Material conveying mechanism, spreading device, and unmanned device and control method

Abstract

The present application relates to unmanned equipment technical field, specifically, relate to a kind of material conveying mechanism, sowing device and unmanned equipment and control method;Unmanned equipment includes unmanned equipment ontology and the material conveying mechanism or sowing device of setting in unmanned equipment ontology;Sowing device includes sowing mechanism and material conveying mechanism, sowing mechanism is used to receive and sowing material conveying mechanism output material;Material conveying mechanism includes auger pipe, auger and stopper, auger pipe is provided with discharge port;Auger is rotatably arranged in auger pipe, it can be used to output material in auger pipe from discharge port;Stopper is arranged in auger, stopper can shield discharge port;The present application also provides a kind of control method for unmanned equipment, so as to control stopper shield discharge port when unmanned equipment is located in non-working section.The material conveying mechanism of the present application can improve the problem of easy leakage when stopping, improve the phenomenon of waste.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned equipment, in particular to a material conveying mechanism, a sowing device, an unmanned equipment and a control method. BACKGROUND

[0002] Unmanned equipment such as unmanned aerial vehicles and unmanned vehicles are gradually widely used in agricultural fields. Unmanned aerial vehicles loaded with sowing devices have the advantages of being mobile and flexible, quick in response, low in operation requirements, and fast in operation, and thus are widely used and recognized. The sowing device includes a material conveying mechanism for conveying seeds or fertilizers. The material conveying mechanism can convey seeds or fertilizers to a sowing mechanism for sowing to complete the sowing operation of the related materials.

[0003] However, the material conveying mechanism provided by the related art is prone to material leakage when it is stopped, resulting in waste. SUMMARY

[0004] The present application relates to the technical field of unmanned equipment, in particular to a material conveying mechanism, a sowing device, an unmanned equipment and a control method.

[0005] Embodiments of the present application are implemented as follows:

[0006] In a first aspect, the present application provides a material conveying mechanism, comprising:

[0007] An auger pipe, the auger pipe being provided with a discharge port;

[0008] An auger, the auger being rotatably arranged in the auger pipe and being capable of outputting materials in the auger pipe from the discharge port;

[0009] A blocking piece, the blocking piece being arranged on the auger and being capable of blocking the discharge port.

[0010] In an optional embodiment, the blocking piece is a fan-shaped baffle.

[0011] In an optional embodiment, the central angle of the fan-shaped baffle is 90°-240°.

[0012] In an optional embodiment, the auger pipe is provided with a discharge port at each end along the length extension direction of the auger pipe, the auger includes a rotating shaft and two segments of auger blades with opposite rotation directions, and the two segments of auger blades are arranged on the rotating shaft in sequence along the axial direction of the rotating shaft. The material conveying mechanism includes two blocking pieces, the two blocking pieces are arranged at the two ends of the rotating shaft respectively, the two blocking pieces are arranged in one-to-one correspondence with the discharge ports at the two ends of the auger pipe, and the blocking pieces are capable of blocking the corresponding discharge ports.

[0013] In an optional embodiment, the two blocking pieces are distributed on the same side of the rotating shaft.

[0014] In an optional embodiment, the auger pipe comprises a pipe and an end cover, the end cover is arranged at one end of the pipe, the auger is rotatably arranged in the pipe, and the end cover is provided with a discharge port; the end of the pipe is provided with an opening, and the blocking piece extends out of the opening.

[0015] In an optional embodiment, the end cover is provided with a plug-in shaft, the auger is plugged with the plug-in shaft, and the discharge port is at least partially located on one side of the plug-in shaft.

[0016] In an optional embodiment, the material conveying mechanism further comprises a sensor arranged on the auger pipe, and the sensor is used to detect whether the blocking piece blocks the discharge port.

[0017] In a second aspect, the present application provides a spreading device, comprising a spreading mechanism and the material conveying mechanism of any one of the foregoing embodiments, and the spreading mechanism is arranged on the auger pipe and used to receive and spread the material output from the discharge port.

[0018] In a third aspect, the present application provides an unmanned device, comprising a device body and the material conveying mechanism of any one of the foregoing embodiments or the spreading device of the foregoing embodiments arranged on the device body.

