are arranged on the outer peripheral surface of the turntable, one coral unit is placed at the interval between every two adjacent rotary stirring sheets, and a butt joint through hole for the coral unit to fall is formed in the bottom of the seedling conveying tray.

In one embodiment, lugs are symmetrically arranged on the side walls of the seedling feeding trays, threaded holes are formed in the lugs, and two adjacent seedling feeding trays are connected through connecting rods with threaded columns at two ends.

In one embodiment, a telescopic storage bin is arranged between the bottom of the inner cabin and the bottom of the cabin body and used for storing the telescopic blanking sleeve, a docking sleeve docking with the telescopic blanking sleeve is arranged on the rotary table, and the docking sleeve is connected with the planting assembly.

In one embodiment, the drilling assembly comprises a telescopic rod, a drilling motor and an annular brick, wherein the telescopic rod is provided with a camera system and an illumination system.

In one embodiment, the planting assembly comprises a telescopic rod and a multi-grip manipulator, wherein the telescopic rod is provided with a camera system and an illumination system.

In one embodiment, the coral unit includes: barrel, gleitbretter, daub and coral, the both ends of barrel are the open end, the gleitbretter slides and sets up in the barrel and as the bottom plate of barrel lower extreme, the daub is filled in the barrel, the coral sets up the upper end of barrel, be equipped with a plurality of overflow holes on the lateral wall of barrel.

In one embodiment, the automatic telescopic bracket is provided with a distance sensor, and the supporting end of the automatic telescopic bracket is provided with a rubber gasket.

In one embodiment, the seedling feeding tray on the top layer is provided with a handle.

Another object of the present application is to provide an automatic coral planting method, based on the automatic coral planting device, the planting method includes the following steps:

s1, after reaching a target sea area, throwing the coral automatic planting device into water from a working ship by a worker;

S2, the automatic coral planting device moves underwater under the work of a camera system, a lighting system and an underwater propulsion unit, and the underwater propulsion unit comprises balance after reaching the vicinity of the sea bottom;

S3, respectively moving the telescopic brackets to work, supporting on the seabed and ensuring the balance of the whole automatic coral planting device;

s4, a coral unit is poked into the telescopic blanking sleeve by the poking assembly corresponding to the seedling feeding tray, and is transferred into the planting assembly through the telescopic blanking sleeve;

S5, after the planting position is confirmed, the rotary table is not moved, the drilling assembly drills planting holes on the seabed, and after drilling is completed, the rotary table is reset;

S6, rotating the rotary table by 180 degrees to enable the planting assembly to be aligned with the planting holes, and sending the coral units into the planting holes to finish the planting of the corals;

S7, resetting the planting assembly after planting is completed; then the rotary table is rotated for 180 degrees again for resetting, so that the planting assembly and the telescopic blanking sleeve are in an initial butt joint state and are used for bearing the next coral unit; the next planting position can be confirmed by rotating the rotary table by a preset angle;

S8, conveying the coral units by the seedling conveying tray at the topmost layer, and connecting the telescopic blanking sleeve with the seedling conveying tray at the topmost layer; after the coral units in the seedling feeding tray at the topmost layer are planted, the telescopic blanking sleeve descends by one layer, the material stirring assembly of the seedling feeding tray at the lower layer starts working, and the circulation is performed until all the coral units are planted, and the whole device is taken out from water by staff.

The automatic coral planting device provided by the application has the beneficial effects that:

1. The planting device is used for suspending operation at the bottom of the sea, the contact area between the automatic telescopic support and the reef bed is small, and the damage to the original reef bed and coral caused by the automatic telescopic support is relatively small. Each automatic telescopic support works independently, the telescopic length is determined by the submarine topography below each automatic telescopic support, and the capacity of adapting to the complex submarine topography is stronger.

2. The hatch cover can be opened, so that the multilayer seedling feeding tray can be conveniently moved out of the hatch body integrally, and the coral units can be conveniently supplemented.

3. Coral unit, send seedling tray and flexible unloading sleeve to combine for better collection is transported with planting to the storage of coral, has avoided causing the damage to the coral at conveying and the in-process of planting.

4. The drilling assembly and the planting assembly can complete work at different heights, and the drilling assembly and the planting assembly are better adapted to the high-low fluctuation submarine topography.

