One-way swingable unmanned folding drone drill seed tube device

Abstract

The present application relates to a kind of one-way swingable unmanned aerial vehicle strip sowing seed tube device of non-driven folding type, including strip sowing seed metering device connection device, normally closed electromagnet driven limiting device, rigid carbon fiber seed tube, flexible bellows, one-way swing assembly of fixed bellows and the roller of each joint connection place thereon.When unmanned aerial vehicle takes off, the gravity of seed tube itself is used to unfold without driving, and when unmanned aerial vehicle lands, the weight of fuselage is used to fold without driving.When operating, the upper end position of seed tube is fixed, the end can swing freely in one direction, and the length of seed tube can be set according to the size of rotor airflow.The present application has compact and ingenious structure, ensures the safety of unmanned aerial vehicle blind take-off and blind landing operation, realizes strip sowing operation in two seed dropping postures of seed tube end close to ground or trailing, and achieves the purpose of effectively inhibiting the interference of rotor airflow on falling seeds and the effect of seed large speed touch ground rebounding.

Description

Technical Field

[0001] This invention relates to the field of agricultural aviation technology, specifically to a driveless foldable unmanned aerial vehicle (UAV) seed delivery and distribution tube device that can swing in one direction. Background Technology

[0002] Multi-rotor agricultural drones equipped with high-precision autonomous flight capabilities are finding increasingly diverse applications in agriculture due to their precise flight paths, high autonomous flight stability, and ease of operation. Utilizing existing agricultural drone platforms for aerial seeding can effectively compensate for the shortcomings of ground-based implements, such as limited mobility in heavy, sticky soil and low efficiency in small, scattered plots.

[0003] Currently, drone seeding operations mainly employ broadcasting and spot seeding. The former often uses centrifugal disc-type broadcasting devices, where seeds fall freely to the ground without restraint, resulting in scattered and disordered landings, which is detrimental to ventilation, lighting, and field management during crop growth. To achieve more orderly aerial seeding, Chinese patent CN111674550A discloses a drone precision direct seeding system. This precision spot seeding system uses a seeding wheel to transport seeds from a feed hopper to a distributor. The lower end of the distributor is connected to several distribution pipes, which evenly distribute the material into the distribution pipes and migrate to the feeding port under the action of the transport airflow. The feeding port is fan-shaped and radially expanded. Chinese patent CN112693614A discloses a spot seeding method and supporting device. This device utilizes the principle of friction acceleration to give rice seeds a greater seeding speed, allowing the rice seeds to be shot towards the target location. Chinese patent CN114180066A discloses a pneumatic seeding method and supporting device for unmanned aerial vehicles (UAVs). During operation, this device utilizes accelerated airflow to speed up the descent of seeds within a channel, causing rice seeds to quickly fall into the seed bed. Chinese patent CN113950907A discloses a precision row seeding device for UAVs. This device includes a precision seed metering device and a foldable seed guide tube. During operation, the foldable seed guide tube is first unfolded, and the seeds fall to the target location under the directional guidance and constraint of the seed guide tube.

[0004] The aforementioned drone spot seeding device primarily increases the seed delivery speed, allowing seeds to quickly escape the drone rotor's wind field and reducing the duration of wind disturbance to the seeds. However, the high kinetic energy of the seed delivery causes the seeds to bounce in dry soil. In contrast, the aforementioned drone strip seeding device, which relies on automatically folding seed guide tubes to suppress rotor airflow interference, is susceptible to seed particle trajectory interference from the drone rotor wind during operation. The seed guide tube must be of sufficient length to ensure good strip formation. However, under heavy loads and strong airflow interference, excessively long and heavy seed guide tubes make the automated folding process using servo motors difficult or uneconomical. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a driveless foldable drone strip seeding and dispensing tube device that can swing in one direction, in response to the above problems and requirements.

