CN107750552B - Orderly planting system and planting method for garden patterns - Google Patents

Abstract

The planting system comprises a walking planting mechanism and a plurality of groups of execution mechanisms, wherein the walking planting mechanism comprises walking wheels and duckbill planting units, pot seedlings output by each execution mechanism are correspondingly received by the duckbill planting units through a seedling guide pipe, the duckbill planting units plant the received pot seedlings, and each group of execution mechanisms comprises a seedling taking and throwing system and a control system; the seedling taking and throwing system comprises a vertical conveying mechanism, a horizontal conveying mechanism, a thimble mechanism, a grabbing mechanism and a seedling throwing mechanism, and the control system comprises a master controller, a switch group and a GPS/INS integrated navigation system. The invention expands the GPS/INS technology widely applied to guided weapons to the field of agricultural machinery, inputs images into image analysis software, then automatically plans a traveling path after realizing the accurate positioning of the transplanting machine in the field based on the GPS/INS, and arranges the planting sequence in the traveling process of the machine, thereby planting in order, and realizing the mechanization and the intellectualization of pattern planting.

Description

An orderly planting system and planting method of pastoral patterns

Technical field

The invention relates to the technical field of agricultural machinery, and specifically relates to an orderly planting system and a planting method with pastoral patterns.

Background technique

In recent years, creative agriculture has developed rapidly in our country, and there has been a craze in various places to use different crops or different flower or leaf color varieties of the same crop to plant creative cultural patterns for tourism. Taking rice field painting as an example, successfully planting creative cultural patterns in the field usually requires tedious positioning in the field in advance using a nine-square grid, and then the planting requires the cooperation of hundreds of villagers, which is a labor-intensive task. , time-consuming and laborious work. If mechanized precise positioning of transplanting pattern planting can be achieved, the planting cost and cycle of rice field painting will be greatly reduced, and the precision of planting can also be greatly improved. This technology can be promoted on a large scale and in multiple fields, which will have a great impact on the increasingly shrinking labor force. Rural China has far-reaching significance. In China, for field painting planting, the traditional nine-square grid positioning and artificial planting methods are used, which have many operations, a lot of labor, high labor intensity, low productivity and difficulty in ensuring the quality of transplanting. At present, in the context of the country's vigorous development of leisure agriculture, the backward operation method of artificial planting for pattern planting can no longer meet the needs of the times. Therefore, it is of great significance to develop a machine that can mechanize or even automate pattern transplanting.

Contents of the invention

In order to solve the above technical problems, the present invention provides a pastoral pattern orderly planting system and a planting method. The system can ensure a low seedling damage rate and a high upright rate, and can achieve precise positioning in the field, and then realize the automated and orderly pastoral pattern. Planting has important scientific significance and clear application prospects.

The technical solution adopted by the present invention to solve the above technical problems is: an orderly planting system with pastoral patterns. The planting system includes a walking planting mechanism and several sets of actuators. The walking planting mechanism includes walking wheels and a duckbill planting unit. , the seedlings output by each actuator are connected to the duckbill-type planting unit through a seedling guide tube, and the duckbill-type planting unit plants the received seedlings. Each group of actuators includes a seedling collection and delivery system and a control system;

The seedling collection and delivery system includes:

A vertical conveying mechanism used to realize the movement of the seedling tray in the vertical direction, the vertical conveying mechanism includes a first stepper motor, the first stepper motor is driven by a first driver;

A horizontal conveying mechanism used to realize the movement of the seedling tray in the horizontal direction, the horizontal conveying mechanism includes a second stepper motor, and the second stepper motor is driven by a second driver;

An ejection pin mechanism for separating the seedling tray into pot seedlings and empty seedling trays, the ejection pin mechanism includes a third stepper motor, and the third stepper motor is driven by a third driver;

A grabbing mechanism used to grab the seedlings ejected by the thimble mechanism and transport them. The grabbing mechanism includes a seedling taking mechanism and a transporting mechanism. The seedling taking mechanism includes a seedling claw for taking out seedlings and a seedling claw for driving the seedling claws to work. The seventh driver, the conveying mechanism includes a fourth stepper motor, and the fourth stepper motor is driven by the fourth driver;

A seedling throwing mechanism used to catch the pot seedlings dropped by the seedling taking mechanism and transport the pot seedlings to a preset position for planting. The seedling throwing mechanism includes a fifth stepper motor, and the fifth stepper motor is driven by a fifth driver. ;

The control system includes a main controller, a switch group and a GPS/INS integrated navigation system. The main controller is also connected to:

a first controller, the first controller is electrically connected to the first driver;

a second controller, the second controller is electrically connected to the second driver;

a third controller, the third controller is electrically connected to the third driver;

a fourth controller, the fourth controller is electrically connected to the fourth driver;

a fifth controller, the fifth controller is electrically connected to the fifth driver;

a sixth controller, the sixth controller is electrically connected to the driver of the traveling wheel;

a seventh controller, the seventh controller is electrically connected to the seventh driver;

The GPS/INS integrated navigation system is electrically connected to the sixth controller and is used to receive GPS coordinate signals in real time and track and correct the traveling route of the running wheels.

As a preferred solution, the planting system includes three sets of actuators.

As a preferred solution, the switch group includes three switches, namely a first switch, a second switch and a third switch, and the three switches are all arranged on the vertical conveying mechanism.

As a preferred solution, the planting method using a pastoral pattern orderly planting system as described above includes the following steps:

Step 1. Export pixel coordinates through graphics pixel analysis software;

Step 2: The fifth controller controls the seedling throwing mechanism to release the corresponding seedlings according to the pixel coordinates, and the sixth controller controls the walking wheels to carry out mobile planting work through the planned route;

Step 3. During the mobile planting process, use the GPS/INS integrated navigation system for route tracking;

Step 4: The GPS/INS integrated navigation system determines whether the traveling wheels and the mobile planting work route yaw according to the planned route; if so, the sixth controller obtains the INS data in the GPS/INS integrated navigation system and determines the direction of the traveling wheels. Correct the walking route and continue to complete the mobile planting work; if there is no deviation, continue to complete the mobile planting work.

As a preferred solution, the mobile planting work in step two includes a reset mode and a working mode. The reset mode is used to achieve the working state of filling all the seedling boxes in front of the seedling holes before the machine starts planting work. , the working mode is used to achieve the working state of continuous transplanting after the reset mode is completed.