5. The design of the coral unit abandons the traditional method of nailing on the seabed, and the coral unit is fixed more firmly and conveniently through the cement, so that the planting difficulty and cost are reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the overall structure of an automatic coral planting device according to an embodiment of the present application;

Fig. 2 is a schematic diagram of a connection relationship between a rotary table and a telescopic lower sliding sleeve in an automatic coral planting device according to an embodiment of the present application;

Fig. 3 is a schematic connection diagram of a seedling feeding tray, a telescopic sliding sleeve and a planting assembly in the automatic coral planting device according to the embodiment of the application;

fig. 4 is a schematic structural view of a multi-layer seedling feeding tray in an automatic coral planting device according to an embodiment of the present application;

Fig. 5 is a schematic structural view of a seedling feeding tray in a coral automatic planting device according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a seedling feeding tray and a stirring assembly in an automatic coral planting device according to an embodiment of the present application;

FIG. 7 is a schematic view of a connecting rod in an automatic coral planting device according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a coral module unit in an automatic coral planting device according to an embodiment of the present application;

FIG. 9 is a schematic view showing the effect of coral units after planting in accordance with an embodiment of the present application.

Wherein, each reference sign in the figure:

1. A hatch cover; 2. a cabin body; 3. an inner compartment; 4. a power source; 5. an underwater propeller; 6. an automatic telescopic bracket; 7. a rotary table; 71. a central shaft; 72. a butt joint sleeve; 8. a seedling feeding tray; 81. rotating the plectrum; 82. a steering motor; 9. a connecting rod; 10. a camera; 11. a lighting lamp; 12. an annular drill bit; 13. a multi-grip manipulator; 14. coral units; 141. a cylinder; 142. an overflow hole; 143. a sliding sheet; 15. a telescopic rod; 16. a rubber gasket; 161. a distance sensor; 17. a telescopic blanking sleeve; 171. a telescopic storage bin; 18. a handle; 19. and (5) daub.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Referring to fig. 1 to 9, an automatic coral planting device according to an embodiment of the present application will now be described. This automatic planting device of coral includes: cabin 2, camera system and lighting system. An inner cabin 3 is arranged in the cabin body 2, and the inner cabin 3 is used for placing corals to be planted. The top of the cabin body 2 is provided with a cabin cover 1 which can be opened and closed, a sealing space is arranged in the cabin cover 1, a power source 4 is arranged in the sealing space, the power source 4 comprises power matched with the device such as a power supply, a hydraulic source and the like, the power source 4 in the cabin cover 1 is connected with a motor, a camera system, illumination, a telescopic rod and other structures requiring power in a wiring mode, and the wiring position is sealed. The camera system comprises a plurality of cameras 10 and the illumination system comprises a plurality of illumination lamps 11.

In the present embodiment, the bottom of the cabin 2 is provided with a rotary table 7, the rotary table 7 is rotatably disposed outside the bottom of the cabin 2 through a central shaft 71, a gap is provided between the inner cabin 3 and the bottom of the cabin 2, and a driving motor for driving the central shaft 71 to rotate is provided in the gap. The rotary table 7 is symmetrically provided with a drilling assembly and a planting assembly, and the drilling assembly and the planting assembly can stretch out and draw back to respectively drill holes and plant coral. The symmetrical arrangement aims at enabling the rotary table 7 to rotate 180 degrees to enable the positions of the rotary table 7 and the rotary table to be interchanged, and positioning is convenient.

In this embodiment, a plurality of automatic telescopic supports 6 are provided on the bottom side of the cabin 2 at equal arc distances, each automatic telescopic support 6 can work independently, four are shown in fig. 1, and are used for guaranteeing the horizontality of the device parked on the seabed. A plurality of underwater propellers 5 are arranged on the side wall of the cabin body 2 at equal arc distances, as shown in fig. 1, two underwater propellers 5 are used for realizing the underwater motion of the device.

In the embodiment, a plurality of layers of seedling feeding trays 8 are arranged in the inner cabin 3, and a plurality of coral units 14 are arranged in each seedling feeding tray 8 at equal arc distances; each seedling feeding tray 8 is provided with a stirring component, each stirring component can work independently, each seedling feeding tray 8 is provided with a butt joint through hole, and each butt joint through hole can be used for one coral unit 14 to fall down each time on the movement track of the coral unit 14. The multi-layer seedling feeding trays 8 are communicated through the telescopic blanking sleeve 17, the telescopic blanking sleeve 17 can realize free telescopic movement, can be connected with the butt joint through holes and can guide and convey the coral units 14; the telescoping blanking sleeve 17 interfaces with the planting assembly to guide the coral unit 14 onto the planting assembly. In this embodiment, the kick-out assembly kick-in one coral unit 14 into the telescopic blanking sleeve 17 at a time, and then implant the coral unit into the planting hole drilled by the drilling assembly through the planting assembly. The coral units 14 can be planted one by one in the mode, manual participation is not needed, and planting difficulty and cost are reduced.

