Distributed intelligent adjustable precise variable hole sowing unmanned aerial vehicle and sowing method thereof

Abstract

The invention relates to the technical field of unmanned aerial vehicle sowing, and discloses a distributed intelligent adjustable precise variable hole sowing unmanned aerial vehicle which comprises an unmanned aerial vehicle body, a monitoring station and an intelligent control system installed on the unmanned aerial vehicle body, a connecting frame is fixedly connected to the unmanned aerial vehicle body, and a plurality of sowing mechanisms are installed on the connecting frame; and altimeters for detecting the ground are mounted on the plurality of seeding mechanisms. According to the distributed intelligent adjustable precise variable hole sowing unmanned aerial vehicle, the roll angle, the yaw angle and the pitch angle of the sowing mechanism can be detected through the self-leveling assembly, and reverse compensation can be carried out, so that the unmanned aerial vehicle body drives the sowing mechanism to be always kept in a vertical state with the ground, and then ordered precise sowing is formed; and moreover, by adjusting the planting distance and the row distance of sowing, the air permeability of the plants in the production process can be improved, the fission of the seeds can be improved, the output value can be further improved, and the requirements of chessboard type sowing, hexagonal sowing and the like can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle seeding, and in particular to a distributed intelligent adjustable precision variable hole seeding unmanned aerial vehicle and a seeding method thereof. Background Art

[0002] In recent years, when rice is planted to increase yield, the row spacing and plant spacing of rice have a certain impact on the growth of rice. The existing transplanter or manual transplanting method has a certain difficulty in adjusting the plant spacing and row spacing of rice. Therefore, in order to improve its work efficiency and effect, the corresponding agricultural drone is generally used for operation. The Chinese invention patent with publication number CN113228886B discloses a drone hole seeding system and method. The system of the present invention can be connected to the control terminal for communication to achieve ordinary hole seeding and precision hole seeding of seeds, solving the terrain limitation problem of the current traditional power chassis equipped with direct seeding machine. The present invention also solves the problems of low sowing accuracy per hole, easy missed sowing and blocking of seeds, and wide seed scattering in each hole during the current drone precision hole seeding process, effectively improving the sowing quality and sowing speed of drone precision hole seeding.

[0003] In the related technology, although the existing hole-seeding UAV can perform precise hole-seeding of seeds during the hole-seeding operation, it is impossible to adjust the flight angle of the UAV, such as the roll angle, yaw angle and pitch angle of the hole-seeding mechanism. As a result, during the hole-seeding operation, it cannot be adaptively adjusted according to different farmland shapes and slopes, thereby reducing the subsequent hole-seeding accuracy, affecting the subsequent growth effect of crops and reducing their yields; there is a lack of square, checkerboard, hexagonal, wide and narrow row sowing. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the present invention provides a distributed intelligent adjustable precision variable hole-seeding UAV and a sowing method thereof. By setting an angle sensor group in a self-leveling component, the roll angle, yaw angle and pitch angle of the sowing mechanism can be detected, and reverse compensation can be performed through the servo group in the self-leveling component, so that the UAV body drives the sowing mechanism to always maintain a vertical state with the ground, thereby forming orderly and precise sowing, and by adjusting the sowing plant spacing and row spacing, the air permeability of the plant production process can be increased, the splitting of the seeds can be improved, and the output value can be increased, which meets the sowing work in chessboard, hexagonal and other methods, and solves the problem that the UAV sowing equipment in the prior art cannot be adaptively adjusted according to different terrains, such as the shape and slope of the planting field when sowing.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a distributed intelligent adjustable precision variable hole seeding drone, comprising a drone body, a monitoring station and an intelligent control system installed on the drone body, the drone body is fixedly connected with a connecting frame, the connecting frame is installed with a plurality of seeding mechanisms, and the plurality of seeding mechanisms are all installed with an altimeter for ground detection;

[0008] The sowing mechanism comprises an adaptive angle-adjustable variable-diameter clamp fixed to the bottom of the connecting frame, a gantry is provided at the bottom of the adaptive angle-adjustable variable-diameter clamp, a mounting frame is provided at the bottom of the gantry, and a sowing assembly is provided on the mounting frame;

[0009] A self-leveling assembly is installed between the mounting frame, the adaptive angle adjustment variable diameter clamping plate and the gantry, and the self-leveling assembly includes an angle sensor group for detecting the overall angle of the sowing mechanism and a steering gear group for adjusting the angle of the sowing mechanism.