[0006] To solve the above technical problems, the present invention adopts the following technical solution:

[0007] A unidirectional, swing-type, undriven, foldable drone seeding tube device includes a seed metering device connecting assembly, a seeding tube limiting device, a seeding tube, a swingable seeding mechanism, and a crossbar. The seed metering device connecting assembly connects the seeding tube to the seeding port of an external seed metering device. The upper and lower ends of the seeding tube are hinged to the seed metering device connecting assembly and the swingable seeding mechanism, respectively. It can utilize the weight of the seeding tube to achieve undriven deployment during takeoff and undriven folding during landing using the weight of the drone body. The crossbar is used to fix and connect multiple seed-feeding tubes. A seed-feeding tube limiting device is also provided between the seed-feeding tube and the strip seed metering device. The seed-feeding tube limiting device can constrain the seed-feeding tube to maintain a fixed connection of 90° or 180° with the strip seed metering device or release the constraint. The swingable seed-feeding mechanism can swing in a fixed direction under the action of external force. The swingable seed-feeding mechanism includes multiple sequentially connected unidirectional swing units. The unidirectional swing unit includes a unidirectional swing component and a flexible corrugated pipe.

[0008] Before sowing, it is necessary to determine the vertical distribution range of the wind field formed by multi-rotor drones with different payloads and their associated rotors, as well as the intensity of the vortex formed near the ground. The length of the seed delivery tube should be adjusted to ensure that the seed delivery position is outside the rotor wind field and its associated vortex field or in a place with weak airflow disturbance. When the drone enters the field for sowing, the appropriate operation method should be selected according to the flatness of the seedbed: for seedbeds with high stubble from the previous crop, seed delivery tubes should be suspended near the ground for seed delivery; for seedbeds without significant undulations, seed delivery tubes should be dragged along the ground to make the seed delivery position close to the seedbed and reduce the degree of collision and displacement between the seeds and the seedbed. During drone takeoff, the limiting device releases the restriction on the seed delivery tube, which swings to the predetermined seed delivery position under its own weight. The limiting device then restricts the swing of the seed delivery tube again, achieving a driveless unfolding process. During drone landing, the limiting device releases the restriction on the seed delivery tube, which swings to a horizontal position under the influence of the drone's gravity and guided by the seed delivery and landing auxiliary wheels, achieving a driveless folding process. The tube end fixing mechanism connects several sets of unidirectional swinging driveless folding seed delivery tubes into one unit, ensuring the synchronization of the seed delivery tube during seed delivery, takeoff, and landing.

[0009] Furthermore, the seed delivery tube limiting device is a limiting device driven by a normally closed electromagnet.

[0010] The unidirectional swing-type non-driven foldable seed guide tube device is installed at the bottom of the seed metering device, which is mounted on the mounting crossbar of the UAV. The seed guide tube end fixing mechanism is installed at the end of several unidirectional swing-type non-driven foldable seed guide tube devices to improve the swing synchronization of the seed guide tube.

[0011] Furthermore, the row seed metering device in the unidirectional swing-type non-driven folding seed delivery tube device includes a dovetail slider, a discharge port, and a mounting groove; the dovetail slider can be quickly slidably connected to the bottom of the seed metering device and locked by a pin; the discharge port is aligned and connected to the seed outlet at the bottom of the seed metering device; the mounting groove is used to fix and install the carbon fiber seed delivery tube.

[0012] Furthermore, the normally closed electromagnet-driven limiting device in the unidirectional swing-type non-driven folding seed guide tube device includes an electromagnet mounting base, a normally closed electromagnet, and a limiting component; the electromagnet mounting base is fixedly connected to the rear side wall of the strip seed metering device; the normally closed electromagnet is fixedly connected to the surface of the electromagnet mounting base; the limiting component is fixedly connected to the front side wall of the strip seed metering device; the push rod of the normally closed electromagnet is inserted into the limiting hole of the limiting component.

[0013] Furthermore, the carbon fiber seed guide tube in the unidirectional swing-type non-driven folding seed guide tube device includes a seed inlet, a front-end mounting component, and a rigid carbon fiber hollow tube; the front-end mounting component is hinged to the mounting groove in the row seed metering device and fixed to the bottom of the limiting component in the limiting device; the seed inlet is aligned and connected to the seed drop outlet in the row seed metering device; the rigid carbon fiber hollow tube is used for directional seed delivery.