[0019] In a fourth aspect, the present application provides a control method for the foregoing unmanned device, wherein the unmanned device further comprises a motor in driving connection with the auger, and the control method comprises the following steps:

[0020] When the unmanned device is located in the non-working section, determining whether the current attitude angle of the unmanned device is greater than a preset threshold value;

[0021] When the current attitude angle of the unmanned device is greater than the preset threshold value, controlling the motor to rotate to a set angle, so that the blocking piece can block the discharge port.

[0022] The material conveying mechanism of the embodiment of the present application has the following advantages: the material conveying mechanism provided by the embodiment of the present application comprises an auger pipe, an auger and a blocking piece, the auger pipe is provided with a discharge port; the auger is rotatably arranged in the auger pipe and can be used to output the material in the auger pipe from the discharge port; and the blocking piece is arranged on the auger and can block the discharge port. In this way, when the material conveying mechanism is stopped, the blocking piece can be used to block the discharge port of the auger pipe, so as to improve the phenomenon of material leakage from the discharge port and waste.

[0023] The spreading device of the embodiment of the present application has the following advantages: the spreading device provided by the embodiment of the present application comprises a spreading mechanism and the foregoing material conveying mechanism, and the spreading mechanism is arranged on the auger pipe and used to receive and spread the material output from the discharge port. In this way, when the device is stopped, the blocking piece can be used to block the discharge port of the auger pipe, so as to improve the problem of easy material leakage and waste.

[0024] The unmanned device provided by the embodiment of the present application has the advantages that the unmanned device comprises an unmanned device body and a material conveying mechanism or a spreading device arranged on the unmanned device body. When the unmanned device is stopped, the discharge port of the auger pipe can be shielded by the blocking piece, so that the problem of easy material leakage is improved, and the waste phenomenon is improved.

[0025] The control method provided by the embodiment of the present application has the advantages that the control method is used for the unmanned device described above, the unmanned device further comprises a motor in driving connection with the auger, and the control method comprises determining whether the current attitude angle of the unmanned device is greater than a preset threshold when the unmanned device is located in the non-working section; and controlling the motor to rotate by a set angle when the current attitude angle of the unmanned device is greater than the preset threshold, so that the blocking piece can shield the discharge port. In this way, when the unmanned device is located in the non-working section, it is ensured that the blocking piece can reliably shield the discharge port, and the problem of easy material leakage of the unmanned device is effectively improved, and the waste phenomenon is improved. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0027] Figure 1 The structure block diagram of the unmanned device in the embodiment of the present application is shown in FIG. 1;

[0028] Figure 2 The structure schematic diagram of the spreading device in the embodiment of the present application is shown in FIG. 2;

[0029] Figure 3 The exploded structure schematic diagram of the material conveying mechanism in the embodiment of the present application in the first perspective view is shown in FIG. 3;

[0030] Figure 4 The exploded structure schematic diagram of the material conveying mechanism in the embodiment of the present application in the second perspective view is shown in FIG. 4;

[0031] Figure 5 The exploded structure schematic diagram of the material conveying mechanism in the other embodiment of the present application in the first perspective view is shown in FIG. 5;

[0032] Figure 6 The exploded structure schematic diagram of the material conveying mechanism in the other embodiment of the present application in the second perspective view is shown in FIG. 6;

[0033] Figure 7 The sectional view of the material conveying mechanism in some embodiments of the present application is shown in FIG. 7;

[0034] Figure 8 Fig. 4 is an exploded structural schematic view of the material conveying mechanism in a third perspective view according to an embodiment of the present application;

[0035] Figure 9 Fig. 5 is an exploded structural schematic view of the material conveying mechanism in a fourth perspective view according to an embodiment of the present application;

[0036] Figure 10 Fig. 6 is a structural schematic view of the material conveying mechanism according to an embodiment of the present application.

[0037] Fig. 6 is a structural schematic view of the material conveying mechanism according to an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0040] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0041] In the description of the present application, it should be noted that the terms "inner", "outer" and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship commonly placed when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0042] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "set", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0043] Figure 1 The structure block diagram of the unmanned equipment 010 in the embodiment of the present application is shown in FIG. 1. Figure 1 The embodiment provides an unmanned equipment 010 which can be used for sowing seeds, fertilizers and the like.

