Distributed intelligent adjustable precision variable unmanned plane for hole sowing and sowing method thereof

Abstract

The application relates to the technical field of unmanned plane seeding and discloses a distributed intelligent adjustable precision variable hill-drop unmanned plane, which comprises an unmanned plane body, a monitoring console and an intelligent control system installed on the unmanned plane body, a connecting frame is fixedly connected to the unmanned plane body, a plurality of seeding mechanisms are installed on the connecting frame, and altimeters for detecting the ground are installed on the seeding mechanisms. The distributed intelligent adjustable precision variable hill-drop unmanned plane can detect the roll angle, the yaw angle and the pitch angle of the seeding mechanism through the self-leveling assembly and can perform reverse compensation, so that the unmanned plane body drives the seeding mechanism to always keep a vertical state with the ground, thereby forming orderly and precise seeding; and through the adjustment of the plant spacing and the row spacing during seeding, the air permeability during the plant production process can be increased, the seed splitting property can be improved, the yield can be increased, and the seeding in the chessboard type, the hexagonal type and the like can be met.

Description

Technical Field

[0001] This invention relates to the field of drone seeding technology, specifically to a distributed intelligent adjustable precision variable hole-seeding drone and its seeding method. Background Technology

[0002] In recent years, the row spacing and plant spacing of rice have had a significant impact on rice growth during increased yield cultivation. However, adjusting these spacing using existing rice transplanters or manual transplanting methods is challenging. Therefore, to improve efficiency and effectiveness, agricultural drones are generally used. Chinese invention patent CN113228886B discloses a drone-based hill-seeding system and method. This system can communicate with a control terminal to achieve both ordinary and precision hill-seeding, solving the terrain limitations of traditional power chassis-mounted direct seeding machines. Furthermore, this invention addresses the issues of low planting accuracy per hill, easy seed omissions and blockages, and wide seed scattering per hill in current precision hill-seeding processes using drones, effectively improving the planting quality and speed of precision hill-seeding using drones.

[0003] In related technologies, while existing seed-sowing drones can perform precise seed sowing, they cannot adjust the drone's flight angle, such as the roll angle, yaw angle, and pitch angle of the seeding mechanism. As a result, they cannot adapt to different farmland shapes and slopes during seeding operations, which reduces the accuracy of subsequent seeding, affects the growth of crops, and reduces their yield. Furthermore, they lack the ability to sow in square, checkerboard, hexagonal, and wide-narrow row patterns. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a distributed intelligent adjustable precision variable-rate seeding drone and its seeding method. By incorporating an angle sensor group within the self-leveling assembly, the roll angle, yaw angle, and pitch angle of the seeding mechanism can be detected. Furthermore, reverse compensation is achieved through a servo motor group within the self-leveling assembly, ensuring the drone body drives the seeding mechanism to maintain a perpendicular position to the ground, thus achieving orderly and precise seeding. Adjusting the plant spacing and row spacing increases the aeration during plant production, improves seed division, and ultimately increases yield. This invention supports checkerboard, hexagonal, and other seeding methods, solving the problem that existing drone seeding equipment cannot adapt to different terrains, such as field shape and slope.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the present invention provides the following technical solution: a distributed intelligent adjustable precision variable seeding drone, comprising a drone body, a monitoring station, and an intelligent control system installed on the drone body. A connecting frame is fixedly connected to the drone body, and a plurality of seeding mechanisms are installed on the connecting frame, and each of the seeding mechanisms is equipped with an altimeter for ground detection.

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

[0009] A self-leveling assembly is installed between the mounting frame, the adaptive angle-adjustable variable diameter clamp, and the gantry frame. The self-leveling assembly includes an angle sensor group for detecting the overall angle of the sowing mechanism and a servo motor 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 seeding mechanism, a second angle sensor for sensing and detecting the yaw angle of the seeding mechanism, and a third angle sensor for sensing and detecting the pitch angle of the seeding mechanism.

[0011] The first angle sensor and the second angle sensor are both mounted on the adaptive angle adjustment variable diameter clamp, and the third angle sensor is mounted on the mounting bracket.

[0012] Preferably, the servo assembly includes a first servo for adjusting the roll angle of the seeding mechanism, a second servo for adjusting the yaw angle of the seeding mechanism, and a third servo for adjusting the pitch angle of the seeding mechanism.