[0014] Furthermore, the unidirectional swing component in the unidirectional swing-free folding seed guide and dispensing tube device consists of several connecting joints connected end to end. Adjacent connecting joints are hinged together, and adjacent connecting joints can only rotate axially along the hinge point, thus driving the unidirectional swing component to swing in the same direction. The connecting joint includes a tenon, a landing auxiliary wheel, a constraint strap, a joint, and a tenon. The landing auxiliary wheel is located on both sides of the joint to assist the seed guide and dispensing device in undriven unfolding and folding. The constraint strap passes through the through hole in the side wall of the joint.

[0015] Furthermore, the unidirectional swing assembly can be composed of connecting joints in the following combinations: 1. All connecting joints are of the same length; 2. All connecting joints are of different lengths; 3. Some connecting joints are of the same length, while the remaining connecting joints are of different lengths.

[0016] Furthermore, the front end of the flexible corrugated tube is nested and connected to the end of the rigid carbon fiber hollow tube; a unidirectional swing assembly composed of several head-to-tail series hinged joints is fixed to one side of the flexible corrugated tube by a constraint strap and is integrated with the flexible corrugated tube; adjacent joints can only rotate axially along the hinge, restricting the unidirectional swing assembly to swing only in the same direction, so that the flexible corrugated tube only swings in the forward direction and has no lateral swing, thereby improving the uniformity of seed distribution after sowing.

[0017] Furthermore, the end-guide component of the unidirectional swing-type non-driven folding seed-feeding tube includes a connecting tenon, a seed-feeding and landing auxiliary wheel, and a V-shaped guide groove; the connecting tenon and the tenon in the end-connecting joint of the unidirectional swing component are nested together and connected by a hinge; a flexible corrugated tube is sleeved on the front end of the end-guide component; the seed-feeding and landing auxiliary wheel is rotatably connected to both sides of the end-guide component to assist in the mopping seed-feeding process and the folding process of the seed-feeding device; the V-shaped guide groove is set at the end of the end-guide component to guide the seed flow.

[0018] Furthermore, the seed delivery tube end fixing mechanism includes a fixing tube and an elastic tube clamp; the elastic tube clamp is fixedly connected to the back of the joint in the connecting joint; the fixing tube and the elastic tube clamp are tightly connected to connect the ends of several unidirectional swinging undriven foldable drone strip seed delivery tube devices into one unit, so as to improve the swing synchronization of the seed delivery tube end during operation.

[0019] Preferably, the length of the rigid carbon fiber hollow tube is 500mm–2000mm.

[0020] Preferably, the wall thickness of the rigid carbon fiber hollow tube is 1 mm, and the inner diameter is 10 mm–30 mm.

[0021] Preferably, the flexible corrugated pipe is made of flexible polyethylene.

[0022] Preferably, the length of the flexible corrugated pipe is 500mm–2000mm.

[0023] Preferably, the flexible corrugated pipe has a wall thickness of 1 mm and an inner diameter of 10 mm–30 mm.

[0024] Preferably, the joint thickness is 6 mm.

[0025] Preferably, the ratio of the length of the rigid carbon fiber hollow tube to the length of the flexible corrugated tube should be greater than 1:1.

[0026] Preferably, the unidirectional swing assembly has 5–20 connecting joints.

[0027] Preferably, the joint length of the connecting joint is 50mm–200mm.

[0028] Preferably, the restraint strap can be a low-cost cable tie.

[0029] Preferably, the length of the end-concentrating unit is 50mm–100mm.

[0030] Preferably, both the landing auxiliary wheel and the seed-dropping landing auxiliary wheel 3-6-2 use a hollow design to reduce weight.

[0031] Preferably, the outer diameter of the landing assistance wheel is 20–60 mm.

[0032] Preferably, the outer diameter of the seed-dropping auxiliary wheel is 20–60 mm.

[0033] Preferably, the fixing tube is made of hollow carbon fiber tube.

[0034] Preferably, the length of the fixing tube is 1500mm–2400mm, the wall thickness is 1mm, and the outer diameter is 4mm–8mm.

[0035] Preferably, the elastic tube clamp can be installed at the first to fifth connecting joints at the end of the unidirectional swing assembly.