[0044] The unmanned equipment 010 comprises an unmanned equipment body 100 and a sowing device 110 arranged on the unmanned equipment body 100, wherein the unmanned equipment body 100 is used for driving the sowing device 110 to move synchronously, so as to complete the sowing of seeds, fertilizers and the like by the sowing device 110 in the process of moving of the sowing device 110.

[0045] It should be noted that the unmanned equipment body 100 can be selected as needed, and the unmanned equipment body 100 in the embodiment of the present application is a drone; in other embodiments, the unmanned equipment body 100 can also be an unmanned vehicle or a robot, etc., which is not limited here.

[0046] Figure 2 The structure schematic diagram of the sowing device 110 in the embodiment of the present application is shown in FIG. 2. Figure 1 and Figure 2 The sowing device 110 comprises a material conveying mechanism 200 and a sowing mechanism 120, and the material conveying mechanism 200 is used for conveying materials to the sowing mechanism 120 for sowing.

[0047] Please continue to refer to Figure 1 Further, the sowing device 110 further comprises a storage mechanism 130, and the storage mechanism 130 is used for storing materials to be sowed and can convey the materials to be sowed to the material conveying mechanism 200.

[0048] It should be noted that the spreading device 110 can also be not arranged on the unmanned equipment body 100, but used independently; for example, the spreading device 110 is directly carried by a worker to perform a spreading operation, or the spreading device 110 is arranged on a tractor to perform a spreading operation. The material conveying mechanism 200 can be independently arranged on the unmanned equipment body 100, and the spreading mechanism 120 can be independently arranged at a place where a spreading operation is needed, for example, the spreading mechanism 120 is independently arranged in a field, and the unmanned equipment body 100 moves to the place where the spreading mechanism 120 is located with the material conveying mechanism 200, and then the material conveying mechanism 200 conveys the material to the spreading mechanism 120 for spreading, which is not limited here.

[0049] It should be noted that the spreading mechanism 120 and the storage mechanism 130 have similar structures to related technologies, and will not be described here.

[0050] Figure 3 FIG. 1 is a first perspective view of the unmanned equipment according to the present application; Figure 2 and Figure 3 In the present embodiment, the material conveying mechanism 200 includes an auger pipe 210 and an auger 220. The auger pipe 210 is provided with a discharge port 211. The auger 220 is rotatably arranged in the auger pipe 210 and can be used to output the material in the auger pipe 210 from the discharge port 211. The spreading mechanism 120 is arranged on the auger pipe 210 and is used to receive and spread the material output from the discharge port 211.

[0051] Please refer to Figure 3 Further, the auger 220 includes a rotating shaft 221 and two segments of auger blades 222 with opposite rotation directions. Along the axial direction of the rotating shaft 221, the two segments of auger blades 222 are sequentially arranged on the rotating shaft 221. Along the length extension direction of the auger pipe 210, the two ends of the auger pipe 210 are both provided with a discharge port 211. In this way, when the material conveying mechanism 200 is used to convey the material, the two segments of auger blades 222 with opposite rotation directions can convey the material to opposite directions, so that the material is output from the two discharge ports 211, the material conveying efficiency is improved, and the reaction force of the material on the auger 220 can be offset.

[0052] Further, please refer to Figure 2 The spreading device 110 includes two spreading mechanisms 120. The two spreading mechanisms 120 are both connected with the auger pipe 210, and the two spreading mechanisms 120 are correspondingly arranged with the discharge ports 211 at the two ends of the auger pipe 210, and can be used to spread the material output from the corresponding discharge port 211, so as to improve the efficiency of the material spreading.

[0053] Figure 4Fig. 2 is a schematic view of the material conveying mechanism 200 in the first perspective view according to an embodiment of the present application; Figure 3 and Figure 4 The starting ends 225 of the two segments of the auger blades 222 with opposite rotation directions are connected, and the two segments of the auger blades 222 with opposite rotation directions are in mirror image symmetry.