As a preferred solution, the reset mode includes the following steps:

S1. Turn on the first switch and the second switch. The first switch controls the vertical conveying mechanism and the horizontal conveying mechanism through the first controller and the second controller to start working;

S21. Determine whether the seedling tray reaches the position where the vertical conveying mechanism pushes the horizontal conveying mechanism. If it reaches this position, the first switch controls the vertical conveying mechanism to stop working through the first controller, and moves the seedling tray from the vertical conveying mechanism to the horizontal conveying mechanism. Pushed on the horizontal conveying mechanism;

S22. If the position is not reached, the first switch controls the vertical conveying mechanism to work through the first controller until it reaches the position, controls the vertical conveying mechanism to stop working, and moves the seedling tray from the vertical conveying mechanism to the horizontal conveying mechanism. Push;

S3. After the seedling tray leaves the vertical conveying mechanism and is pushed to the horizontal conveying mechanism, the vertical conveying mechanism continues to start the next round of work; at this time, on the horizontal conveying mechanism, the seedling tray leaves the vertical conveying mechanism and enters the horizontal conveying mechanism to reach the ejector pin For the position of the mechanism, the first switch controls the horizontal conveying mechanism to stop working through the second controller, and controls the ejector mechanism, seedling taking mechanism and seedling throwing mechanism to start working through the third controller, the fourth controller and the fifth controller correspondingly;

S4. The seedling retrieval mechanism stops working after taking seedlings twice, turns off the first switch and the second switch, and the reset phase is completed.

As a preferred solution, after the reset phase is completed, the working mode is turned on. The working mode includes the following steps:

T1. Turn on the first switch and the third switch. The first switch controls the vertical conveying mechanism and the horizontal conveying mechanism through the first controller and the second controller to start working;

T2. The seventh controller controls the seedling claws to pick up and place seedlings. The fifth controller controls the seedling throwing mechanism to start working. The third switch controls the walking wheels through the sixth controller to achieve planting. During the planting process, after planting the pot seedlings, , the seedling feeding mechanisms in each execution agency cooperate to achieve continuous seedling feeding.

Compared with the prior art, the present invention has the following beneficial effects:

(1) The present invention provides an orderly planting system and planting method of pastoral patterns, extending the GPS/INS technology widely used in guided weapons to the field of agricultural machinery, and deriving pixel coordinates through graphic pixel analysis software; and then using the fifth The controller controls the seedling throwing mechanism to drop the corresponding seedlings according to the pixel coordinates, and the sixth controller controls the walking wheels to carry out mobile planting work through the planned route; then the route tracking is performed based on the GPS/INS integrated navigation system, and the GPS/INS integrated navigation system Determine whether the traveling wheel and the mobile planting work route are yawing according to the planned route; if so, the sixth controller obtains the INS data in the GPS/INS integrated navigation system to correct the walking route of the traveling wheel and continue to complete the movement. Planting work; if there is no yaw, continue to complete the mobile planting work. The invention realizes the arrangement of the planting sequence during the movement of the machine, thereby orderly planting, and realizes the mechanization, intelligence and intelligence of pattern planting;

(2) The present invention provides an orderly planting system and planting method with pastoral patterns. Based on a single-crop fully-automatic transplanting machine, three or more sets of seedling tray automatic conveying devices, seedling taking mechanisms, and rotating The seedling throwing mechanisms are placed side by side, and the final planetary wheel planting mechanism is installed below it. By installing seedling guide tubes, the seedlings placed in three different positions are guided to the same position for dropping, thereby achieving orderly planting of pastoral patterns.

Description of the drawings

Figure 1 is a front view of the overall structure of the present invention;

Figure 2 is a schematic structural diagram of the seedling tray transport mechanism of the present invention;

Figure 3 is a left view of Figure 2;

Figure 4 is a schematic diagram of the matching structure of the push motor and push assembly of the present invention;

Figure 5 is a schematic structural diagram of the seedling taking and throwing mechanism of the present invention;

Figure 6 is a schematic structural diagram of the ejector mechanism of the present invention;

Figure 7 is a schematic structural diagram of the grabbing mechanism of the present invention;

Figure 8 is a partial enlarged view of position A in Figure 7;

Figure 9 is a schematic structural diagram of the seedling harvesting mechanism of the present invention;

Figure 10 is a schematic structural diagram of the guiding mechanism of the present invention;

Figure 11 is a schematic diagram of the horizontal conveying structure of the present invention;

Figure 12 is a schematic structural diagram of the seedling throwing mechanism of the present invention;

Figure 13 is a schematic structural diagram of the seedling box of the present invention;

Figure 14 is a schematic structural diagram of the slip ring of the present invention;

Figure 15 is a schematic structural diagram of the planting mechanism of the present invention;

Figure 16 is a schematic diagram of the cooperation between the planting device and the walking device of the present invention;

Figure 17 is a flow chart of the present invention;

Figure 18 is a perspective view of the overall structure of the present invention;

Reference signs: 1. Frame, 1001, Upper rack, 1002, Lower rack, 2. Rectangular platform, 3. First step motor, 4. Ejector, 5. Ejector seat, 6. Eccentric shaft, 7. Rotating head, 8. Sliding seat, 9. Limiting seat, 10. Column, 11. First limiting plate, 12. Square frame, 13. Guide plate, 14. Guide groove, 15. First conveyor belt, 16. Linear optical axis, 17. Slider, 18. Fixed plate, 19. Second stepper motor, 20. Chute, 21. Miao claw optical axis, 22. Heavy-duty linear guide, 23. Pull-up electromagnet, 24. Upper limit clamp , 25. Metal slider, 26. Lower limit clamp, 27. Horizontal linear guide, 28. Left limit clamp, 29. Miao claw metal slider, 30. Right limit clamp, 31. Transverse spring, 32. Miao Claw, 33. Vertical tension spring, 34. Brush, 35. Slip ring, 36. Side plate, 37. Pressure bar, 38. Arc guide plate, 39. Empty seedling tray guide bar, 40. Fixed shaft, 41 , Seedling tray storage box, 42. Support frame, 43. Guide plate, 44. Bottom plate, 45. Seedling box, 46. Seedling tube, 47. Wheels, 48. Hinge, 49. Seedling tube baffle, 50. Chain Wheel, 51. Third stepper motor, 52. Bending plate chain, 53. Optical shaft, 54. Boss, 55. Horizontal bracket, 56. Horizontal transmission chain, 57. Clamp, 58. Fourth stepper motor, 59. Guide rail, 60. Conductive ring, 61. Insulating ring, 62. Traveling device, 63. Seedling tray conveying mechanism, 64. Seedling taking and placing mechanism, 65. Planting device, 66. Push motor, 67. Push component, 6701 , connecting rod, 6702, push plate, 68, second limit plate, 69, first rotation axis, 70, seedling tray holder, 71, planetary gear train, 72, seedling tray conveying channel, 73, base, 74, support Rod, 75. Second rotating shaft, 76. Driving sprocket, 77. Driven sprocket, 78. Driving chain, 79. Fixing seat, 80. Clamping plate, 81. Fifth stepper motor, 82. First Runner, 83, second runner, 84, third rotating shaft, 85, first side wheel, 86, second side wheel, 87, second conveyor belt, 88, buckle, 89, planting mouth, 90, rotation Spindle, 91. Second boss, 92. Ground wheel, 93. Seedling throwing hole, 94. First limit switch, 95. First photoelectric switch, 96. Second photoelectric switch, 97. Second limit switch, 98. The third photoelectric switch, 99. The fourth photoelectric switch, 100. The fifth photoelectric switch, 101. Horizontal plate, 102. Card plate, 103. Strip hole.