[0036] The beneficial effects of this invention are as follows: The unidirectional oscillating, non-driven, foldable drone-based seeding and dispensing device adopts a modular design, allowing for quick disassembly and connection of each component; the length of the rigid carbon fiber hollow tube and corrugated pipe, and the number of unidirectional oscillating components are adjusted according to the vertical distribution range of the wind field formed by different payload multi-rotor drones and their supporting rotors, and the intensity of the vortex formed by the wind field near the ground, ensuring that the seeding position is distributed outside the disturbed airflow field; the unidirectional oscillating, non-driven, foldable drone-based seeding and dispensing device adopts different operating modes according to the surface conditions; before operation, the operator first observes the field... In cases where the seedbed surface is flat and free of significant stubble, the drone's flight altitude can be lowered to allow the seed-dropping auxiliary wheels to contact the seedbed. The carbon fiber tube, perpendicular to the seedbed, and several articulated unidirectional oscillating components rotating around the articulation points cause the corrugated tube to bend, forming a straight-curved seed guide line that accurately transports the seeds to a predetermined position on the seedbed surface. If the seedbed surface has significant stubble, the drone's flight altitude can be appropriately increased, allowing the seed-dropping auxiliary wheels to detach from the seedbed. Gravity then drives the carbon fiber tube and corrugated tube to be parallel, forming a long, straight seed guide line. This ensures the seeds inside the guide tube are not disturbed by the drone's rotor winds and fall accurately into the predetermined position in the field. During the drone's descent, the seed-dropping auxiliary wheels and landing auxiliary wheels convert the drone's gravity into a thrust that drives the seed-dropping tube to tilt, gradually reducing the angle between the seed-dropping tube and the ground until the drone safely lands. This allows for the tilting and folding of seed-dropping tubes of any length without the need for additional drive devices.

[0037] The seed delivery tube end fixing mechanism can connect the ends of several unidirectional swinging, undriven, foldable drone seed delivery tube devices into one unit, realizing the synchronization of the seed delivery tube end movement during operation, making the seed movement state in each seed delivery tube consistent with each other, thereby ensuring the uniform distribution of seed landing points in the field. Attached Figure Description

[0038] Figure 1 The image shows the effect of mounting a unidirectional, non-driven, foldable drone seed delivery tube device on a conventional multi-rotor agricultural drone.

[0039] Figure 2 A schematic diagram of a driveless, foldable, unmanned aerial vehicle (UAV) seed delivery and distribution tube device that can swing in one direction.

[0040] Figure 3 This is a schematic diagram of the connection device for the row seed metering device;

[0041] Figure 4 A schematic diagram of a limit device driven by a normally closed electromagnet.

[0042] Figure 5 This is a schematic diagram of the carbon fiber seed delivery tube structure;

[0043] Figure 6 This is a schematic diagram of the connecting joint structure;

[0044] Figure 7 This is a schematic diagram of the end flow guide component structure;

[0045] Figure 8 This is a schematic diagram of the structure of the seed tube end fixing mechanism;

[0046] Figure 9 This is a schematic diagram of the mopping and sowing process;

[0047] Figure 10 Schematic diagram of the suspended seeding process;

[0048] Figure 11 This is a schematic diagram of phase S1 during the descent process;

[0049] Figure 12 This is a schematic diagram of phase S2 during the descent process;

[0050] Figure 13 This is a schematic diagram of phase S3 during the descent process.

[0051] The components represented by each number in the diagram are listed below:

[0052] 1. Conventional multi-rotor agricultural drones;

[0053] 2. Seed metering device;

[0054] 3. A driveless, foldable drone-mounted seed delivery tube device that can swing in one direction;

[0055] 3-1. Seed metering device connection device; 3-1-1. Dovetail slider; 3-1-2. Feed inlet; 3-1-3. Mounting groove; 3-2. Limiting device driven by normally closed electromagnet; 3-2-1. Electromagnet mounting base; 3-2-2. Normally closed electromagnet; 3-2-3. Limiting component; 3-3. Carbon fiber seed guide tube; 3-3-1. Seed inlet; 3-3-2. Front end mounting component; 3-3-3. Rigid carbon fiber... 3-4. Hollow tube, 3-4. Unidirectional swing assembly, 3-4-1. Connecting joint, 3-4-1-1. Tenon, 3-4-1-2. Landing auxiliary wheel, 3-4-1-3. Restraint belt, 3-4-1-4. Joint, 3-4-1-5. Tenon, 3-5. Flexible corrugated pipe, 3-6. End guide assembly, 3-6-1. Connecting tenon, 3-6-2. Seeding landing auxiliary wheel, 3-6-3. V-shaped guide groove;