[0054] Figure 5 Fig. 4 is a schematic view of the material conveying mechanism 200 in the first perspective view according to another embodiment of the present application; Figure 6 Fig. 5 is a schematic view of the material conveying mechanism 200 in the second perspective view according to another embodiment of the present application. Please refer to Figure 5 and Figure 6 In other embodiments, the starting ends 225 of the two segments of the auger blades 222 with opposite rotation directions are spaced along the circumferential direction of the rotation shaft 221, that is, the starting end 225 of one segment of the auger blades 222 can be connected with the starting end 225 of another segment of the auger blades 222 after rotating a certain angle around the rotation shaft 221. In other embodiments, the starting ends 225 of the two segments of the auger blades 222 with opposite rotation directions can also be spaced along the axial direction of the rotation shaft 221, which is not limited herein.

[0055] It should be understood that, in other embodiments, the spreading device 110 includes one spreading mechanism 120, which is arranged corresponding to the discharge port 211 arranged at one end of the auger pipe 210, and the material output from the discharge port 211 arranged at the other end of the auger pipe 210 can be sent back to the storage mechanism 130.

[0056] In other embodiments, the auger 220 includes only one segment of the auger blades 222, the auger pipe 210 is provided with only one discharge port 211, and the spreading device 110 includes one spreading mechanism 120, which is arranged corresponding to the discharge port 211 and used to receive and spread the material output from the discharge port 211.

[0057] Please refer to Figure 3 and Figure 4 The material conveying mechanism 200 of the embodiment further includes a blocking piece 230 arranged on the auger 220, and the blocking piece 230 can block the discharge port 211. In this way, when the material conveying mechanism 200 is stopped, the blocking piece 230 can be used to block the discharge port 211, so as to improve the phenomenon of material leakage from the discharge port 211 and improve the waste; and when the material is fertilizer, chemical fertilizer or the like, the blocking piece 230 can be used to block the discharge port 211 when the material conveying mechanism 200 is stopped, so as to improve the phenomenon of leakage of the fertilizer, chemical fertilizer or the like from the discharge port 211 and improve the pollution problem.

[0058] Further, the material conveying mechanism 200 comprises two blocking pieces 230, which are respectively arranged at two ends of the rotating shaft 221 and correspond to the two ends of the auger pipe 210, and the blocking piece 230 can block the corresponding discharge port 211. In this way, when the machine is stopped, the discharge port 211 at any end of the auger pipe 210 can be blocked by the corresponding blocking piece 230, so as to improve the problem of material leakage when the material conveying mechanism 200 is stopped, and improve the problem of material waste.

[0059] Further, the two blocking pieces 230 are distributed on the same side of the rotating shaft 221, so that the two blocking pieces 230 can simultaneously block or open the discharge ports 211 at the two ends of the auger pipe 210, so as to ensure that the discharge ports 211 at the two ends of the auger pipe 210 can be blocked by the corresponding blocking pieces 230 when the material conveying mechanism 200 is stopped, effectively improving the problem of material leakage and the problem of material waste.

[0060] Optionally, the two blocking pieces 230 are distributed in mirror symmetry, so as to facilitate the machining of the blocking piece 230 and the assembly of the blocking piece 230 on the rotating shaft 221 of the auger 220, and facilitate the arrangement of the discharge ports 211 at the two ends of the auger pipe 210, so as to ensure that the production and assembly of the material conveying mechanism 200 are simple and easy to operate.

[0061] The structure of the blocking piece 230 can be set as required. In the embodiment, the blocking piece 230 is a baffle, specifically, the blocking piece 230 is a fan-shaped baffle, that is, the baffle extends around the rotation axis of the auger 220, that is, the baffle extends along the circumference of the rotating shaft 221. In this way, the baffle can reliably block the discharge port 211.

[0062] The central angle a of the fan-shaped baffle can be set as required. Please refer to Figure 7 In some embodiments, the central angle a of the fan-shaped baffle can be 90°-240°. Setting the central angle a of the baffle in the appropriate angle range can reliably block the discharge port 211 when the machine is stopped, and can also avoid the interference of the baffle with the output of the material from the discharge port 211.

[0063] Of course, in other embodiments, the central angle a of the fan-shaped baffle can also be 60°, 75°, 250°, etc., which is not limited here.

[0064] Of course, in other embodiments, the baffle can also be rectangular, etc., which is not limited here.

[0065] In other embodiments, the blocking piece 230 can also be a blocking rod, etc., which is not limited here.