[0013] The first and second servos are both mounted on the adaptive angle-adjustable variable diameter clamp, and the third servo is mounted on one side of the bottom of the gantry via a bracket.

[0014] Preferably, the seeding assembly includes a conical feed box at the bottom of the mounting frame and a protective cover fixedly connected to the bottom of the conical feed box, wherein a seed discharge guide is detachably installed at the bottom of the protective cover.

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

[0016] Preferably, the seed metering guide includes a hopper-shaped seed metering pipe installed at the bottom of the protective cover by bolts. A semi-circular rotating plate is fixedly connected to the top of the hopper-shaped seed metering pipe. A movable cover is provided on the top of the semi-circular rotating plate and is located inside the protective cover. A seed metering disc is provided inside the movable cover. An annular groove is opened on the top of the seed metering disc, and several seed filling grids arranged in a circular array are opened inside the annular groove. A driving component for rotating the seed metering disc is provided on the top of the protective cover.

[0017] Preferably, the driving component includes a drive shaft rotatably connected to the top of the protective cover, a rectangular transmission block is fixedly connected to the bottom end of the drive shaft, a rectangular hole for inserting the rectangular transmission block is provided at the center of the seed metering disc, and a motor for rotating the drive shaft through two bevel gears is installed on the top of the protective cover.

[0018] Preferably, the top of the seed metering tray is provided with a circular adjustment plate, and the outer surface of the circular adjustment plate is provided with a plurality of outlets arranged in a circular array. A control plate is fixedly connected to one side of the outlets, and the control plates are respectively inserted into the corresponding seed filling cells. The seed metering tray and the circular adjustment plate are in close contact with each other, and the seed metering tray and the circular adjustment plate are installed in a relative rotation manner, and the relative rotation angle is controllable.

[0019] A seeding method for a distributed intelligent adjustable precision variable-rate seeding drone includes the following steps:

[0020] S1. Based on the preset seed quantity per mu input by the monitoring station, the intelligent control system calculates the required rotation speed of the seeding component according to the preset seed quantity per mu, the current flight speed, and the seeding width, and sends the rotation speed information to the speed controller.

[0021] S2. The speed controller receives the speed information output by the intelligent control system and controls the seeding component to carry out the seeding work.

[0022] S3. The intelligent control system compares the input actual seeding amount with the preset seeding amount per mu, and combines the relative error between the two to calculate the required rotation speed of the seeding component and output the rotation speed information to the speed controller.

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

[0024] (III) Beneficial Effects

[0025] Compared with existing technologies, this invention provides a distributed intelligent adjustable precision variable-rate seeding drone and its seeding method, which has the following beneficial effects:

[0026] 1. This invention, through the setting of the angle sensor group in the self-leveling component, can detect the roll angle, yaw angle, and pitch angle of the sowing mechanism, and through the reverse compensation of the servo group in the self-leveling component, so that the UAV body drives the sowing mechanism to always maintain a perpendicular state to 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 status of the UAV body, such as flight angle, flight altitude, and flight trajectory. Moreover, by adjusting the plant spacing and row spacing, the air permeability during plant production can be increased, the seed division can be improved, and thus the yield can be increased. It can meet the sowing work of checkerboard, hexagonal and other methods, and solve the problem that existing UAV sowing equipment cannot adapt to different terrains, such as the shape and slope of the planting field.

[0027] 2. In this invention, each seed metering disc of the sowing component is controlled by a separately controlled and adjustable motor. By controlling the rotation speed of the drive motor, different seed landing points such as quadrilaterals and hexagons can be arranged. This results in different ventilation and sunlight for the seedlings, thereby increasing yield. Moreover, the rotation drive of the seed metering disc does not affect the normal disassembly and replacement of the seed metering disc, further improving the efficiency of the rotation drive mechanism.