Detailed ways

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. This embodiment is based on the technical solution of the present invention and provides detailed implementation modes and specific operating processes. However, the protection scope of the present invention is not limited to the following embodiments. .

As shown in the figure, an orderly planting system with pastoral patterns includes a walking planting mechanism and several groups of actuators. Preferably, each group of actuators includes a frame 1 and a pot seedling transplanting device. The pots The seedling transplanting device is arranged on the upper part of the frame 1. The pot seedling transplanting device includes a seedling tray transport mechanism 63 and a seedling picking and throwing mechanism 64. The seedling tray transport mechanism 63 includes a vertical transport mechanism, a horizontal transport mechanism and a push mechanism. Preferably, the vertical transmission mechanism includes two vertical transmission chain groups and a driving mechanism that drives the two vertical transmission chain groups to work. Each vertical transmission chain group is fixedly connected with several seedling tray holders 70, and the two vertical transmission chain groups are fixedly connected with each other. The seedling tray holders 70 on the chain groups correspond one to one, and the driving mechanism drives the two vertical transmission chain groups to move toward each other. When the two seedling tray holders 70 corresponding to the two vertical transmission chain groups descend synchronously, they jointly hold up one seedling. tray; when the two corresponding seedling tray holders 70 are rotated to the uppermost position inside and reach the side-by-side position, the seedling trays to be transplanted are manually placed on the seedling tray holders 70, and then the two seedling tray holders 70 are synchronized decline.

The horizontal conveying mechanism includes a rectangular platform 2 disposed on the side of the vertical conveying mechanism. The length direction of the rectangular platform 2 is disposed between two vertical transmission chain groups. A horizontal conveyor belt is provided on both sides of the rectangular platform 2 in the length direction. The transmission chain 56 has several clamping bars 57 evenly connected between the two horizontal transmission chains 56 . The two horizontal transmission chains 56 are driven by the second stepper motor 19 . The guide rail 59 is arranged in the middle of the rectangular platform 2 . Preferably, a sprocket is provided at each of the four corners of the rectangular platform 2. The two sprockets located at one end of the rectangular platform 2 in the length direction are connected through a power shaft. The second stepper motor 19 is arranged at one end of the rectangular platform 2 in the length direction. One side is used to drive the power shaft to rotate, and the rectangular platform 2 is also provided with a strip hole 103 penetrating its upper and lower end surfaces. Every two chain links of the horizontal transmission chain 56 form a group, and protruding buckles 88 are provided on the periphery of each group of chain links. The clip strips 57 are arranged in parallel between the two opposite buckles 88 .

The push mechanism includes a push motor 66 provided on the frame 1, a push assembly 67 drivingly connected to the push motor 66, and two second limiting plates 68 for correcting the direction in which the seedling tray is pushed out from the vertical conveying mechanism. When the vertical conveying mechanism drops to the same height as the horizontal conveying mechanism, the push motor 66 drives the pushing assembly 67 to push the seedling tray from between the two second limiting plates 68 to the horizontal conveying mechanism; at this time, when the seedling tray moves When reaching the seedling tray channel 72, the two limit plates 68 are opened, and the seedling tray is continued to be pushed to the rectangular platform 2. After that, the pushing motor 66 is paused, and the second stepper motor 19 is started to drive the two horizontal transmission chains 56 to rotate synchronously. As the horizontal transmission chain 56 rotates, the clamping bar 57 is driven to block the lateral gap below the seedling tray, thereby realizing the horizontal transportation of the seedling tray. At the same time, the seedling tray can be guided to advance along the guide rail 59 and prevent the seedling tray from moving left and right during the movement.

The seedling taking and throwing mechanism 64 includes an ejector mechanism, a seedling taking mechanism, a guiding mechanism and a seedling throwing mechanism. The seedling taking mechanism is used to grab the pot seedlings ejected by the ejector mechanism and transport them to the seedling throwing mechanism. The mechanism is used to catch the pot seedlings dropped by the seedling taking mechanism, and transport the pot seedlings to the preset position for planting; in the moving direction of the seedling tray, the guide mechanism is set on the frame 1 in front of the horizontal conveying mechanism, and the frame 1 is provided with two support frames 42, and a fixed shaft 40 is provided between the two support frames 42. The fixed shaft 40 is provided with side plates 36 at both ends, and an arc-shaped guide plate 38 is provided in the middle of the fixed shaft 40. The arc-shaped guide plate 38 is connected with a compression bar 37 that prevents the entire seedling tray from being ejected by the ejector mechanism. A guide plate 43 is connected between the other side plate 36 opposite to the fixed shaft 40, and a downward empty seedling tray is fixed on the guide plate 43. The empty seedling trays fall into the seedling tray storage box 41 along the guide bars 39.

The above is the basic implementation mode of the present invention, and further improvements, optimizations or limitations can be made on the basis of the above.