[0056] 4. Seed guide tube end fixing mechanism;

[0057] 4-1. Fixed pipe, 4-2. Flexible pipe clamp. Detailed Implementation

[0058] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0059] like Figure 1 As shown, the effect of mounting a unidirectional swinging, undriven, foldable drone seed delivery tube device on a conventional multi-rotor plant protection drone is illustrated. The seed metering device 2 is mounted on the mounting crossbar of the drone 1. The unidirectional swinging, undriven, foldable seed delivery tube 3 is installed at the bottom of the seed metering device 2. The seed delivery tube end fixing mechanism 4 is installed at the ends of several unidirectional swinging, undriven, foldable seed delivery tubes 3 to improve the swing synchronization of the seed delivery tubes 3.

[0060] like Figure 2 As shown, the unidirectional swing-type undriven foldable drone seeding and dispensing tube device 3 includes a seed metering device 3-1, a normally closed electromagnet-driven limiting device 3-2, a carbon fiber seed guide tube 3-3, a unidirectional swing component 3-4, a flexible corrugated tube 3-5, and an end flow guide component 3-6.

[0061] like Figure 3As shown, the strip seed metering device 3-1 includes a dovetail slider 3-1-1, a discharge port 3-1-2, and a mounting groove 3-1-3; the dovetail slider 3-1-1 can slide quickly at the bottom of the seed metering device 2 and be locked in place by a pin; after locking, the discharge port 3-1-2 is aligned and connected with the seed outlet of the seed metering device 2; the mounting groove 3-1-3 is used to fix and install the carbon fiber seed guide tube 3-3.

[0062] like Figure 4 As shown, the normally closed electromagnet-driven limiting device 3-2 includes an electromagnet mounting base 3-2-1, a normally closed electromagnet 3-2-2, and a limiting component 3-2-3. The electromagnet mounting base 3-2-1 is fixedly connected to the rear side wall of the row seed metering device connecting device 3-1. The normally closed electromagnet 3-2-2 is fixedly connected to the surface of the electromagnet mounting base 3-2-1. The limiting component 3-2-3 is rotatably connected to the front side wall of the row seed metering device connecting device 3-1. When the push rod of the normally closed electromagnet 3-2-2 is inserted into the limiting hole of the limiting component 3-2-3, it can restrict the rotation of the limiting component. When the push rod of the normally closed electromagnet 3-2-2 is disengaged from the limiting hole of the limiting component 3-2-3, the limiting component can rotate freely.

[0063] like Figure 5 As shown, the carbon fiber seed guide tube 3-3 includes a seed inlet 3-3-1, a front-end mounting component 3-3-2, and a rigid carbon fiber hollow tube 3-3-3. The front-end mounting component 3-3-2 is hinged to the mounting groove 3-1-3 in the row seed metering device 3-1 and is fixedly connected to the bottom of the limiting component 3-2-3 in the limiting device 3-2. The seed inlet 3-3-1 is aligned and connected to the seed drop outlet 3-1-2 in the row seed metering device 3-1. The rigid carbon fiber hollow tube 3-3-3 is used for directional seed delivery. The front-end mounting component 3-3-2 can rotate synchronously with the limiting device 3-2 and drive the rigid carbon fiber hollow tube 3-3-3 to swing.

[0064] Figure 6 The structural composition of the connecting joint 3-4-1 in the unidirectional swing assembly 3-4 is given; the connecting joint 3-4-1 includes a tenon 3-4-1-1, a landing auxiliary wheel 3-4-1-2, a restraint belt 3-4-1-3, a joint 3-4-1-4, and a tenon 3-4-1-5; the landing auxiliary wheel 3-4-1-2 is rotatably connected to both sides of the joint 3-4-1-4 to assist the seed-guiding and seed-feeding device in undriven unfolding and folding; the restraint belt 3-4-1-3 passes through the through hole in the side wall of the joint 3-4-1-4; adjacent connecting joints 3-4-1 in the unidirectional swing assembly 3-4 are connected end to end in series, the tenon 3-4-1-1 and the tenon 3-4-1-5 are nested in each other and are connected by a hinge, so that adjacent connecting joints 3-4-1 can only rotate axially along the hinge, restricting the unidirectional swing assembly 3-4 to swing only in the same direction.