[0028] 3. The seed filling grid of the seed metering tray of this invention has an adjustable size function; the model of the seed metering tray can be changed by disassembling and assembling the protective cover and the hopper-shaped seed metering pipe; or, by setting a circular adjustment plate concentric with the seed metering tray on the top of the seed metering tray, the circular adjustment plate has an outlet of the same size as the seed filling grid, and the circular adjustment plate can rotate relative to the seed metering tray, 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 seed metering tray. When the outlet of the circular adjustment plate coincides with the seed filling grid, the maximum capacity of the seed filling grid can be achieved, which has the function of adjusting the seed filling amount in multiple ways, meeting the sowing work under different conditions. Attached Figure Description

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

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

[0031] Figure 3 For the present invention Figure 1 A schematic diagram of the seeding structure in the middle;

[0032] Figure 4 For the present invention Figure 3 Schematic diagram of the structure of the medium gantry frame;

[0033] Figure 5 For the present invention Figure 3 A schematic diagram of the structure of the seeding component;

[0034] Figure 6 For the present invention Figure 5 A schematic diagram of the structure of the seeding output component;

[0035] Figure 7 For the present invention Figure 6 Structural development diagram of the middle row seed-derived component;

[0036] Figure 8 This is a schematic diagram of the first embodiment of the seed metering disc of the present invention;

[0037] Figure 9 This is a schematic diagram of a second embodiment of the seed metering disc of the present invention;

[0038] Figure 10 This is a schematic diagram of the roll of the distributed intelligent adjustable precision variable-rate-drop drone of the present invention.

[0039] Figure 11 This is a pitch diagram of the distributed intelligent adjustable precision variable-rate drone of the present invention.

[0040] Figure 12 This is a schematic diagram of the yaw of the distributed intelligent adjustable precision variable-rate-drop drone of the present invention;

[0041] Figure 13 This invention patent proposes a closed-loop control variable-based variable-based drone for variable-based drone deployment.

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

[0043] 6. Seeding assembly; 61. Conical feed hopper; 62. Protective cover; 63. Pneumatic conveyor;

[0044] 64. Seed metering guide; 641. Hopper-shaped seed metering pipe; 642. Semi-circular rotating plate; 643. Movable cover; 644. Seed metering tray; 645. Seed filling grid; 646. Circular adjusting plate; 647. Outlet; 648. Control plate;

[0045] 65. Driving component; 651. Drive 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 motor; 75. Second servo motor; 76. Third servo motor. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] Example 1:

[0049] See attached document Figure 1-13 A distributed intelligent adjustable precision variable hole-seeding drone includes 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, and several seeding mechanisms are installed on the connecting frame 2. Each of the seeding mechanisms is equipped with an altimeter for ground detection. When the ground is uneven, the wind speed of the auxiliary wind of each seeding mechanism can be precisely controlled, and the spacing can be adjusted to adjust the seeding depth.

[0050] The intelligent control system includes a control processor and a signal I / O bus; the control processor uses an STM32 controller; the signal I / O bus includes flight speed I / O interface, wireless transmission I / O interface, obstacle avoidance signal I / O interface, and drone control I / O interface; the signal I / O bus communicates with the control processor using the UORB protocol; the signal I / O bus and the STM32 controller are soldered on the same circuit board, and the flight speed I / O interface, wireless transmission I / O interface, obstacle avoidance signal I / O interface, and drone control I / O interface are all connected to the I / O interface bus using coaxial signal lines;

[0051] The sowing mechanism includes an adaptive angle-adjustable variable diameter clamping plate 3 fixed to the bottom of the connecting frame 2. A gantry frame 4 is provided at the bottom of the adaptive angle-adjustable variable diameter clamping plate 3. A mounting frame 5 is provided at the bottom of the gantry frame 4. A sowing component 6 is provided on the mounting frame 5.

[0052] By setting the seeding 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. Moreover, by adjusting the plant spacing and row spacing, the air permeability during the plant production process is increased, the seed division is improved, and the output value is increased, which meets the requirements of sowing work in checkerboard, hexagonal and other methods.

[0053] A self-leveling assembly 7 is installed between the mounting bracket 5, the adaptive angle-adjustable variable diameter clamping plate 3, and the gantry frame 4. The self-leveling assembly 7 includes an angle sensor group for detecting the overall angle of the sowing mechanism and a servo motor 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 the servo group in the self-leveling component 7 can perform reverse compensation, so that the UAV body 1 drives the sowing mechanism to always keep it perpendicular to the ground, thereby further improving its sowing effect. This solves the problem that existing UAV sowing equipment cannot make adaptive adjustments according to different terrains, such as the shape and slope of the planting field.