Preferably, the vertical conveying mechanism includes a rectangular base 73. A support rod 74 perpendicular to the base 73 is provided at each of the four corners of the base 73. Each vertical transmission chain group is composed of two vertical transmission chains, and the two vertical transmission chains in the same group are Two vertical transmission chains are respectively arranged on the support rods 74 located at the two corners of the short sides of the base, and a first rotation shaft 69 is provided above the two support rods 74. The two support rods 74 A second rotation shaft 75 is provided for rotation between the lower parts of the support rod 74. A shaft seat 89 for supporting the first rotation shaft 69 or the second rotation shaft 75 is fixed on the side of each support rod 74. The first rotation shaft 69 is fixedly installed. There is a driving sprocket 76. A driven sprocket 77 corresponding to the driving sprocket 76 is fixedly installed on the second rotating shaft 75. A driving chain 78 arranged in a closed loop is installed on the driving sprocket 76 and the driven sprocket 77. Each chain 78 is provided with a plurality of fixed seats 79 , and the fixed seats 79 are fixedly connected to the seedling tray holder 70 . Preferably, several seedling tray holders 70 are provided with blocking plates 80 on the side close to the driving chain 78 , and the distance between the two blocking plates 27 on the two corresponding seedling tray holders 3 is equal to the distance between the seedling tray holders 3 and the seedling tray holders 3 . The width of the disk is the same.

Preferably, the driving mechanism includes a first stepping motor 3 and a first rotating shaft 69 driven by the first stepping motor 3. The first rotating shaft 69 drives one of the vertical transmission chain groups to achieve vertical movement. A first runner 82 is also provided on the shaft 69. A second runner 83 meshing with the first runner 82 is provided on one side of the first runner 82. A third rotation shaft 84 is drivingly connected to the second runner 83. The third rotating shaft 84 is provided with a first side wheel 85 , and the second rotating shaft 75 is provided with a corresponding second side wheel 86 . The first side wheel 85 and the second side wheel 86 are driven by the second conveyor belt 87 .

As a preferred solution, the pushing assembly 67 includes a connecting rod 6701 that is drivingly connected to the pushing motor 66 and a pushing plate 6702 fixedly provided on the upper end of the connecting rod 6701 for pushing the seedling tray. Preferably, the pushing plate 6702 is parallel to the width direction of the seedling tray, and the length of the pushing plate 6702 is equal to the width of the seedling tray.

As a preferred solution, a seedling tray transport channel 72 is formed between the two second limiting plates 68 . The width of the seedling tray transport channel 72 close to the vertical transport mechanism is greater than the width of the end close to the horizontal transport mechanism, and the seedling tray transport channel 72 The width of one end close to the horizontal conveying mechanism is equal to the width of the seedling tray.

As a preferred solution, the frame 1 includes an upper frame 1001 and a lower frame 1002 that are connected to each other. The upper frame 1001 is provided with a horizontal plate 101. The ejector mechanism includes an ejector seat 5, an eccentric shaft 6 and a horizontal plate fixed on the horizontal plate. The third stepper motor 51 on 101, the third stepper motor 51 and the ejector pin seat 5 are all arranged below the rectangular platform 2. The two ends of the eccentric shaft 6 are respectively the fixed end and the free end. 51 is drivingly connected to the fixed end of the eccentric shaft 6, and the free end of the eccentric shaft 6 is provided with a rotating head 7; the ejector pin seat 5 includes a sliding seat 8, a limit seat 9 and two clamping plates 102, and the two clamping plates 102 slide The matching clamps are arranged on opposite sides of the horizontal plate 101, and the clamping plate 102 and the horizontal plate 101 are connected through bolt assemblies. The upper surface of each clamping plate 102 is vertically connected to a column 10, and both ends of the sliding seat 8 slide Fittingly connected to two uprights 10, the upper ends of the two uprights 10 are vertically connected to both ends of the limiter seat 9. Several ejector pins 4 are vertically fixed on the upper surface of the sliding seat 8, and the upper ends of the ejector pins 4 pass through the limiter seat 9. And aligned with the strip hole 103 on the rectangular platform 2, two limiting plates 11 arranged parallel to each other are connected to the side of the sliding seat 8 close to the eccentric shaft 6. The limiting plates 11 are arranged horizontally, and the rotating head 7 Set between the two limit plates 11, the third stepper motor 51 drives the rotating head 7 to make circular motion by driving the eccentric shaft 6. The rotating head 7 rotates to drive the sliding seat 8 to slide up and down along the column 10, thereby driving the thimble 4 to move up and down. , when the thimble 4 moves upward, the pot seedlings are ejected from the seedling tray.

As a preferred solution, the seedling removal mechanism includes a square frame 12. Two conveyor belts 15 are arranged side by side on opposite sides of the square frame 12. The conveyor belts 15 are driven by a fourth stepper motor 58. Consistent with the conveying direction of the seedling tray conveying mechanism, a linear optical axis 16 is provided above the conveyor belt 15. The axis of the linear optical axis 16 is parallel to the transmission direction of the conveyor belt 15. A slider 17 is movable on the linear optical axis 16. The slider 17 is fixedly connected to the conveyor belt 15, a fixed plate 18 is horizontally connected between the two sliders 17, a guide plate 13 is fixed horizontally on the square frame 12, and a number of guide grooves 14 are provided on the guide plate 13.

As a preferred solution, there are two sets of guide plates 13, and the two sets of guide plates 13 are respectively located above and below the fixed plate 18, and each set of guide plates 13 is provided with four corresponding guide grooves 14 and a chute. 20. The chute 20 is provided at one end of the guide plate 13, and the sliding direction of the chute 20 is parallel to the transmission direction of the conveyor belt 15; the seedling taking unit includes four seedling claw optical axes 21 and one optical axis 53 that are all arranged vertically. , the fixed plate 18 is provided with a strip groove, and the vertical projection of the strip groove and the chute 20 on the fixed plate 18 is vertically arranged. The optical axis 21 of each seedling claw passes through the guide located above the fixed plate 18 in sequence from top to bottom. The groove 14, the strip groove and the guide groove 14 located below the fixed plate 18. Each optical axis 53 passes through the chute 20 located above the fixed plate 18, the strip groove and the sliding groove 14 located below the fixed plate 18 from top to bottom. groove 20, and the upper end of each seedling claw optical axis 21 is suspended in the guide groove 14 located above the fixed plate 18, and the upper end of each optical axis 53 is suspended in the chute 20 located above the fixed plate 18, In the conveying direction of the seedling tray conveying mechanism, the distance between two adjacent guide grooves 14 located on the same guide plate 13 gradually becomes larger. Among them, the guide groove with the smallest distance between two adjacent guide grooves 14 The end of 14 is the seedling-taking end, and the end of the guide groove 14 with the largest distance between two adjacent guide grooves 14 is the seedling-throwing end.