[0065] The front end of the flexible corrugated tube 3-5 is nested and connected to the end of the rigid carbon fiber hollow tube 3-3-3; several connecting joints connected in series at the head and tail form a unidirectional swing assembly 3-4, which is then fixed to one side of the flexible corrugated tube 3-5 by a constraint strap 3-4-1-3, and is integrated with the flexible corrugated tube 3-5; adjacent connecting joints 3-4-1 can only rotate axially along the hinge, restricting the unidirectional swing assembly to swing only in the same direction, which makes the flexible corrugated tube 3-5 swing only in the forward direction and not in the lateral direction, thus improving the uniformity of seed distribution after sowing.

[0066] like Figure 7 As shown, the end guide assembly 3-6 includes a connecting tenon 3-6-1, a seed-dropping auxiliary wheel 3-6-2, and a V-shaped guide groove 3-6-3; the connecting tenon 3-6-1 and the tenon 3-4-5 in the end connecting joint 3-4-1 of the unidirectional swing assembly 3-4 are nested together and connected by a hinge; the flexible corrugated tube 3-5 is sleeved on the front end of the end guide assembly 3-6; the seed-dropping auxiliary wheel 3-6-2 is rotatably connected to both sides of the end guide assembly 3-6 to assist in the mopping seed-dropping process and the folding process of the seed-dropping device 3; the V-shaped guide groove 3-6-3 is set at the end of the end guide assembly 3-6 to guide the seeds to fall into the seed bed.

[0067] like Figure 8 As shown, the seed delivery tube end fixing mechanism 4 includes a fixing tube 4-1 and an elastic tube clamp 4-2; the elastic tube clamp 4-2 is fixedly connected to the back of joint 3-4-1-4 in the connecting joint 3-4-1; the fixing tube 4-1 and the elastic tube clamp 4-2 are tightly connected to connect the ends of several unidirectional swinging undriven folding drone strip seed delivery tube devices 3 into one unit, so as to improve the swing synchronization of the seed delivery tube ends during operation, make the seed movement state in each seed delivery tube consistent with each other, and ensure the uniform distribution of seed landing points in the field.

[0068] like Figure 9 and Figure 10 As shown, during drone operation, the lengths of the rigid carbon fiber hollow tubes 3-3-3 and corrugated tubes 3-5 and the number of unidirectional swing components 3-4 are adjusted according to the distribution range of the wind field in the vertical space formed by the multi-rotor drones with different loads and their supporting rotors and the intensity of the vortex formed by the wind field near the ground, to ensure that the seeding position is distributed outside the disturbed airflow field; then, according to the flatness of the seed bed surface, different dragging or close-to-the-ground seeding postures are adopted.

[0069] like Figure 9As shown, when the seedbed surface is relatively flat and free of residue, a dragging-the-ground seeding posture is adopted. That is, during the operation, when the drone flies forward along the predetermined flight path, the seeding landing auxiliary wheel 3-6-2 contacts the seedbed and rolls on the seedbed surface; the friction between the seeding landing auxiliary wheel 3-6-2 and the seedbed surface drives the unidirectional swing component 3-4 to tilt backward in the flight direction, simultaneously driving the corrugated pipe 3-5 to bend; the normally closed electromagnet-driven limiting device 3-2 restricts the swing of the carbon fiber seed guide tube 3-3, so that... The rigid carbon fiber hollow tube 3-3-3 is perpendicular to the seed bed; the undriven foldable drone seeding and dispensing tube device 3, which can swing in one direction, forms a "straight-curved" seed-guiding trajectory; the seed metering device 2 quantitatively dispenses the seeds into the undriven foldable drone seeding and dispensing tube device 3; the seeds slide orderly into the end guide component 3-6 along the "straight-curved" seed-guiding trajectory; the V-shaped guide groove 3-6-3 of the end guide component 3-6 smoothly guides the seeds into the predetermined position of the seed bed, achieving precise seeding.