[0066] In the embodiment, the baffle is connected perpendicularly to the rotating shaft 221, specifically, the extension surface of the baffle is perpendicular to the axis of the rotating shaft 221, so as to effectively shield the discharge port 211 by the baffle, reduce the space occupied by the baffle, and facilitate compact structure design.

[0067] In other embodiments, the angle between the extension surface of the baffle and the axis of the rotating shaft 221 can also be 85°, 95°, etc., which is not limited here.

[0068] The connecting mode of the blocking piece 230 and the rotating shaft 221 can be selected as required, and the blocking piece 230 and the rotating shaft 221 are integrally formed in the embodiment; in other embodiments, the connecting mode of the blocking piece 230 and the rotating shaft 221 can also be welding, clamping or bonding, etc., which is not limited here.

[0069] It should be noted that the shape of the discharge port 211 can be set as required, and in a more preferable embodiment, the shape of the discharge port 211 is adapted to the shape of the blocking piece 230, so as to ensure that the blocking piece 230 can reliably shield the discharge port 211, thereby effectively improving the problem of material leakage.

[0070] Please refer to Figure 3 , the discharge port 211 of the embodiment is approximately circular arc-shaped; in this way, the circular arc-shaped baffle can reliably shield the discharge port 211, effectively improving the problem of material leakage.

[0071] Of course, in other embodiments, the discharge port 211 can also be rectangular, triangular, or circular arc-shaped around the rotating shaft of the auger 220, etc., which is not limited here.

[0072] It should be noted that the shielding of the discharge port 211 by the blocking piece 230 can mean that the blocking piece 230 completely encloses the discharge port 211; or the blocking piece 230 can coincide with part of the discharge port 211, for example Figure 7 As shown, in the embodiment in which the discharge port 211 is circular ring-shaped, the blocking piece 230 coincides with the lower half of the discharge port 211, while the upper half of the discharge port 211 has a certain gap, so that the blocking piece 230 can hinder the output of the material from the discharge port 211.

[0073] The structure of the auger pipe 210 can be selected as required, please refer to Figure 3 and Figure 4 The auger pipe 210 of the embodiment includes a pipe 212 and an end cover 213, the end cover 213 is arranged at one end of the pipe 212, the auger 220 is rotatably arranged in the pipe 212, and the end cover 213 is provided with a discharge port 211; in this way, when assembling the material conveying mechanism 200, the auger pipe 210 can be arranged in the pipe 212, and then the end cover 213 is arranged in the pipe 212, thereby ensuring easy operability of assembly.

[0074] Further, the auger pipe 210 comprises two end covers 213, each of which is provided with a discharge port 211, and each of which is arranged at one end of the pipe 212; when the material conveying mechanism 200 is assembled, one of the end covers 213 can be arranged at one end of the pipe 212 first, then the auger 220 is arranged in the pipe 212, and then the other end cover 213 is arranged at the other end of the pipe 212, so as to ensure the easy operability of the assembly.

[0075] The connection mode of the end cover 213 and the pipe 212 can be selected as needed, please refer to Figure 8 In the embodiment, the end cover 213 and the pipe 212 are clamped and matched, the end cover 213 is provided with a clamping groove 217, and the pipe 212 is provided with a clamping tooth 216, which is clamped and matched with the clamping groove 217. In other embodiments, the end cover 213 is provided with a clamping tooth 216, and the pipe 212 is provided with a clamping groove 217, which is clamped and matched with the clamping tooth 216.

[0076] It should be understood that in other embodiments, the connection mode of the end cover 213 and the pipe can also be threaded connection or fastening with screws and the like, which is not limited here.

[0077] In order to stably arrange the auger 220 in the auger pipe 210, the end cover 213 of the embodiment is provided with a plug-in shaft 215, and the auger 220 is plugged with the plug-in shaft 215. In this way, the auger 220 arranged in the pipe 212 can be reliably supported by the plug-in shaft 215, so as to ensure that the auger 220 can stably rotate in the pipe 212, and then stably convey the material.