As a preferred solution, the lower end of each seedling claw optical axis 21 extends out of the guide plate 13 located below the fixed plate 18, and the lower end of each seedling claw optical axis 21 is fixed with a heavy-duty linear guide rail. The guide rail is provided with a pull-up electromagnet 23, an upper limit clamp 24, a metal slider and a lower limit clamp 26 from top to bottom. The metal slider is slidingly connected to the heavy-duty linear guide rail, and the metal slider and the lower limit clamp are The clamps 26 are connected by vertical tension springs 33. The metal slider is provided with a grabbing electromagnet. A horizontal linear guide rail 27 perpendicular to the heavy-duty linear guide rail is installed on the metal slider. The heavy-duty linear guide rail moves the horizontal straight line. The guide rail 27 is divided into two parts. The horizontal linear guide rail 27 of each part is slidably connected with a right limit clamp 30, a seedling claw metal slider 29 and a left limit clamp 28 in the direction from the middle to the end. The two seedlings are The claw metal slide blocks 29 are connected by a transverse spring 31, and a claw claw 32 is connected below the claw metal slide block 29; the lower ends of the optical axis 53 both extend out of the guide plate 13 located below the fixed plate 18, and the lower end of the optical axis 53 is fixed A heavy-duty linear guide rail is provided. The heavy-duty linear guide rail connected to the optical axis 53 is provided with a metal slider, and the metal slider is provided with a brush 34. The square frame 12 is provided with a slider used in conjunction with the brush 34. Ring 35.

As a preferred solution, the seedling throwing mechanism is arranged below the frame 1. The seedling throwing mechanism includes a bottom plate 44 and several seedling throwing boxes 45 arranged on the bottom plate 44. The seedling throwing box 45 includes a seedling throwing tube 46. , the rotating wheel 47 and the seedling tube baffle 49. There is an inclined seedling opening at the bottom of the seedling tube 46. The rotating wheel 47 is located on the seedling tube 46 at the lower end of the seedling opening. The seedling tube baffle 49 passes through the closing tube. The page 48 is connected to the seedling tube 46 located at the upper end of the seedling opening, so that the seedling tube baffle 49 can seal or open the seedling opening. The seedling box 45 rotates around the bottom plate 44. When the seedling box 45 rotates, During the process, the seedling throwing box 45 passes below the seedling throwing end.

As a preferred solution, the bottom plate 44 is a square annular plate, and a sprocket 50 is provided at each of the four corners of the bottom plate 44. The sprocket 50 is driven by the fifth stepper motor 81, and the four sprockets 50 pass through the curved plate. The chain 52 is connected, and each seedling box 45 is fixed on the bent plate chain 52 through clamps, so that driven by the fifth stepper motor 81, the seedling box 46 rotates following the plate chain 52.

A walking planting mechanism includes a walking device 62 and a planting device 65. As a preferred solution, in order to ensure the planting speed and the upright rate of the seedlings, the planting device 65 of the present invention adopts a planetary gear train duckbill planting device to coordinate Rotary seedling throwing mechanism. The main function of the rotary seedling throwing mechanism is to cooperate with the seedling taking mechanism to catch the whole row of taken out seedlings at the same time, and then transport the seedlings in the pot to the preset position one by one through rotation. The main component is mainly for throwing seedlings. The box 45 is fixed on the bending plate chain 52 through clips, and the bending plate chain 52 provides power to the entire device through the fifth stepper motor 81 installed below. In the planetary gear train duckbill type planting device, the function of the planetary gear train 71 is to allow the planting nozzles 89 to always maintain a downward attitude while rotating with the entire mechanism, and a second second planting nozzle 89 is installed on the side of each planting nozzle 89. The function of the boss 91 is to enable the planting mouth 89 to open and close in accordance with the rotating position during the rotation process, that is, it is closed when the top is connected to the seedlings. When it is rotated to the bottom, the second boss 91 91 opens the planting mouth 89, drops the seedlings, then travels for a certain distance and then closes and returns to the highest point to prepare for the next seedling reception. The planetary gear train duckbill planting device described here is an existing technology and will not be described in detail here.

The planetary gear train duckbill planting device is arranged on the traveling device 62 by rotating the spindle 90°. The traveling device 62 includes a ground wheel 92 . The planetary gear train duckbill planting device is connected to the ground wheel 92 through a chain drive. The ground wheel 92 The planetary wheel rotates accordingly when traveling, and the rotational speed of the rotating seedling-throwing disk is adjusted by detecting the rotational speed of the planetary wheel, so that when each planting nozzle 89 rotates to the top, the seedlings are just dropped, thereby achieving high-speed continuous planting. In addition, by detecting whether the four seedling boxes facing the seedling picking claw are empty signals, and matching the signal of whether the seedling tray on the conveyor belt has moved to the designated ejection position, the seedling picking mechanism is driven to complete the seedling picking action, thus ensuring the seedling picking. of continuity.

In addition, preferably, in the present invention, two limit switches and five photoelectric switches are also provided. The limit switches include a first limit switch 94 and a second limit switch 97 . The photoelectric switches include a third limit switch 94 and a second limit switch 97 . A photoelectric switch 95 , a second photoelectric switch 96 , a third photoelectric switch 98 , a fourth photoelectric switch 99 and a fifth photoelectric switch 100 .