In this embodiment, the stirring assembly includes carousel, rotatory plectrum 81 and turn to motor 82, send seedling tray 8 to include bottom plate and bounding wall, turn to motor 82 and carousel connection, the diameter of carousel is less than the bottom plate diameter of sending seedling tray 8, form a annular between carousel and the bounding wall, a plurality of arc distances such as rotatory plectrum 81 set up on the outer peripheral face of carousel and lie in this annular, place a coral unit 14 between two adjacent rotatory plectrums 81, turn to motor 82 drive carousel rotation like this, drive all rotatory plectrums 81 rotation, thereby drive all coral units 14 and carry out the circular motion, the radian of turning to motor 82 every turn is the arc between two rotatory plectrums 81. The butt joint through holes on the bottoms of the multi-layer seedling feeding trays 8 are positioned in the same vertical line, so that the telescopic blanking sleeve 17 can conveniently penetrate and move in each butt joint through hole.

In this embodiment, lugs are symmetrically arranged on the side walls of each seedling feeding tray 8, threaded holes are arranged on the lugs, and two adjacent seedling feeding trays 8 are connected through connecting rods 9 with threaded columns at two ends. The multi-layer seedling feeding tray 8 is connected together through a plurality of connecting rods 9. The bottom and the lug of two connecting rods 9 of top layer are connected, and handle 18 is connected on the top, and handle 18 is located the seedling tray 8 top of sending on top layer, can lift whole seedling tray 8 like carrying the basket, conveniently transports.

In this embodiment, a telescopic storage cabin 171 is arranged in a gap between the bottom of the inner cabin 3 and the bottom of the cabin body 2, the telescopic storage cabin 171 is used for storing and supplying power to a telescopic blanking sleeve 17, the telescopic blanking sleeve 17 is of an existing multi-section telescopic structure, and the inside of the telescopic blanking sleeve 17 is hollow and can be used for conveying coral units 14. The rotary table 7 is provided with a butt joint sleeve 72 which is in butt joint with the telescopic blanking sleeve 17, the butt joint sleeve 72 is connected with the planting assembly, and the butt joint sleeve 72 can be understood as a blanking through hole which is directly formed in the rotary table 7. When the rotary table 7 rotates, the butt sleeve 72 is separated from the telescopic blanking sleeve 17.

In this embodiment, the drilling assembly includes a telescopic rod 15, a drilling motor provided on the telescopic rod 15, and an annular drill bit 12 provided on the drilling motor. Wherein, the telescopic rod 15 is provided with a camera 10 and an illuminating lamp 11.

In the embodiment, the planting assembly comprises a telescopic rod 15 and a multi-grip manipulator 13, wherein the telescopic rod 15 is hollow, one end of the telescopic rod is in butt joint with the butt joint sleeve 72, and the multi-grip manipulator 13 is arranged at the other end of the telescopic rod; the telescopic rod 15 is provided with a camera 10 and an illuminating lamp 11. The multi-grasping manipulator 13 can support the coral unit 14, and when the coral unit 14 is placed on the planting hole, downward thrust can be applied to the coral unit 14 under the action of the telescopic rod 15, so that the coral unit 14 is planted. The telescopic rod 15 is an automatic telescopic member.

In this embodiment, the coral unit 14 includes: barrel 141, gleitbretter 143, daub 19 and coral, this coral is in cultivating the concrete module, and the concrete module can assemble on the one end of barrel 141 and diameter slightly bigger than the directness of barrel 141, makes things convenient for many grabbing mechanical arm 13 centre gripping like this. In this embodiment, two ends of the cylinder 141 are both open ends, the lower end is bent inwards to form a bearing platform convex ring, the sliding sheet 143 is slidably disposed in the cylinder 141 and is used as a bottom plate of the lower end of the cylinder 141, the sliding sheet 143 can slide upwards, the cement 19 is filled in the cylinder 141, the coral is disposed at the upper end of the cylinder 141, and a plurality of overflow holes 142 are formed in the side wall of the cylinder 141. As shown in fig. 9, after the multi-grip robot places the coral unit 14 on the planting hole, the multi-grip robot butts against the concrete module of the coral under the action of the telescopic rod 15, so that the cylinder 141 moves down along the annular planting hole, the reef in the middle of the annular planting hole pushes the sliding sheet 143 upward, so that the cement 19 flows out from the overflow hole 142, and the coral unit 14 is fixed on the sea floor.