[0078] Optionally, please refer to Figure 3 , Figure 4 and Figure 8 One of the end covers 213 is provided with a plug-in shaft 215, and the other end cover 213 is provided with a plug-in hole 218, the material conveying mechanism 200 further comprises a motor 250, the two ends of the rotating shaft 221 of the auger 220 are respectively provided with a first hole 223 and a second hole 224, the first hole 223 is plugged with the plug-in shaft 215, the second hole 224 is opposite to the plug-in hole 218, and the output shaft of the motor 250 is tightly plugged and matched with the plug-in hole 218 after passing through the second hole 224; in this way, the auger 220 can be supported by the plug-in shaft 215 and the output shaft of the motor 250, so as to drive the auger 220 to stably rotate in the auger pipe 210 by the output shaft of the motor 250.

[0079] In other embodiments, both end covers 213 of the auger pipe 210 are provided with plug shafts 215, one of the plug shafts 215 is provided with a plug hole 218, the first hole 223 and the second hole 224 at both ends of the rotating shaft 221 of the auger 220 are respectively plugged with the two plug shafts 215, and the second hole 224 is in communication with the plug hole 218, and the output shaft of the motor 250 is tightly plugged with the second hole 224 after passing through the plug hole 218; in this way, the auger 220 can be reliably supported by the two plug shafts 215, so as to be stably rotated by the motor 250.

[0080] In order to reliably output the material from the auger pipe 210, please refer to Figure 8 , the discharge port 211 is at least partially located on one side of the plug shaft 215; in this way, during use of the material conveying mechanism 200, the discharge port 211 is at least partially located below the plug shaft 215, so as to enable the material to be directly output from the discharge port 211 at the end of the auger pipe 210 under the pushing force of the auger blade 222 of the auger 220 during conveying of the material by the auger blade 222, and to improve the problem of blockage near the discharge port 211.

[0081] Further, the discharge port 211 is entirely located below the axis of the plug shaft 215, so as to ensure that the material can be smoothly output from the discharge port 211 and is not easily blocked near the discharge port 211.

[0082] Figure 9 It is an exploded structural schematic view of the material conveying mechanism 200 in the fourth view of the embodiments of the present application.

[0083] In order to enable the blocking piece 230 to more reliably block the discharge port 211, please refer to Figure 9 , the end of the pipe 212 is provided with an opening 214, and the blocking piece 230 extends out of the opening 214; in this way, it is beneficial to reduce the spacing between the blocking piece 230 and the discharge port 211 in the extension direction of the rotating axis of the auger 220; and when the material conveying mechanism 200 is stopped, the blocking piece 230 can more effectively block the discharge port 211, and the problem of material leakage is improved.

[0084] Of course, in other embodiments, the blocking piece 230 can be flush with the outlet at the end of the pipe 212, or the blocking piece 230 can be retracted into the outlet at the end of the pipe 212.

[0085] Please refer to Figure 9 , the auger pipe 210 of the embodiments further comprises a feeding port 219, specifically, the feeding port 219 is provided on the sidewall of the barrel and is oppositely distributed with the auger 220; in this way, the material to be spread stored in the storage mechanism 130 can fall into the barrel from the feeding port 219, and then the material entering the barrel can be reliably output from the discharge port 211 by the auger 220.

[0086] Further, the two segments of the helical blades 222 with opposite rotation directions are oppositely distributed relative to the feeding port 219, so that the material entering the barrel from the feeding port 219 is evenly transported to both ends of the barrel by the two segments of the helical blades 222 with opposite rotation directions, thereby improving the uniformity of material spreading.

[0087] Figure 10 FIG. 2 is a structural schematic diagram of the material conveying mechanism 200 in the embodiment of the present application; please refer to Figure 10 The material conveying mechanism 200 in the embodiment further includes a sensor 240, which is arranged on the auger tube 210 and used to detect whether the blocking piece 230 blocks the discharge port 211. In this way, the sensor 240 can be used to ensure that the blocking piece 230 reliably blocks the discharge port 211, thereby effectively improving the material leakage problem when the material conveying mechanism 200 is stopped.

[0088] In the embodiment, the sensor 240 is arranged on the end cover 213; of course, in other embodiments, the sensor 240 can also be arranged at a position adjacent to the outlet of the barrel.