The first limit switch 94 is arranged on the frame 1. When the seedling tray 70 moves from top to bottom to a position parallel to the upper surface of the rectangular platform 2, the first limit switch 94 is triggered. At this time, the first step is The motor 3 stops, and the push motor 66 pushes the seedling tray to the rectangular platform 2, and then automatically returns, waiting for the instruction of the first photoelectric switch 95; the first photoelectric switch 95 is installed on the left side of the rectangular platform 2, and is used to determine whether the current position is There is already a seedling tray. When there is a seedling tray, there is no need to replenish the seedling tray. At this time, the first step motor 3 stops; when it is judged that there is no seedling tray, the first step motor 3 is turned on to execute the first cycle program; the second step motor 3 is turned on. The photoelectric switch 96 is installed on the right side of the rectangular platform 2 at a horizontal position corresponding to the groove of the ejector mechanism, and is used to determine whether there are seedlings to be removed from the corresponding position of the ejector mechanism; its signal is sent to the second stepper motor 19 and the fourth stepper motor respectively. The control system of 58 needs to replenish the seedlings when there are no seedlings. The second stepper motor 198 continues to run until the seedlings reach this position and stops. The signal of seedlings is sent to the control system of the fourth stepper motor 58, and then communicates with the third photoelectric The signal from the switch 98 is combined to drive the fourth stepper motor 58 to operate; the second limit switch 97 is installed on the frame 1 of the seedling taking mechanism, located on the side of the first conveyor belt 15, and its function is when the seedling taking mechanism operates according to When running to the preset position at a certain speed, the second limit switch 97 is triggered, and the third stepper motor 51 runs smoothly for one cycle at a certain speed. When it rotates to 180 degrees, it just reaches the upper limit position, so that the thimble 4 is at the highest position. position, and cooperates with the seedling taking mechanism to realize grasping; the third photoelectric switch 98 is installed in the third one counterclockwise among the four seedling throwing boxes 45 corresponding to the seedling claw 32, and its function is to determine the third seedling throwing box. Whether the box is empty, that is, with the operation of the rotating seedling throwing mechanism, seedlings need to be replenished. With the signal of the third photoelectric switch 98, the fourth stepper motor 58 is started to operate to realize the seedling removal process; the fourth photoelectric switch 99 is installed on The top of the seedling box 45 before the seedling hole 93 is used to detect whether the seedling box 45 is empty. It is mainly used in the initialization mode to detect that the seedling box before the seedling hole 93 has been filled; the fifth The photoelectric switch 100 is installed on the side below the seedling hole 93 and does not interfere with the operation of the planetary wheel planting device. Its function is to determine that the planetary wheel planting device has rotated to the bottom of the seedling hole 93, and then make the fifth stepper motor 81 run at a certain angle. The seedlings are dropped into the planting mouth 89.

The working principle of each group of actuators is: start the first stepper motor 3 to drive the two vertical transmission chain groups for vertical transmission. When the two seedling tray trays 70 correspondingly set on the two vertical transmission chain groups fall synchronously, they support them together. Pick up a seedling tray, and when the two corresponding seedling tray holders 70 are rotated to the uppermost position on the inside and are just aligned, manually place the seedling trays to be transplanted on the seedling tray holders 70, and then the two seedling tray holders 70 holds up a seedling tray and descends synchronously; when the seedling tray holder 70 drops to the same height as the rectangular platform 2, the first limit switch 94 is triggered and the first stepping motor 3 is paused, and the vertical conveying mechanism stops conveying. At this time, The push motor 66 drives the push assembly 67 to push the seedling tray from between the second limiting plates 68 to the rectangular platform 2. The push motor 66 can only push a small half of the seedling tray onto the rectangular platform 2, covering the first photoelectric switch 95. When the seedling tray moves to the seedling tray channel 72, the two second limiting plates 68 open and continue to push the seedling tray to the rectangular platform 2. After that, the pushing motor 66 pauses, and the second stepper motor 19 starts to drive the two horizontal The transmission chain 56 rotates synchronously. As the horizontal transmission chain 56 rotates, it drives the clamping bar 57 to block the lateral gap below the seedling tray, thereby realizing the horizontal transportation of the seedling tray. At the same time, it guides the seedling tray to advance along the guide rail 59 to avoid the seedling tray from moving during the movement. Move left and right.

When the seedling tray enters the rectangular platform 2, the guide rail 59 snaps into the middle groove of the seedling tray to achieve X-axis positioning; several clamping bars 57 evenly connected between the two horizontal transmission chains 56 are stuck in the middle of the front and rear grooves of the seedling tray. Y-axis positioning is achieved; when the horizontal transmission chain 56 transports the seedling tray forward, it gradually snaps into the pressing bar 37 extended by the seedling tray guide mechanism to realize Z-axis positioning. When the preset ejection position is reached, the second photoelectric switch 96 is triggered, and the seedling claw and the seedling throwing tray are activated at the same time. When the seedling claw is close to the grabbing position, the second limit switch 97 is triggered to start the third step in the ejection pin mechanism. The third stepper motor 51 drives the eccentric shaft 6 to drive the rotating head 7 to make circular motion. The rotating head 7 rotates to drive the sliding seat 8 to slide up and down along the column 10, thus driving the ejector pin 4 to move up and down. The upward movement of the ejector pin 4 accurately When it moves to the thimble position, the substrate in the seedling tray is ejected.

When the substrate is ejected, the seedling removal mechanism starts to work, and the fourth stepper motor 58 starts. At this time, the brush 34 travels to the conductive ring 60 of the slip ring 35 to grab and pull out the seedlings, and then transport the seedlings to the rear. , to the top of the predetermined seedling throwing position of the seedling throwing box, the brush 34 travels to the insulating ring 61, puts the seedlings in the pot, and then returns to the starting position, so that the conveyor belt 15 continues to run, and the next row of seedlings is transported to the predetermined position, achieving continuous Removing and planting seedlings.

An orderly planting system with pastoral patterns is based on the above device. Three or several sets of seedling tray transport mechanisms 63 and seedling picking and throwing mechanisms 64 are placed side by side. The final planting device is installed below it. By installing seedling guide tubes, The seedlings dropped in three different locations are directed to the same location.

Before operation, place three or more types of crop seedling trays on three or several sets of devices. The preset pattern is analyzed by the software and the planting order of three or several crops is arranged according to a certain trajectory, and the pixel coordinates are derived; then the fifth controller controls the seedling throwing mechanism to release the corresponding seedlings according to the pixel coordinates, and the sixth The controller controls the traveling wheels to carry out mobile planting work through the planned route. When running, in the initialization mode, all the seedling boxes before the seedling throwing device is loaded with seedlings; in the working mode, after completing the positioning in the GPS/INS integrated navigation system, the machine travels in the field according to the predetermined trajectory, and then follows the The three types or several crops of the seedling throwing device are put into the planting device in sequence in a preset order to achieve planting, thereby achieving the purpose of pattern planting. Through pixel analysis and path planning, a two-dimensional array is generated, and the GPS/INS integrated navigation system ensures accurate tracking.