[0055] See attached document Figure 4 The angle sensor includes a first angle sensor 71 for sensing and detecting the roll angle of the seeding mechanism, a second angle sensor 72 for sensing and detecting the yaw angle of the seeding mechanism, and a third angle sensor 73 for sensing and detecting the pitch angle of the seeding mechanism. The servo assembly includes a first servo 74 for adjusting the roll angle of the seeding mechanism, a second servo 75 for adjusting the yaw angle of the seeding mechanism, and a third servo 76 for adjusting the pitch angle of the seeding 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 by the first servo motor 74 according to the roll angle.

[0057] The yaw angle of the seeding mechanism is sensed by the second angle sensor 72 in the self-leveling component 7, and the angle of the entire seeding mechanism is adjusted by the second servo motor 75 according to the yaw angle.

[0058] The pitch angle of the seeding mechanism is sensed by the third angle sensor 73 in the self-leveling component 7, and the angle of the entire seeding mechanism is adjusted by the third servo motor 76 according to the pitch angle; ultimately, the angle of the entire seeding mechanism is kept at the desired preset angle and is not affected by the attitude of the UAV.

[0059] The first angle sensor 71 and the second angle sensor 72 are both mounted on the adaptive angle adjustment variable diameter clamp 3, and the third angle sensor 73 is mounted on the mounting bracket 5.

[0060] The first servo motor 74 and the second servo motor 75 are both mounted on the adaptive angle-adjustable variable diameter clamp 3, and the third servo motor 76 is mounted on one side of the bottom of the gantry frame 4 via a bracket.

[0061] See attached document Figures 5-9 The seeding assembly 6 includes a conical feed box 61 at the bottom of the mounting frame 5 and a protective cover 62 fixedly connected to the bottom of the conical feed box 61. A seed discharge guide 64 is detachably installed at the bottom of the protective cover 62.

[0062] The conical feed box 61 is used to store the seeds required for hill sowing. The protective cover 62 is used to cover and install the seed metering and exporting component 64, so that the seeds inside the conical feed box 61 can enter the seed metering and exporting component 64 through the protective cover 62. The seed metering and exporting component 64 exports the seeds in a quantitative manner, forming a precise hill sowing operation with precise and controllable sowing amount that varies with speed.

[0063] See attached document Figure 5 A wind conveyor 63 is fixedly connected to one side of the top of the protective cover 62, and a brushless fan is installed on the top of the wind conveyor 63.

[0064] By installing an air delivery cylinder 63 on the protective cover 62, and a brushless fan can be installed on the top of the air delivery cylinder 63, the air delivery cylinder 63 is used to assist in the air delivery of seeds for sowing. The fan speed can be intelligently adjusted according to the height, which improves the smoothness and guidance of seed sowing and avoids the problem of seeds getting stuck.

[0065] See attached document Figures 6 to 9 The seed metering guide 64 includes a hopper-shaped seed metering pipe 641 that is bolted to the bottom of the protective cover 62. A semi-circular rotating plate 642 is fixedly connected to the top of the hopper-shaped seed metering pipe 641. A movable cover 643 is provided on the top of the semi-circular rotating plate 642 and is located inside the protective cover 62. A seed metering disc 644 is provided inside the movable cover 643. An annular groove is provided on the top of the seed metering disc 644 and several seed filling grids 645 arranged in a circular array are provided inside the annular groove. A drive component 65 for rotating the seed metering disc 644 is provided on the top of the protective cover 62.

[0066] By using the protective cover 62 and the hopper-shaped seed metering pipe 641, the movable cover 643 and the seed metering tray 644 can be enclosed and installed. The seed metering tray 644 can rotate inside the protective cover 62. The seed metering tray 644 has several seed-filling grids 645 arranged in a circular array inside, which makes it easy for the seeds inside the conical feed box 61 to fill the seed-filling grids 645. With the drive component 65 driving the rotation of the seed metering tray 644, the seed-filling grids 645 can be moved to different positions. When the seed-filling grid 645 containing seeds moves to the top of the hopper-shaped seed metering pipe 641, the seeds inside can be discharged through the hopper-shaped seed metering pipe 641, thereby realizing the function of hill sowing.