[0089] Optionally, the material conveying mechanism 200 further includes a controller (not shown in the figure), which is in communication with the motor 250. The controller is used to receive the instruction for stopping the material conveying mechanism 200; when the controller receives the instruction for stopping the material conveying mechanism 200, the controller controls the sensor 240 to detect whether the blocking piece 230 is located at the position for blocking the discharge port 211, so that the sensor 240 sends a first signal to the controller when it is detected that the blocking piece 230 is located at the position for blocking the discharge port 211, or sends a second signal to the controller when it is detected that the blocking piece 230 is not located at the position for blocking the discharge port 211; when the controller receives the first signal, the motor 250 is directly controlled to be turned off, thereby completing the stopping of the material conveying mechanism 200; when the controller receives the second signal, the motor 250 is controlled to be turned off after a delay, that is, the motor 250 is controlled to drive the auger 220 to rotate for a certain period of time until the sensor 240 detects that the blocking piece 230 blocks the discharge port 211 and sends the first signal to the controller, and then the controller controls the motor 250 to be immediately stopped, thereby completing the stopping of the material conveying mechanism 200.

[0090] It should be understood that, in other embodiments, the material conveying mechanism 200 does not include the controller, the spreading device 110 includes the controller, and the material conveying mechanism 200 and the spreading device 120 are in communication with the same controller; or only the unmanned device 010 includes the controller, and the material conveying mechanism 200 and the spreading device 120 are in communication with the controller of the unmanned device 010, without the need to separately configure the controller for the material conveying mechanism 200.

[0091] The type of the sensor 240 can be selected as required, and in this embodiment, the sensor 240 can be a micro switch; in other embodiments, the sensor 240 can be a photoelectric sensor or the like, which is not specifically limited here.

[0092] The embodiment also provides a control method for the unmanned device 010, which can be used to ensure that the blocking piece 230 can reliably block the discharge port 211 when the unmanned device 010 no longer spreads the material.

[0093] The flight attitude of the unmanned device 010 changes with flight, and when the flight attitude has an angle of elevation greater than a certain angle and the blocking piece 230 does not block the discharge port 211, the material will leak from the discharge port 211. Moreover, the unmanned device 010 has an entering section for takeoff, a returning section for landing, a cross flight section for changing the working position, and a working section for spreading, among which the entering section, the returning section, and the cross flight section are non-working sections that do not require spreading, i.e., the flight sections in which the spreading device 110 is in a shutdown state; when the unmanned device 010 is flying in the non-working section, the blocking piece 230 needs to be used to block the discharge port 211 to block the material from leaking.

[0094] The control method of this embodiment includes: when the unmanned device 010 is in the non-working section, determining whether the current attitude angle of the unmanned device 010 is greater than a preset threshold; and when the current attitude angle of the unmanned device 010 is greater than the preset threshold, controlling the motor 250 to rotate by a set angle to enable the blocking piece 230 to block the discharge port 211. In this way, when the unmanned device 010 is in the non-working section, the blocking piece 230 can reliably block the discharge port 211, which improves the material leakage and reduces the waste of the material.

[0095] In an embodiment, if the motor 250 has already reached the set angle that enables the blocking piece 230 to block the discharge port 211 when the current attitude angle of the unmanned device 010 is greater than the preset threshold, the motor 250 does not need to be controlled to rotate again. Based on this, it can be understood that when the current attitude angle of the unmanned device 010 is determined to be greater than the preset threshold, the current angle of the motor 250 can also be further determined. In this way, when the current attitude angle of the unmanned device 010 is greater than the preset threshold and the current angle of the motor 250 does not reach the set angle, the motor 250 is controlled to rotate to drive the blocking piece 230 to block the discharge port 211.

[0096] Further, before detecting the current angle of the motor 250, the control method can further include judging whether the unmanned device 010 is located in a non-working section, for example, detecting the location of the unmanned device 010 according to the radar of the unmanned device 010, and checking the table to compare whether the real-time location is a non-working section; or judging whether the unmanned device 010 moves to a location in the non-working section in the planned moving path according to the pre-planned and set moving path, etc., which is not limited here.