In the embodiment, the distance sensors 161 are arranged on the movable telescopic brackets 6 respectively and are used for judging the positions away from the seabed, so that the positioning is convenient; the support end of the automatic telescopic support 6 is provided with a rubber gasket 16 for protecting the support end, and meanwhile, the damage of the support end to the seabed reef flat can be reduced. Specifically, the distance sensor 161 is disposed in the rubber gasket 16, and sound waves emitted by adopting sound wave signals are reflected after being transmitted to the seabed, and the signals are transmitted to the automatic telescopic support 6, so that the automatic telescopic support 6 adjusts the telescopic length, and the automatic telescopic support is better adapted to complex seabed topography.

The embodiment also provides an automatic coral planting method, which is realized based on the automatic coral planting device, and comprises the following steps:

s1, after reaching a target sea area, the automatic coral planting device is thrown into water from a working ship by workers.

S2, the automatic coral planting device moves underwater under the cooperation of the camera system, the lighting system and the underwater propeller 5, and after reaching the vicinity of the sea bottom, the underwater propeller 5 keeps overall balance.

S3, respectively moving the telescopic brackets 6 to work, supporting on the seabed and guaranteeing the balance of the whole automatic coral planting device.

S4, a poking assembly corresponding to the seedling feeding tray 8 at the topmost layer pokes one coral unit 14 into the telescopic blanking sleeve 17, and the coral unit is transferred into the planting assembly through the telescopic blanking sleeve 17.

S5, after the planting position is confirmed, the rotary table 7 is not moved, the telescopic rod 15 of the drilling assembly stretches and stretches, meanwhile, the drilling motor and the annular drill bit drill the planting holes on the seabed, and after drilling is completed, the telescopic rod 15 is reset.

S6, rotating the rotary table 7 by 180 degrees, enabling the multi-grabbing manipulators of the planting assembly to be aligned with the planting holes, enabling the telescopic rods 15 of the planting assembly to extend out, conveying the coral units 14 into the planting holes, enabling the multi-grabbing manipulators to press the coral units 14 into the planting holes under the action of the telescopic rods 15, enabling the cement 19 in the coral units 14 to overflow, fixing the coral on the seabed, and completing planting of one coral.

S7, resetting the planting assembly after planting is completed; then the rotary table 7 rotates 180 degrees again for resetting, so that the planting assembly and the telescopic blanking sleeve 17 are in an initial butt joint state, and the planting assembly and the telescopic blanking sleeve are used for bearing the next coral unit 14 under the action of the stirring assembly; the next planting position can be confirmed by rotating the rotary table 7 by a predetermined angle; the preset angle can be different from the planting position of the previous coral by 30 degrees, 45 degrees or 60 degrees, the specific situation is selected according to the planting density requirement, and when one circle of coral is planted, the whole device moves again.

S8, conveying the coral units 14 by the seedling conveying tray 8 at the topmost layer, and connecting the seedling conveying tray 8 at the topmost layer by the telescopic blanking sleeve 17; after the planting of the coral units 14 in the seedling feeding tray 8 at the topmost layer is completed, the telescopic blanking sleeve 17 descends by one layer to be connected with the seedling feeding tray 8 at the second layer, the material shifting assembly of the seedling feeding tray 8 at the second layer starts to work and circulates in sequence until the planting of all the coral units 14 in the multi-layer seedling feeding tray 8 is completed, and the whole device is taken out from water by staff.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.

Claims

1. A coral automatic planting device, characterized in that it comprises: a cabin (2), a camera system and a lighting system, a rotating platform (7) is provided at the bottom of the cabin (2), a drilling assembly and a planting assembly are symmetrically provided on the rotating platform (7), a plurality of automatic telescopic brackets (6) are provided at equal arc distances on the cabin (2), and a plurality of underwater thrusters (5) are provided at equal arc distances on the side wall of the cabin (2); an inner cabin (3) is provided in the cabin (2), an openable and closable hatch cover (1) is provided on the top of the cabin (2), and a power is provided in the hatch cover (1) The inner cabin (3) is provided with a plurality of seedling delivery trays (8), each of which has a plurality of coral units (14) placed at equal arc distances, and each of the seedling delivery trays (8) is provided with a material shifting assembly, and the plurality of seedling delivery trays (8) are connected by a telescopic material delivery sleeve (17), and the telescopic material delivery sleeve (17) is docked with the planting assembly; the material shifting assembly shifts one coral unit (14) into the telescopic material delivery sleeve (17) each time, and then implants the coral unit (14) into the planting hole drilled by the drilling assembly through the planting assembly.