[0067] A seeding method for a distributed intelligent adjustable precision variable-rate seeding drone includes the following steps:

[0068] S1. Based on the preset seed quantity per acre input 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 acre, the current flight speed, and the sowing width, and sends the rotation speed information to the speed controller. The calculation relationship is as follows: ;

[0069] Where Q is the preset seed quantity per acre, input from the monitoring station and transmitted to the intelligent control system via the wireless transmission IO interface; S is the sowing width, determined by the seed output component 64 in the sowing component 6. The sowing width for 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 drone flight speed, input from the drone to the intelligent control system via the flight speed IO interface; F rpm To establish the relationship between the rotational speed and seeding rate of the seed output component 64, calibration and input from the monitoring station are required; rpm P The rotation speed of seed output component 64 under the preset seeding rate per acre is calculated and output by the intelligent control system.

[0070] S2. The speed controller receives the speed information output by the intelligent control system and controls the seed output component 64 in the seeding assembly 6 to work.

[0071] S3. The intelligent control system compares the input actual seeding amount with the preset seeding amount per mu, and combines the relative error between the two to calculate the required rotation speed of the seeding output component 64 in the seeding component 6 and outputs the rotation speed information to the speed controller.

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

[0073] Example 2: The difference from Example 1 is that;

[0074] See attached document Figure 7 and Figure 8 The driving component 65 includes a drive 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 drive shaft 651. A rectangular hole 653 for inserting the rectangular transmission block 652 is provided at the center of the seed metering disc 644. A motor for rotating the drive shaft 651 through two bevel gears is installed on the top of the protective cover 62.

[0075] Each seeding assembly 6 has its drive shaft 651 controlled by an individually controlled and adjustable motor. This allows for the control of the drive motor's speed to achieve different seed drop point arrangements, such as quadrilaterals and hexagons. These different seed drop point arrangements result in varying ventilation and sunlight exposure for the seedlings, thus increasing yield. Furthermore, the rotation of the seed metering disc 644 via the drive component 65 does not affect the normal disassembly and replacement of the seed metering disc 644, further improving the effectiveness of the rotary drive mechanism.

[0076] Example 3: The difference from Example 1 is that;

[0077] See attached document Figure 9The seed metering disc 644 is provided with a circular adjustment plate 646 on its top, and the outer surface of the circular adjustment plate 646 is provided with a number of outlet ports 647 arranged in a circular array. A control plate 648 is fixedly connected to one side of the outlet ports 647. The control plates 648 are inserted into the corresponding seed filling grids 645. The seed metering disc 644 and the circular adjustment plate 646 are in close contact with each other, and the seed metering disc 644 and the circular adjustment plate 646 are installed in a relative rotation manner, and the relative rotation angle is controllable.

[0078] The seed filling grid 645 of the seed metering tray 644 has an adjustable size function;

[0079] The model of the seed metering disc 644 can be replaced by disassembling and assembling the protective cover 62 and the hopper-shaped seed metering pipe 641;

[0080] By setting a circular adjustment plate 646 concentric with the seed metering plate 644 on the top of the seed metering plate 644, the circular adjustment plate 646 has an outlet 647 of the same size as the seed filling grid 645, and the circular adjustment plate 646 can rotate relative to the seed metering plate 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 seed metering plate 644;

[0081] When the outlet 647 of the circular adjustment plate 646 coincides with the seed filling grid 645, the maximum capacity of the seed filling grid 645 can be achieved, which has the function of adjusting the seed filling amount in multiple ways, and meets the needs of seed filling amount sowing under different conditions.

[0082] It should be noted that the term "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