[0010] Preferably, the angle sensor includes a first angle sensor for sensing and detecting the roll angle of the sowing mechanism, a second angle sensor for sensing and detecting the yaw angle of the sowing mechanism, and a third angle sensor for sensing and detecting the pitch angle of the sowing mechanism;

[0011] The first angle sensor and the second angle sensor are both mounted on an adaptive angle adjustment variable diameter clamping plate, and the third angle sensor is mounted on a mounting frame.

[0012] Preferably, the steering gear group includes a first steering gear for adjusting the roll angle of the sowing mechanism, a second steering gear for adjusting the yaw angle of the sowing mechanism, and a third steering gear for adjusting the pitch angle of the sowing mechanism;

[0013] The first and second steering gears are both mounted on a self-adaptive angle-adjustable variable-diameter clamping plate, and the third steering gear is mounted on one side of the bottom of the gantry through a bracket.

[0014] Preferably, the sowing assembly includes a conical material box at the bottom of the mounting frame and a protective cover fixedly connected to the bottom of the conical material box, and a seed discharge outlet is detachably mounted on the bottom of the protective cover.

[0015] Preferably, one side of the top of the protective cover is fixedly connected to an air delivery cylinder, and a brushless fan is installed on the top of the air delivery cylinder.

[0016] Preferably, the seed discharging member includes a hopper-shaped seed discharging tube installed on the bottom of the protective cover by bolts, the top of the hopper-shaped seed discharging tube is fixedly connected with a semicircular rotating plate, the top of the semicircular rotating plate is provided with a movable cover, and the movable cover is located inside the protective cover, the interior of the movable cover is provided with a seed discharging disk, the top of the seed discharging disk is provided with an annular groove, and the inside of the annular groove is provided with a plurality of seed filling grids in a circular array, and the top of the protective cover is provided with a driving member for rotating the seed discharging disk.

[0017] Preferably, the driving member comprises a driving shaft rotatably connected to the top of the protective cover, a rectangular transmission block is fixedly connected to the bottom end of the driving shaft, a rectangular hole for inserting the rectangular transmission block is opened at the center of the seeding disc, and a motor for rotating the driving shaft through two bevel gears is installed on the top of the protective cover;

[0018] Preferably, a circular adjustment plate is provided on the top of the seed disc, and a plurality of outlets in a circular array are provided on the outer surface of the circular adjustment plate, and a control plate is fixedly connected to one side of the inside of the plurality of outlets, and the plurality of control plates are respectively inserted into the corresponding seed filling grids, the seed disc and the circular adjustment plate are fitted with each other, and the seed disc and the circular adjustment plate are installed in a relative rotation manner, and the mutual rotation angle is controllable.

[0019] A distributed intelligent adjustable precision variable hole seeding drone sowing method comprises the following steps:

[0020] S1. According to the preset seed quantity per mu input by the monitoring station, the intelligent control system calculates the required speed of the sowing component according to the preset seed quantity per mu, the current flight speed, and the sowing width, and sends the speed information to the speed regulator;

[0021] S2, the speed regulator receives the speed information output by the intelligent control system and controls the sowing component to perform sowing work;

[0022] S3, the intelligent control system compares the input actual sowing amount with the preset sowing amount per mu, and calculates the required speed of the sowing component again based on the relative error between the two, and outputs the speed information to the speed regulator;

[0023] S4, repeat S2 to achieve closed-loop control of seeding amount.