2. A coral automatic planting device as claimed in claim 2, characterized in that: the material-selecting assembly comprises a turntable, a rotating paddle (81) and a steering motor (82), the steering motor (82) is connected to the turntable, a plurality of rotating paddles (81) are arranged at equal arc distances on the outer peripheral surface of the turntable, one coral unit (14) is placed in the interval between two adjacent rotating paddles (81), and a docking through hole for the coral unit (14) to fall is provided at the bottom of the seedling delivery tray (8).

3. A coral automatic planting device as described in claim 3, characterized in that: lugs are symmetrically arranged on the side walls of the seedling delivery tray (8), and threaded holes are arranged on the lugs, and two adjacent seedling delivery trays (8) are connected by a connecting rod (9) with threaded columns at both ends.

4. A coral automatic planting device as described in claim 4, characterized in that: a telescopic storage bin (171) is provided between the bottom of the inner cabin (3) and the bottom of the cabin body (2), the telescopic storage bin (171) is used to store the telescopic unloading sleeve (17), and a docking sleeve (72) is provided on the rotating table (7) to dock with the telescopic unloading sleeve, and the docking sleeve (72) is connected to the planting assembly.

5. An automatic coral planting device as claimed in any one of claims 1 to 4, characterized in that the drilling assembly comprises a telescopic rod (15), a drilling motor and an annular drill bit (12), and the telescopic rod (15) is provided with a camera system and a lighting system.

6. An automatic coral planting device as claimed in claim 5, characterized in that: the planting component comprises a telescopic rod (15) and a multi-grip manipulator (13), and the telescopic rod (15) is provided with a camera system and a lighting system.

7. A coral automatic planting device as claimed in claim 5, characterized in that: the coral unit (14) comprises: a cylinder (141), a slide (143), glue (19) and corals, both ends of the cylinder (141) are open ends, the slide (143) is slidably arranged in the cylinder (141) and serves as a bottom plate at the lower end of the cylinder (141), the glue (19) is filled in the cylinder (141), the corals are arranged at the upper end of the cylinder (141), and a plurality of overflow holes (142) are provided on the side wall of the cylinder (141).

8. The coral automatic planting device according to claim 1, characterized in that: a distance sensor (161) is provided on the automatic telescopic bracket (6), and a rubber gasket (16) is provided at the supporting end of the automatic telescopic bracket (6).

9. The automatic coral planting device according to claim 1, characterized in that: a handle (18) is provided on the seedling delivery tray (8) at the top layer.

10. A method for automatically planting corals, characterized in that, based on the automatic coral planting device according to any one of claims 1 to 9, the method comprises the following steps:

S1. After arriving at the target sea area, the staff will launch the automatic coral planting device from the operating vessel into the water;

S2. The coral automatic planting device realizes underwater movement under the operation of the camera system, the lighting system and the underwater propulsion device. After reaching the vicinity of the seabed, the underwater propulsion unit includes a balance;

S3, each automatic telescopic bracket (6) works to support the seabed and ensure the balance of the entire coral automatic planting device;

S4, the material transfer assembly corresponding to the seedling delivery tray (8) transfers a coral unit (14) into the telescopic material transfer sleeve (17), and transfers it to the planting assembly through the telescopic material transfer sleeve (17);

S5. After the planting position is confirmed, the rotating table (7) remains stationary, and the drilling assembly drills a planting hole on the seabed, and resets after the drilling is completed;

S6, the rotating table (7) rotates 180 degrees so that the planting assembly is aligned with the planting hole, and the coral unit (14) is sent into the planting hole to complete the planting of the coral;

S7, after the planting is completed, the planting assembly is reset; then the rotating table (7) is rotated 180° to reset, so that the planting assembly and the telescopic feeding sleeve (17) are in an initial docking state for receiving the next coral unit (14); the next planting position can be confirmed by rotating the rotating table (7) by a predetermined angle;

S8, the topmost seedling delivery tray (8) first delivers the coral units (14), and the telescopic unloading sleeve (17) is first connected to the topmost seedling delivery tray (8); when the coral units (14) in the topmost seedling delivery tray (8) are planted, the telescopic unloading sleeve (17) is lowered by one layer height, and the material dispensing assembly of the seedling delivery tray (8) at the lower layer starts to work, and this cycle is repeated until all the coral units (14) are planted, and the staff takes the entire device out of the water.