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

Claims

1. A distributed intelligent adjustable precision variable-rate spot-seeding drone, characterized in that: The system includes 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), and several seeding mechanisms are installed on the connecting frame (2). Each of the seeding mechanisms is equipped with an altimeter for ground detection. The sowing mechanism includes an adaptive angle-adjustable variable diameter clamp (3) fixed to the bottom of the connecting frame (2). A gantry frame (4) is provided at the bottom of the adaptive angle-adjustable variable diameter clamp (3). A mounting frame (5) is provided at the bottom of the gantry frame (4). A sowing assembly (6) including a seed metering guide (64) is provided on the mounting frame (5). The seed metering guide (64) includes a seed metering tray (644). The seed metering tray (644) of each sowing assembly (6) is controlled by a motor that is individually controlled and adjusted, thereby realizing the arrangement of seed landing points of different shapes. A self-leveling assembly (7) is installed between the mounting frame (5), the adaptive angle-adjustable variable diameter clamp (3), and the gantry (4). The self-leveling assembly (7) includes an angle sensor group for detecting the overall angle of the seeding mechanism and a servo motor group for adjusting the angle of the seeding mechanism. By setting the angle sensor group in the self-leveling assembly (7), the roll angle, yaw angle, and pitch angle of the seeding mechanism are detected, and the servo motor group in the self-leveling assembly (7) performs reverse compensation, so that the UAV body drives the seeding mechanism to always remain perpendicular to the ground. The angle sensor includes a first angle sensor (71) for sensing and detecting the roll angle of the seeding mechanism, a second angle sensor (72) for sensing and detecting the yaw angle of the seeding mechanism, and a third angle sensor (73) for sensing and detecting the pitch angle of the seeding mechanism. The first angle sensor (71) and the second angle sensor (72) are both mounted on the adaptive angle adjustment variable diameter clamp (3), and the third angle sensor (73) is mounted on the mounting bracket (5); The servo assembly includes a first servo (74) for adjusting the roll angle of the seeding mechanism, a second servo (75) for adjusting the yaw angle of the seeding mechanism, and a third servo (76) for adjusting the pitch angle of the seeding mechanism. The first servo (74) and the second servo (75) are both mounted on the adaptive angle-adjustable variable diameter clamp (3), and the third servo (76) is mounted on one side of the bottom of the gantry (4) via a bracket; The seeding assembly (6) includes a conical feed box (61) at the bottom of the mounting frame (5) and a protective cover (62) fixedly connected to the bottom of the conical feed box (61). The seed discharge guide (64) is detachably installed at the bottom of the protective cover (62). A blower (63) is fixedly connected to one side of the top of the protective cover (62), and a brushless fan is installed on the top of the blower (63); The seed metering guide (64) also includes a hopper-shaped seed metering pipe (641) that is bolted to the bottom of the protective cover (62). A semi-circular rotating plate (642) is fixedly connected to the top of the hopper-shaped seed metering pipe (641). A movable cover (643) is provided on the top of the semi-circular rotating plate (642), and the movable cover (643) is located inside the protective cover (62). A seed metering disc (644) is provided inside the movable cover (643). An annular groove is provided on the top of the seed metering disc (644), and several seed filling grids (645) arranged in a circular array are provided inside the annular groove. A drive component (65) for rotating the seed metering disc (644) is provided on the top of the protective cover (62).

2. The distributed intelligent adjustable precision variable-rate drone according to claim 1, characterized in that: The drive unit (65) includes a drive 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 drive shaft (651). A rectangular hole (653) for inserting the rectangular transmission block (652) is opened at the center of the seeding disc (644). A motor for rotating the drive shaft (651) is installed on the top of the protective cover (62).

3. The distributed intelligent adjustable precision variable-rate drone according to claim 1, characterized in that: The seed metering tray (644) is provided with a circular adjustment plate (646) on its top, and the outer surface of the circular adjustment plate (646) is provided with a number of outlets (647) arranged in a circular array. A control plate (648) is fixedly connected to one side of the outlets (647), and the control plates (648) are respectively inserted into the corresponding seed filling grids (645). The seed metering tray (644) and the circular adjustment plate (646) are in close contact with each other, and the seed metering tray (644) and the circular adjustment plate (646) are installed in a relative rotation manner, and the relative rotation angle is controllable.

4. A seeding method for a distributed intelligent adjustable precision variable-rate seeding drone as described in any one of claims 1-3, characterized in that, Includes the following steps: S1. Based on the preset seed quantity per mu input by the monitoring station, the intelligent control system calculates the required rotation speed of the seed output component (64) in the seeding component (6) according to the preset seed quantity per mu, the current flight speed, and the seeding width, and sends the rotation speed information to the speed controller. S2. The speed controller receives the speed information output by the intelligent control system and controls the seeding component (6) to carry out the seeding work. S3. The intelligent control system compares the input actual seeding amount with the preset seeding amount per mu, and combines the relative error between the two to calculate the required rotation speed of the seeding output component (64) in the seeding component (6) and outputs the rotation speed information to the speed controller. S4, repeat S2, to achieve closed-loop control of the seeding rate.

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