[0024] (III) Beneficial effects

[0025] Compared with the prior art, the present invention provides a distributed intelligent adjustable precision variable hole seeding drone and a seeding method thereof, which has the following beneficial effects:

[0026] 1. The present invention can detect the roll angle, yaw angle and pitch angle of the sowing mechanism by setting the angle sensor group in the self-leveling component, and perform reverse compensation by the servo group in the self-leveling component, so that the drone body drives the sowing mechanism to always maintain a vertical state with the ground, further improving its sowing effect. Through the setting of the sowing component, the stored seeds can be sown in an orderly and precise manner according to the flight state of the drone body, such as the flight angle, flight altitude, and flight trajectory. Moreover, by adjusting the sowing plant spacing and row spacing, the air permeability of the plant production process can be increased, the splitting of the seeds can be improved, and then the output value can be increased, which meets the sowing work in chessboard, hexagonal and other ways, and solves the problem that the drone sowing equipment in the prior art cannot be adaptively adjusted according to different terrains, such as the shape and slope of the planting field when sowing.

[0027] 2. In the present invention, each clock plate of the sowing component is controlled by a separately controlled and adjustable motor, so that by controlling the rotation speed of the driving motor, the seed placement arrangement of different shapes such as quadrilateral and hexagon can be achieved, thereby realizing seed placement arrangements of different shapes. The ventilation and sunlight obtained by the seedlings are also different, thereby increasing the purpose of yield. In addition, the rotational drive of the seed plate by the driving member does not affect the normal disassembly, assembly and replacement of the seed plate, thereby further improving the use effect of the rotating drive mechanism.

[0028] 3. The seed filling grid of the seeding disk of the present invention has the function of adjustable size; the model of the seeding disk can be replaced by disassembling and assembling the protective cover and the hopper-shaped seeding tube; or by arranging a circular adjustment plate concentric with the seeding disk on the top of the seeding disk, the circular adjustment plate has a guide outlet of the same size as the seed filling grid, and the circular adjustment plate can rotate relative to the seeding disk, so that the size of the seed filling grid can be adjusted by adjusting the rotation angle of the circular adjustment plate relative to the seeding disk. When the guide outlet of the circular adjustment plate and the seed filling grid coincide, the maximum capacity of the seed filling grid can be achieved. It has the function of adjusting multiple seed filling amounts and meets the sowing work under different conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of the distributed intelligent adjustable precision variable hole seeding drone of the present invention;

[0030] Figure 2 This is a rear view of the structure of the distributed intelligent adjustable precision variable hole seeding drone of the present invention;

[0031] Figure 3 For the present invention Figure 1 Structural diagram of the seeding structure;

[0032] Figure 4 For the present invention Figure 3 Structural diagram of the middle gantry;

[0033] Figure 5 For the present invention Figure 3 The structural diagram of the seeding component in the middle;

[0034] Figure 6 For the present invention Figure 5 Schematic diagram of the structure of the seeding export component;

[0035] Figure 7 For the present invention Figure 6 The structural expansion diagram of the middle row seed export part;

[0036] Figure 8 It is a schematic diagram of a first embodiment of a seeding disc of the present invention;

[0037] Fig. 9 It is a schematic diagram of a second embodiment of the seeding disc of the present invention;

[0038] Fig.10 A schematic diagram of the roll of the distributed intelligent adjustable precision variable hole seeding UAV of the present invention;

[0039] Fig.11 A schematic diagram of the pitch of the distributed intelligent adjustable precision variable hole seeding UAV of the present invention;

[0040] Fig.12 A schematic diagram of the yaw of the distributed intelligent adjustable precision variable hole seeding UAV of the present invention;

[0041] Fig.13 This is a distributed intelligent adjustable precision variable hole-seeking UAV closed-loop control variable hole-seeking logic diagram proposed in this patent.

[0042] In the figure: 1. UAV body; 2. Connecting frame; 3. Adaptive angle adjustment variable diameter clamp; 4. Gantry; 5. Mounting frame;

[0043] 6. Seeding assembly; 61. Conical material box; 62. Protective cover; 63. Air delivery cylinder;

[0044] 64. Seed discharge outlet; 641. Hopper-shaped seed discharge tube; 642. Semicircular rotating plate; 643. Movable cover; 644. Seed plate; 645. Seed filling grid; 646. Circular adjustment plate; 647. Discharge outlet; 648. Control plate;

[0045] 65, driving member; 651, driving shaft; 652, rectangular transmission block; 653, rectangular hole;

[0046] 7. Self-leveling assembly; 71. First angle sensor; 72. Second angle sensor; 73. Third angle sensor; 74. First servo; 75. Second servo; 76. Third servo. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Embodiment 1:

[0049] Refer to the attached Figure 1-13 A distributed intelligent adjustable precision variable hole seeding drone, comprising a drone body 1, a monitoring station and an intelligent control system installed on the drone body 1, a connecting frame 2 is fixedly connected to the drone body 1, a plurality of seeding mechanisms are installed on the connecting frame 2, and a plurality of seeding mechanisms are all installed with an altimeter for ground detection. When the ground is uneven, the wind speed of the auxiliary wind of each seeding mechanism can be accurately controlled, and the spacing forms the adjustment of the seeding depth;

[0050] The intelligent control system includes a control processor and a signal IO bus; the control processor adopts an STM32 controller; the signal IO bus includes a flight speed IO interface, a wireless transmission IO interface, an obstacle avoidance signal IO interface, and a hole-casting UAV control IO interface; the signal IO bus uses the UORB protocol to communicate with the control processor; the signal IO bus and the STM32 controller are welded on the same circuit board, and the flight speed IO interface, the wireless transmission IO interface, the obstacle avoidance signal IO interface, and the hole-casting UAV control IO interface are all connected to the IO interface bus using a coaxial signal line;

[0051] The sowing mechanism includes an adaptive angle adjustment variable diameter clamping plate 3 fixed to the bottom of the connecting frame 2, a gantry 4 is arranged at the bottom of the adaptive angle adjustment variable diameter clamping plate 3, a mounting frame 5 is arranged at the bottom of the gantry 4, and a sowing assembly 6 is arranged on the mounting frame 5;

[0052] By setting the sowing component 6, the stored seeds can be sown in an orderly and precise manner according to the flight status of the drone body 1, such as angle, flight altitude, and flight trajectory. In addition, by adjusting the sowing spacing and row spacing, the air permeability of the plant production process is increased, the splitting of the seeds is improved, and the output value is increased, which satisfies the sowing work in the chessboard, hexagonal and other ways;

[0053] A self-leveling assembly 7 is installed between the mounting frame 5, the adaptive angle adjustment variable diameter clamping plate 3 and the gantry 4, and the self-leveling assembly 7 includes an angle sensor group for detecting the overall angle of the sowing mechanism and a steering gear group for adjusting the angle of the sowing mechanism;

[0054] By setting the angle sensor group in the self-leveling component 7, the roll angle, yaw angle and pitch angle of the sowing mechanism can be detected, and reverse compensation can be performed through the servo group in the self-leveling component 7, so that the drone body 1 drives the sowing mechanism to always maintain a vertical state with the ground, further improving its sowing effect, and solving the problem that the drone sowing equipment in the prior art cannot be adaptively adjusted according to different terrains, such as the shape and slope of the planting field during sowing.

[0055] Refer to the attached Figure 4 The angle sensor includes a first angle sensor 71 for sensing and detecting the roll angle of the sowing mechanism, a second angle sensor 72 for sensing and detecting the yaw angle of the sowing mechanism, and a third angle sensor 73 for sensing and detecting the pitch angle of the sowing mechanism. The steering gear group includes a first steering gear 74 for adjusting the roll angle of the sowing mechanism, a second steering gear 75 for adjusting the yaw angle of the sowing mechanism, and a third steering gear 76 for adjusting the pitch angle of the sowing mechanism;

[0056] The roll angle of the sowing mechanism is sensed by the first angle sensor 71 in the self-leveling component 7, and the angle of the entire sowing mechanism is adjusted according to the roll angle by the first steering gear 74;

[0057] The yaw angle of the sowing mechanism is sensed by the second angle sensor 72 in the self-leveling component 7, and the angle of the entire sowing mechanism is adjusted according to the yaw angle by the second steering gear 75;

[0058] The pitch angle of the sowing mechanism is sensed by the third angle sensor 73 in the self-leveling component 7, and the angle of the entire sowing mechanism is adjusted according to the pitch angle by the third servo 76; finally, the angle of the entire sowing mechanism is always maintained at the desired preset angle, and is not affected by the attitude of the drone;

[0059] The first angle sensor 71 and the second angle sensor 72 are both mounted on the adaptive angle adjustment variable diameter clamping plate 3, and the third angle sensor 73 is mounted on the mounting frame 5;

[0060] The first steering gear 74 and the second steering gear 75 are both installed on the adaptive angle adjustment variable diameter clamping plate 3, and the third steering gear 76 is installed on one side of the bottom of the gantry 4 through a bracket.