[0070] The seed delivery tube end fixing mechanism 4 ensures that the swing posture of the ends of several unidirectional swinging, non-driven folding seed delivery tube devices 3 remains consistent, further improving the seed landing point formation and avoiding mutual interference between seeds delivered by adjacent seed delivery tubes 3.

[0071] like Figure 10 As shown, when the stubble height on the seedbed surface is high, a ground-level seeding posture is adopted. That is, during the operation, the seeding and landing auxiliary wheel 3-6-2 detaches from the seedbed; the flexible corrugated pipe 3-5 is perpendicular to the seedbed under the action of gravity; the normally closed electromagnet-driven limiting device 3-2 restricts the swing of the carbon fiber seed guide tube 3-3, so that the rigid carbon fiber hollow tube 3-3-3 is perpendicular to the seedbed; the unidirectional swinging undriven foldable drone strip seeding guide tube device 3 forms a straight seeding trajectory; the seed dispensing device 2 quantitatively dispenses the seeds into the unidirectional swinging undriven foldable seeding guide tube device 3; the seeds fall smoothly into the predetermined position of the seedbed along the straight seeding trajectory of the seeding guide tube 3, achieving precise seeding.

[0072] Figure 11 , Figure 12 and Figure 13 The landing process of the drone after the operation is presented, which is equipped with a unidirectional swing-type undriven foldable drone seeding tube device 3. The drone landing process is divided into three stages: S1: the tilting stage of the corrugated tube 3-5 and the unidirectional swing component 3-4, S2: the tilting stage of the carbon fiber seeding tube 3-3, and S3: the landing stage of drone 1.

[0073] like Figure 11As shown, the specific steps of the landing S1 stage of the UAV 1 are as follows: 1. Before the UAV 1 descends, the limit device 3-2 driven by the normally closed electromagnet is driven, and the push rod of the normally closed electromagnet 3-2-2 disengages from the limit hole of the limit component 3-2-3; 2. The UAV 1 slowly descends; 3. During the descent of the UAV 1, the seed-dropping landing auxiliary wheel 3-6-2 contacts point A; the gravity of the UAV 1 acts on the seed-dropping landing auxiliary wheel 3-6-2 through the bellows 3-5 and the one-way swing component 3-4, pushing the seed-dropping landing auxiliary wheel 3-6-2 to roll towards point B; 4. During the rolling of the seed-dropping landing auxiliary wheel 3-6-2 towards point B, the angle between the bellows 3-5 and the one-way swing component 3-4 and the ground gradually decreases, and after the landing auxiliary wheel 3-4-1-2 contacts the ground, it rolls along the direction from point A to point O until the bellows 3-5 and the one-way swing component 3-4 are parallel to the ground.

[0074] like Figure 12 As shown, the specific steps of the landing S2 stage of UAV 1 are as follows: 1. After the completion of the S1 stage, the landing auxiliary wheel 3-4-1-2 contacts the ground; 2. The gravity of UAV 1 acts on the landing auxiliary wheel 3-4-1-2 through the carbon fiber seed guide tube 3-3, pushing the seed-dropping landing auxiliary wheel 3-6-2 to roll towards point O; 3. During the rolling of the seed-dropping landing auxiliary wheel 3-6-2 towards point O, the angle between the carbon fiber seed guide tube 3-3 and the ground gradually decreases until the rigid carbon fiber hollow tube 3-3-3 is parallel to the ground.

[0075] like Figure 13 As shown, the specific steps of the UAV 1 landing S3 stage are as follows: 1. After the completion of the S2 stage, the non-driven foldable seed delivery tube device 3, which can swing in one direction, is parallel to the ground; 2. The UAV 1 lands on the ground; 3. The normally closed electromagnet drives the limiting device 3-2, and the normally closed electromagnet 3-2-2 push rod is inserted into the limiting hole in the limiting component 3-2-3 to restrict the swing of the carbon fiber seed delivery tube 3-3.