An orderly planting system with pastoral patterns. The planting system includes a walking planting mechanism and several sets of actuators. The walking planting mechanism includes walking wheels and duckbill planting units. The seedlings output by each actuator pass through a seedling guide tube. Corresponding to the duckbill-type planting unit, the duckbill-type planting unit will plant the received seedlings. Each group of actuators includes a seedling collection and delivery system and a control system;

The seedling collection and delivery system includes:

A vertical conveying mechanism used to realize the movement of the seedling tray in the vertical direction. The vertical conveying mechanism includes a first stepping motor 3, and the first stepping motor 3 is driven by a first driver;

A horizontal conveying mechanism used to realize the movement of the seedling tray in the horizontal direction. The horizontal conveying mechanism includes a second stepper motor 19, and the second stepper motor 19 is driven by a second driver;

An ejection pin mechanism for separating the seedling tray into pot seedlings and empty seedling trays, the ejection pin mechanism includes a third stepper motor 51, and the third stepper motor 51 is driven by a third driver;

A grabbing mechanism used to grab the seedlings ejected by the thimble mechanism and transport them. The grabbing mechanism includes a seedling taking mechanism and a transporting mechanism. The seedling taking mechanism includes a seedling claw for taking out seedlings and a seedling claw for driving the seedling claws to work. The seventh driver, the conveying mechanism includes a fourth stepper motor 58, and the fourth stepper motor 58 is driven by the fourth driver;

A seedling throwing mechanism used to catch the pot seedlings dropped by the seedling taking mechanism and transport the pot seedlings to a preset position for planting. The seedling throwing mechanism includes a fifth stepper motor 81. The fifth stepper motor 81 is driven by a fifth stepper motor 81. drive drive;

The control system includes a main controller, a switch group and a GPS/INS integrated navigation system. The main controller is also connected to:

a first controller, the first controller is electrically connected to the first driver;

a second controller, the second controller is electrically connected to the second driver;

a third controller, the third controller is electrically connected to the third driver;

a fourth controller, the fourth controller is electrically connected to the fourth driver;

a fifth controller, the fifth controller is electrically connected to the fifth driver;

a sixth controller, the sixth controller is electrically connected to the driver of the traveling wheel;

A seventh controller is electrically connected to the seventh driver; here the seventh controller is actually a Miao Zaw controller.

The overall controller is used to control the opening and closing states of the first controller, the second controller, the third controller, the fourth controller, the fifth controller, the sixth controller or the seventh controller.

The GPS/INS integrated navigation system is electrically connected to the sixth controller and is used to receive GPS coordinate signals in real time and track and correct the traveling route of the running wheels.

The above is the basic implementation mode of the present invention, and further improvements, optimizations or limitations can be made on the basis of the above.

Preferably, the planting system includes three sets of actuators.

Preferably, the switch group includes three switches, namely a first switch, a second switch and a third switch, and the three switches are all arranged on the vertical conveying mechanism.

Preferably, the planting method using a pastoral pattern orderly planting system as described above includes the following steps:

Step 1. Export pixel coordinates through graphics pixel analysis software;

Step 2: The fifth controller controls the seedling throwing mechanism to release the corresponding seedlings according to the pixel coordinates, and the sixth controller controls the walking wheels to carry out mobile planting work through the planned route;

Step 3. During the mobile planting process, use the GPS/INS integrated navigation system for route tracking;

Step 4: The GPS/INS integrated navigation system determines whether the traveling wheels and the mobile planting work route deviate according to the planned route; if so, the sixth controller obtains the INS system data in the GPS/INS integrated navigation system and adjusts the traveling wheels The walking route is corrected, and the INS system data is collected through the three-axis accelerometer and gyroscope, and the mobile planting work is continued; if there is no yaw, the mobile planting work is continued. The main controller receives the GPS coordinate signal in real time and reads the MPU6050 data. The MPU6050 data described here is the data collected by the INS system through the three-axis accelerometer and gyroscope, and uses the target front wheel steering angle and the current front wheel steering angle. The difference is used as the control input to achieve precise control of the stepper motor that performs steering, thereby achieving path tracking control of the carrier. The GPS/INS integrated navigation system has high positioning accuracy, and its positioning accuracy can reach 0.1-0.5 m; path tracking system The error is small. When the vehicle speed is 0.5 m/s and 1 m/s respectively, the maximum lateral error of path tracking is 0.16 m and 0.27 m respectively; the response speed of the entire system is small, reaching 0.1s.

Preferably, the mobile planting work in step two includes a reset mode and a working mode. The reset mode is used to achieve the working state of completely filling the seedling boxes in front of the seedling holes before the machine starts planting work. The working mode is used to achieve the working state of continuous transplanting after the reset mode is completed.

Preferably, the reset mode includes the following steps:

S1. Turn on the first switch and the second switch. The first switch controls the vertical conveying mechanism and the horizontal conveying mechanism to start working through the first controller and the second controller correspondingly, that is, turning on the first stepper motor 3 and the second stepper motor 3. Motor 19;

S21. Determine whether the seedling tray reaches the position where the vertical conveying mechanism pushes the horizontal conveying mechanism. If it reaches this position, that is, the first limit switch 94, the first switch controls the vertical conveying mechanism to stop working through the first controller. Push the seedling tray from the vertical conveying mechanism to the horizontal conveying mechanism;

S22. If the position is not reached, that is, at the first limit switch 94, the first switch controls the vertical conveying mechanism to work through the first controller until the position is reached, and controls the vertical conveying mechanism to stop working and remove the seedling tray from The vertical conveying mechanism pushes to the horizontal conveying mechanism;

S3. After the seedling tray leaves the vertical conveying mechanism and is pushed to the horizontal conveying mechanism, the vertical conveying mechanism continues to start the next round of work; at this time, on the horizontal conveying mechanism, the seedling tray leaves the vertical conveying mechanism and enters the horizontal conveying mechanism to reach the ejector pin The position of the mechanism is at the second photoelectric switch 96. The first switch controls the horizontal transport mechanism to stop working through the second controller, and controls the ejector mechanism and seedling removal mechanism through the third controller, the fourth controller and the fifth controller correspondingly. Start working with the vaccination agency;

S4. The seedling retrieval mechanism stops working after taking seedlings twice. At this time, half of the seedling retrieval mechanism has been equipped with pot seedlings. Turn off the first switch and the second switch, and the reset phase is completed.