[0061] Refer to the attached Figure 5-Figure 9 The sowing assembly 6 includes a conical material box 61 at the bottom of the mounting frame 5 and a protective cover 62 fixedly connected to the bottom of the conical material box 61, and a seed discharge outlet 64 is detachably installed at the bottom of the protective cover 62;

[0062] The conical material box 61 is provided to store seeds required for hole sowing, and the protective cover 62 is provided to wrap and install the seed discharging guide 64, so that the seeds inside the conical material box 61 can enter the seed discharging guide 64 through the protective cover 62, and the seeds can be quantitatively discharged through the seed discharging guide 64, thereby forming precise hole sowing, and the sowing amount can be precisely controlled and varied with the speed.

[0063] See attached Figure 5 One side of the top of the protective cover 62 is fixedly connected to an air delivery cylinder 63, and a brushless fan is installed on the top of the air delivery cylinder 63;

[0064] An air delivery tube 63 is installed on the protective cover 62, and a brushless fan can be installed on the top of the air delivery tube 63. The air delivery tube 63 is set to assist in sowing with air delivery. The fan speed can be intelligently changed with the height to improve the smoothness and guidance of seed hole sowing, and to avoid the problem of seed blockage.

[0065] See attached Figures 6 to 9 The seed discharging member 64 includes a hopper-shaped seed discharging tube 641 installed at the bottom of the protective cover 62 by bolts, a semicircular rotating plate 642 is fixedly connected to the top of the hopper-shaped seed discharging tube 641, a movable cover 643 is arranged on the top of the semicircular rotating plate 642, and the movable cover 643 is located inside the protective cover 62, a seed discharging disk 644 is arranged inside the movable cover 643, an annular groove is provided on the top of the seed discharging disk 644, and a plurality of seed filling grids 645 in a circular array are provided inside the annular groove, and a driving member 65 for rotating the seed discharging disk 644 is arranged on the top of the protective cover 62;

[0066] By setting the protective cover 62 and the hopper-shaped seeding tube 641, the movable cover 643 and the seeding disk 644 can be installed in a wrapped manner, and the seeding disk 644 can rotate inside the protective cover 62. A plurality of circular array-shaped seed filling grids 645 are opened inside the seeding disk 644 to facilitate the seeds inside the conical material box 61 to fill the seed filling grids 645. The rotational drive of the seeding disk 644 by the driving member 65 can drive the plurality of seed filling grids 645 to change positions. When the seed filling grids 645 filled with seeds move to the top of the hopper-shaped seeding tube 641, the seeds inside can be discharged through the hopper-shaped seeding tube 641, thereby realizing the function of hole sowing.

[0067] A distributed intelligent adjustable precision variable hole seeding drone sowing method comprises the following steps:

[0068] S1. According to the preset seed quantity per mu input from the monitoring station, the intelligent control system calculates the required speed of the sowing component 6 according to the preset seed quantity per mu, the current flight speed, and the sowing width, and sends the speed information to the speed regulator. The calculation relationship is as follows:

[0069] Wherein, Q is the preset seed quantity per mu, which is input by the monitoring station and transmitted to the intelligent control system via the wireless transmission IO interface; S is the sowing width, which is determined by the seeding output component 64 in the sowing component 6. The sowing width of different sowing angles needs to be calibrated, and the calibrated sowing width is input to the intelligent control system via the monitoring station; V is the flight speed of the drone, which is input to the intelligent control system by the drone via the flight speed IO interface; F rpm The relationship between the rotation speed of the seeding output member 64 and the seeding amount needs to be calibrated and input by the monitoring station; rpm P The rotation speed of the seeding output element 64 at the preset per-acre seeding rate is calculated and output by the intelligent control system;

[0070] S2, the speed regulator receives the speed information output by the intelligent control system and controls the seeding output component 64 in the sowing component 6 to work;

[0071] S3, the intelligent control system compares the input actual sowing amount with the preset sowing amount per mu, and based on the relative error between the two, calculates the required speed of the seeding output member 64 in the sowing assembly 6 again and outputs the speed information to the speed regulator;

[0072] S4, repeat S2 to achieve closed-loop control of seeding amount.