[0076] The above description provides examples of the preferred embodiments of the present invention. Parts not detailed herein are common knowledge to those skilled in the art. The scope of protection of the present invention is determined by the claims. Any equivalent modifications based on the technical teachings of the present invention are also within the scope of protection of the present invention.

Claims

1. A driveless, foldable, unidirectional swinging drone-based seeding and dispensing tube device, characterized in that, The device includes a row seed metering device connecting assembly, a seed guide tube limiting device, a carbon fiber seed guide tube, a swingable seed guide mechanism, and a crossbar. The row seed metering device connecting assembly connects the seed guide tube to the seed outlet of an external seed metering device. The upper and lower ends of the seed guide tube are hinged to the row seed metering device connecting assembly and the swingable seed guide mechanism, respectively. It can achieve undriven deployment during takeoff using the seed guide tube's own weight and undriven folding during landing using the fuselage's own weight. The crossbar is used to fix multiple seed guide tubes. A seed guide tube limiting device is also provided between the seed guide tube and the row seed metering device. The seed guide tube limiting device can constrain the carbon fiber seed guide tube to maintain a 90° or 180° fixed connection with the row seed metering device or release the constraint. The swingable seed guide mechanism can swing in a fixed direction under the action of external force. The swingable seed guide mechanism includes multiple sequentially connected unidirectional swing units. Each unidirectional swing unit includes a unidirectional swing component and a flexible corrugated pipe. The seed delivery tube limiting device is a normally closed electromagnet-driven limiting device. A pair of landing auxiliary wheels are provided on the outer side of the connection between adjacent joints of the unidirectional swing assembly. The landing auxiliary wheels are used to allow the seed delivery tube to move freely on the ground when the drone is vertically landing after the operation is completed. The seed delivery tube limiting device includes an electromagnet mounting base, a normally closed electromagnet, and a limiting component. The normally closed electromagnet is fixed on the surface of the electromagnet mounting base, and the push rod of the normally closed electromagnet is inserted into the limiting hole of the limiting component to restrict the rotation of the limiting component, thereby constraining the swing of the seed delivery tube. The lower end of the swingable seed guiding mechanism is provided with an end flow guiding component, which includes a connecting tenon, a seed dropping auxiliary wheel, and a V-shaped flow guiding groove; the connecting tenon and the protruding tenon in the end connecting joint of the lowest unidirectional swing component are nested together and connected by a hinge; the flexible corrugated tube at the lowest end is sleeved on the front end of the end flow guiding component; the seed dropping auxiliary wheel is rotatably connected to both sides of the end flow guiding component to assist in the mopping seed dropping process and the folding process of the seed dropping device; The V-shaped guide channel is located at the end of the end guide assembly and is used to guide the seeds to fall into the seed bed.

2. The unidirectional swingable, driveless, foldable UAV seeding and dispensing tube device according to claim 1, characterized in that: The carbon fiber seed guide tube is a rigid hollow carbon fiber tube with a diameter between 10-30mm and a length adjusted to maintain the seeding position outside the airflow field of the UAV rotor between 0.5-2m.

3. The unidirectional swingable, non-driven, foldable UAV seeding and dispensing tube device according to claim 1, characterized in that: The flexible corrugated tube at the top of the swingable seed-guiding mechanism is nested and connected to the end of the carbon fiber seed-guiding tube. The diameter of the flexible corrugated tube is between 10-30mm, and the length is adjusted to keep the seeding position distributed outside the airflow field of the UAV rotor between 0.5-2m.

4. The unidirectional swingable, driveless, foldable UAV seeding and dispensing tube device according to claim 1, characterized in that: The unidirectional swing assembly includes several connecting joints, which are hinged together. Adjacent connecting joints can only rotate axially around the connection point, thereby driving the unidirectional swing assembly to swing in the forward flight direction. Each connecting joint is bound to the outside of the flexible bellows by a constraint strap to support and fix the flexible bellows, so that the flexible bellows and the unidirectional swing assembly maintain the same posture.

5. The unidirectional swingable, non-driven, foldable UAV seeding and dispensing tube device according to claim 1, characterized in that: The length of the carbon fiber seed tube is greater than the length of a single flexible corrugated tube.

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