[0097] It should be noted that the unmanned device 010 can further include an encoder cooperating with the motor 250; the control method further includes: when it is judged that the unmanned device 010 is located in the non-working section, detecting the current angle of the motor 250 through the encoder, and when it is detected that the attitude angle of the unmanned device 010 is greater than the threshold value and the current angle of the motor 250 does not reach the set angle, controlling the motor 250 to rotate to the set angle, so as to make the blocking piece 230 rotate to the position of shielding the discharge port 211.

[0098] The unmanned device 010 provided by the embodiment can use the spreading device 110 to spread seeds, fertilizers and other materials; wherein the material conveying mechanism 200 of the spreading device 110 can convey the material to be spread to the spreading mechanism 120 for spreading; when the spreading device 110 is stopped, i.e. when the material conveying mechanism 200 is stopped, the blocking piece 230 can shield the discharge port 211 of the auger pipe 210.

[0099] In summary, the material conveying mechanism 200 of the present application can shield the discharge port 211 by the blocking piece 230 when it is stopped, so as to improve the phenomenon of material leaking from the discharge port 211 and waste.

[0100] The above is only the preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A material conveying mechanism, characterized by, The material conveying mechanism is used for unmanned equipment, and comprises: an auger pipe provided with a discharge port; an auger rotatably arranged in the auger pipe and capable of conveying material in the auger pipe out of the discharge port; a blocking piece arranged on the auger, wherein the material conveying mechanism further comprises a sensor arranged on the auger pipe and configured to detect whether the blocking piece blocks the discharge port, and a controller configured to communicate with a motor drivingly connected to the auger and receive an instruction to stop the material conveying mechanism; when the controller receives the instruction to stop the material conveying mechanism, the sensor is controlled by the controller to detect whether the blocking piece is located at a position to block the discharge port, and when the sensor detects that the blocking piece is located at the position to block the discharge port, a first signal is sent to the controller to make the controller control the motor to be turned off, or when the sensor detects that the blocking piece is not located at the position to block the discharge port, a second signal is sent to the controller to make the controller control the motor to be turned off after a time delay. The blocking piece is a fan-shaped baffle.

2. The material transport mechanism of claim 1, wherein, The central angle of the fan-shaped baffle is 90°-240°.

3. A material transport mechanism according to claim 2, wherein, Along the length direction of the auger pipe, both ends of the auger pipe are provided with the discharge port, the auger comprises a rotating shaft and two segments of auger blades with opposite rotation directions, and the two segments of auger blades are arranged on the rotating shaft in sequence along the axial direction of the rotating shaft; the material conveying mechanism comprises two blocking pieces, the two blocking pieces are arranged at both ends of the rotating shaft respectively, the two blocking pieces are arranged in one-to-one correspondence with the discharge ports at both ends of the auger pipe, and the blocking piece can block the corresponding discharge port.

4. The material transport mechanism of claim 1, wherein, The two blocking pieces are distributed on the same side of the rotating shaft.

5. A material transport mechanism according to claim 4, wherein, The auger pipe comprises a pipe and an end cover arranged at one end of the pipe, the auger is rotatably arranged in the pipe, and the end cover is provided with the discharge port; an opening is arranged at the end of the pipe, and the blocking piece extends out of the opening.

6. A material conveying mechanism according to any one of claims 1-5, characterized in that, The end cover is provided with a plug-in shaft, the auger is plugged into the plug-in shaft, and the discharge port is at least partially located on one side of the plug-in shaft.

7. A material transport mechanism according to claim 6, wherein, The blocking piece is configured to block the discharge port when the unmanned equipment is located at a non-working section and the current attitude angle of the unmanned equipment is greater than a preset threshold.

8. The material transport mechanism of claim 1, wherein, The material conveying mechanism comprises a sowing mechanism arranged on the auger pipe and configured to receive and sow the material conveyed out of the discharge port.

9. A spreading device, characterized in that The unmanned equipment comprises a body and the material conveying mechanism or the sowing device.

10. An unmanned device, comprising: The control method comprises:

11. A control method for the unmanned apparatus of claim 10, the unmanned apparatus further comprising a motor, the motor being in driving connection with the auger, characterized in that, when the unmanned equipment is located at a non-working section, determining whether the current attitude angle of the unmanned equipment is greater than a preset threshold; when the current attitude angle of the unmanned equipment is greater than the preset threshold, controlling the motor to be rotated to a set angle to make the blocking piece block the discharge port. ​

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