[0073] Embodiment 2: Based on embodiment 1, the difference is that;

[0074] See attached Figure 7 and Figure 8 The driving member 65 includes a driving shaft 651 rotatably connected to the top of the protective cover 62, a rectangular transmission block 652 is fixedly connected to the bottom end of the driving shaft 651, a rectangular hole 653 for inserting the rectangular transmission block 652 is opened at the center of the seeding disc 644, and a motor for rotating the driving shaft 651 through two bevel gears is installed on the top of the protective cover 62;

[0075] The driving shaft 651 of each sowing component 6 is controlled by a separately controlled and adjustable motor, so that by controlling the rotation speed of the driving motor, seed placement arrangements of different shapes such as quadrilaterals and hexagons can be achieved, thereby achieving seed placement arrangements of different shapes. The ventilation and sunlight obtained by the seedlings are also different, thereby increasing the yield. In addition, the rotational drive of the seed disc 644 by the driving member 65 does not affect the normal disassembly, assembly and replacement of the seed disc 644, thereby further improving the use effect of the rotation drive mechanism.

[0076] Embodiment 3: Based on embodiment 1, the difference is that;

[0077] See attached Fig. 9A circular adjustment plate 646 is provided on the top of the seeding disc 644, and a plurality of circular array-shaped outlets 647 are provided on the outer surface of the circular adjustment plate 646, and a control plate 648 is fixedly connected to one side of the inner part of the plurality of outlets 647, and the plurality of control plates 648 are respectively inserted into the corresponding seed filling grids 645, the seeding disc 644 and the circular adjustment plate 646 are fitted with each other, and the seeding disc 644 and the circular adjustment plate 646 are installed in a relative rotation manner, and the mutual rotation angle is controllable;

[0078] The seed filling grid 645 of the seed plate 644 has a function of adjustable size;

[0079] The type of the seeding disc 644 can be replaced by disassembling the protective cover 62 and the hopper-shaped seeding tube 641;

[0080] A circular adjustment plate 646 is provided on the seeding disc 644, which is concentric with the seeding disc 644. The circular adjustment plate 646 has a guide port 647 of the same size as the seed filling grid 645, and the circular adjustment plate 646 can rotate relative to the seeding disc 644, so that the size of the seed filling grid 645 can be adjusted by adjusting the rotation angle of the circular adjustment plate 646 relative to the seeding disc 644.

[0081] When the outlet 647 of the circular adjustment plate 646 overlaps with the seed filling grid 645, the maximum capacity of the seed filling grid 645 can be achieved, and the function of adjusting a variety of seed filling amounts can be achieved to meet the variable seed amount sowing work under different conditions.

[0082] It should be noted that the term "comprises" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, article, or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article, or device that includes the element.

[0083] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A distributed intelligent adjustable precision variable hole seeding drone, characterized by: The invention comprises an unmanned aerial vehicle body (1), a monitoring station and an intelligent control system installed on the unmanned aerial vehicle body (1); the unmanned aerial vehicle body (1) is fixedly connected to a connecting frame (2); a plurality of sowing mechanisms are installed on the connecting frame (2); and an altimeter for ground detection is installed on each of the plurality of sowing mechanisms; The sowing mechanism comprises an adaptive angle-adjustable variable-diameter clamping plate (3) fixed to the bottom of a connecting frame (2); a gantry (4) is arranged at the bottom of the adaptive angle-adjustable variable-diameter clamping plate (3); a mounting frame (5) is arranged at the bottom of the gantry (4); and a sowing assembly (6) is arranged on the mounting frame (5); A self-leveling component (7) is installed between the mounting frame (5), the adaptive angle adjustment variable diameter clamping plate (3) and the gantry (4), and the self-leveling component (7) comprises an angle sensor group for detecting the overall angle of the sowing mechanism and a steering gear group for adjusting the angle of the sowing mechanism.