Preferably, after the reset phase is completed, the working mode is turned on, and the working mode includes the following steps:

T1. Turn on the first switch and the third switch. The first switch controls the vertical conveying mechanism and the horizontal conveying mechanism through the first controller and the second controller to start working;

T2. The seventh controller controls the seedling claws to pick up and place seedlings. The fifth controller controls the seedling throwing mechanism to start working. The third switch controls the walking wheels through the sixth controller to achieve planting. During the planting process, after planting the pot seedlings, , the seedling feeding mechanisms in each execution agency cooperate to achieve continuous seedling feeding. The seedling throwing mechanism mobilizes the seedling retrieval mechanism to retrieve seedlings, and the seedling claw controller controls the seedling claws to continuously replenish seedlings and ensure the continuous operation of the planter.

The above are only preferred embodiments of the present invention, and do not limit the present invention in any form. Although the present invention has been described above with preferred embodiments, they are not intended to limit the present invention. Anyone familiar with this field will Those skilled in the art, without departing from the scope of the technical solution of the present invention, can make some changes or modifications using the above-mentioned technical content, which are equivalent embodiments of equivalent changes. Technical Essence of the Invention Any simple modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the technical solution of the invention.

Claims (4)

1. The planting method of the field pattern ordered planting system comprises a walking planting mechanism and three groups of actuating mechanisms, wherein the walking planting mechanism comprises walking wheels and duckbill planting units, pot seedlings output by the actuating mechanisms are correspondingly received by the duckbill planting units through a seedling guiding pipe, and the duckbill planting units plant the received pot seedlings, and the planting method is characterized in that: each group of executing mechanism comprises a seedling taking and throwing system and a control system;

the seedling taking and throwing system comprises:

The vertical conveying mechanism is used for realizing the movement of the seedling tray in the vertical direction and comprises a first stepping motor, and the first stepping motor is driven by a first driver;

the horizontal conveying mechanism is used for realizing the movement of the seedling tray in the horizontal direction and comprises a second stepping motor, and the second stepping motor is driven by a second driver;

the ejector pin mechanism is used for separating the seedling tray into pot seedlings and empty seedling trays and comprises a third stepping motor, and the third stepping motor is driven by a third driver;

the gripping mechanism comprises a seedling taking mechanism and a conveying mechanism, the seedling taking mechanism comprises a seedling claw for taking seedlings and a seventh driver for driving the seedling claw to work, and the conveying mechanism comprises a fourth stepping motor which is driven by the fourth driver;

the seedling throwing mechanism is used for catching the pot seedlings thrown by the seedling taking mechanism and conveying the pot seedlings to a preset position for planting, and comprises a fifth stepping motor which is driven by a fifth driver;

the control system comprises a master controller, a switch group and a GPS/INS integrated navigation system, wherein the master controller is also connected with:

The first controller is electrically connected with the first driver;

the second controller is electrically connected with the second driver;

the third controller is electrically connected with the third driver;

the fourth controller is electrically connected with the fourth driver;

the fifth controller is electrically connected with the fifth driver;

the sixth controller is electrically connected with the driver of the travelling wheel;

a seventh controller electrically connected with the seventh driver;

the GPS/INS integrated navigation system is electrically connected with the sixth controller and is used for receiving GPS coordinate signals in real time and tracking and correcting the travelling route of the travelling wheel; the switch group comprises three switches, namely a first switch, a second switch and a third switch, and the three switches are arranged on the vertical conveying mechanism;

the method is characterized in that: the method comprises the following steps:

step one, deriving pixel coordinates through graphic pixel analysis software;

step two, a fifth controller controls a seedling throwing mechanism to throw corresponding pot seedlings according to pixel coordinates, and a sixth controller controls travelling wheels to carry out movable planting work through a planned route;

Step three, in the process of mobile planting work, a GPS/INS integrated navigation system is used for tracking a route;

judging whether the travelling wheel and the movable planting working route are yawed according to the planned route by the GPS/INS integrated navigation system; if yaw, the sixth controller acquires INS data in the GPS/INS integrated navigation system to correct the walking route of the walking wheel, and the mobile planting work is continuously completed; if no yaw exists, continuing to finish the movable planting work.

2. A planting method using a field pattern ordered planting system according to claim 1, characterized in that: the movable planting work in the second step comprises a reset mode and a working mode, wherein the reset mode is used for realizing the working state that all seedling boxes in front of seedling throwing holes are filled before the machine starts planting work, and the working mode is used for realizing the working state of continuous transplanting after the reset mode is finished.

3. A planting method using a field pattern ordered planting system according to claim 2, characterized in that: the reset mode includes the steps of:

s1, a first switch and a second switch are opened, and the first switch correspondingly controls the vertical conveying mechanism and the horizontal conveying mechanism to start working through a first controller and a second controller;

S21, judging whether the seedling tray reaches a position where the vertical conveying mechanism pushes the seedling tray onto the horizontal conveying mechanism, and if so, controlling the vertical conveying mechanism to stop working by a first controller by a first switch to push the seedling tray from the vertical conveying mechanism onto the horizontal conveying mechanism;

s22, if the position is not reached, the first switch controls the vertical conveying mechanism to work all the time through the first controller until the position is reached, controls the vertical conveying mechanism to stop working, and pushes the seedling tray from the vertical conveying mechanism to the horizontal conveying mechanism;

s3, after the seedling tray leaves the vertical conveying mechanism and is pushed onto the horizontal conveying mechanism, the vertical conveying mechanism continues to start the next round of work; at the moment, on the horizontal conveying mechanism, the seedling tray leaves the vertical conveying mechanism and enters the horizontal conveying mechanism to reach the position of the ejector pin mechanism, the first switch controls the horizontal conveying mechanism to stop working through the second controller, and correspondingly controls the ejector pin mechanism, the seedling taking mechanism and the seedling throwing mechanism to start working through the third controller, the fourth controller and the fifth controller;

s4, stopping working after the seedling taking mechanism takes the seedlings twice, closing the first switch and the second switch, and completing the resetting stage.

4. A planting method using a field pattern ordered planting system according to claim 2, characterized in that: after the reset phase is completed, starting an operating mode, wherein the operating mode comprises the following steps:

T1, opening a first switch and a third switch, wherein the first switch correspondingly controls the vertical conveying mechanism and the horizontal conveying mechanism to start working through a first controller and a second controller;

and T2, controlling the seedling claw to take and put the seedlings through the seventh controller, controlling the seedling throwing mechanism to start working through the fifth controller, controlling the travelling wheels to walk through the sixth controller by the third switch to realize planting, and after planting the pot seedlings in the planting process, realizing continuous seedling throwing through cooperation of the seedling throwing mechanisms in the execution mechanisms.