2. A distributed intelligent adjustable precision variable hole seeding drone according to claim 1, characterized in that: The angle sensor comprises a first angle sensor (71) for sensing and detecting the roll angle of the sowing mechanism, a second angle sensor (72) for sensing and detecting the yaw angle of the sowing mechanism, and a third angle sensor (73) for sensing and detecting the pitch angle of the sowing mechanism; The first angle sensor (71) and the second angle sensor (72) are both mounted on the adaptive angle adjustment variable diameter clamping plate (3), and the third angle sensor (73) is mounted on the mounting frame (5).

3. A distributed intelligent adjustable precision variable hole seeding drone according to claim 2, characterized in that: The steering gear group comprises a first steering gear (74) for adjusting the roll angle of the sowing mechanism, a second steering gear (75) for adjusting the yaw angle of the sowing mechanism, and a third steering gear (76) for adjusting the pitch angle of the sowing mechanism; The first steering gear (74) and the second steering gear (75) are both mounted on the adaptive angle adjustment variable diameter clamping plate (3), and the third steering gear (75) is mounted on one side of the bottom of the gantry (4) via a bracket.

4. A distributed intelligent adjustable precision variable hole seeding drone according to claim 1, characterized in that: The sowing assembly (6) comprises a conical material box (61) at the bottom of the mounting frame (5) and a protective cover (62) fixedly connected to the bottom of the conical material box (61), and a seed discharge outlet (64) is detachably mounted at the bottom of the protective cover (62).

5. A distributed intelligent adjustable precision variable hole seeding drone according to claim 4, characterized in that: One side of the top of the protective cover (62) is fixedly connected to an air delivery cylinder (63), and a brushless fan is installed on the top of the air delivery cylinder (63).

6. A distributed intelligent adjustable precision variable hole seeding drone according to claim 4, characterized in that: The seed discharging member (64) comprises a hopper-shaped seed discharging tube (641) mounted on the bottom of the protective cover (62) by means of bolts, the top of the hopper-shaped seed discharging tube (641) is fixedly connected with a semicircular rotating plate (642), a movable cover (643) is arranged on the top of the semicircular rotating plate (642), and the movable cover (643) is located inside the protective cover (62), a seed discharging disk (644) is arranged inside the movable cover (643), an annular groove is provided on the top of the seed discharging disk (644), and a plurality of seed filling grids (645) in a circular array are provided inside the annular groove, and a driving member (65) for driving the seed discharging disk (644) to rotate is arranged on the top of the protective cover (62).

7. A distributed intelligent adjustable precision variable hole seeding drone according to claim 6, characterized in that: The driving member (65) comprises a driving shaft (651) rotatably connected to the top of the protective cover (62); a rectangular transmission block (652) is fixedly connected to the bottom end of the driving shaft (651); a rectangular hole (653) for inserting the rectangular transmission block (652) is provided at the center of the seeding disc (644); and a motor for rotationally driving the driving shaft (651) via two bevel gears is installed on the top of the protective cover (62).

8. The distributed intelligent adjustable precision variable hole seeding drone according to claim 6, characterized in that: A circular adjustment plate (646) is provided on the top of the seeding disk (644), and a plurality of outlets (647) in a circular array are provided on the outer surface of the circular adjustment plate (646), and a control plate (648) is fixedly connected to one side of the inside of the plurality of outlets (647), and the plurality of control plates (648) are respectively inserted into the corresponding seed filling grids (645), and the seeding disk (644) and the circular adjustment plate (646) are fitted with each other, and the seeding disk (644) and the circular adjustment plate (646) are installed in a relative rotation manner, and the relative rotation angle is controllable.

9. A distributed intelligent adjustable precision variable hole seeding drone sowing method as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: S1. According to the preset seed quantity per mu inputted from the monitoring station, the intelligent control system calculates the required rotation speed of the sowing component (6) according to the preset seed quantity per mu, the current flight speed, and the sowing width, and sends the rotation speed information to the speed regulator; S2, the speed regulator receives the speed information output by the intelligent control system and controls the sowing component (6) to perform sowing; S3, the intelligent control system compares the input actual sowing amount with the preset sowing amount per mu, and based on the relative error between the two, calculates the required speed of the sowing component (6) again and outputs the speed information to the speed regulator; S4, repeat S2 to achieve closed-loop control of seeding amount.

Images