Seedling throwing mechanism and unmanned aerial vehicle seedling throwing system

Abstract

Embodiments of the present application provide a seedling throwing mechanism and an unmanned aerial vehicle seedling throwing system, and relate to the technical field of seedling throwing. The seedling throwing mechanism comprises a load module, a first seedling taking module and a second seedling taking module arranged on the load module, the load module is arranged on an unmanned aerial vehicle, the first seedling taking module comprises a first driving source and a first cutter head connected with each other, the first driving source is used for driving the first cutter head to rotate, the second seedling taking module comprises a second driving source and a second cutter head connected with each other, the second driving source is used for driving the second cutter head to rotate, wherein the rotation direction of the first cutter head and the rotation direction of the second cutter head are opposite, so as to offset the swing torque of the seedling throwing mechanism, and the seedling throwing mechanism guarantees the flight stability of the unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of throwing seedling, in particular to a throwing seedling mechanism and a unmanned aerial vehicle throwing seedling system. BACKGROUND

[0002] For the mechanized planting of rice, there are only two solutions of rice transplanter and throwing seedling machine on the market. Both of the two solutions mainly rely on ground traveling agricultural machines. For the throwing seedling machine, a seedling raising tray with independent holes is generally used for planting. The seedling raising tray has independent holes to separate multiple seedlings. The throwing seedling machine throws the relatively independent seedlings in the tray. This method has high requirements for planting and is not widely popularized.

[0003] In the prior art, although some plant protection unmanned aerial vehicles can be used for throwing seedling operation, the seedling throwing mechanism rotates at a high speed during the throwing seedling operation of the plant protection unmanned aerial vehicle. The deflection torque generated thereby can cause unstable flight and easily cause safety accidents. SUMMARY

[0004] The present application provides a throwing seedling mechanism and a unmanned aerial vehicle throwing seedling system, which can maintain the flight stability of the unmanned aerial vehicle.

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

[0006] In a first aspect, the present application provides a throwing seedling mechanism, comprising:

[0007] a load module configured to be arranged on a unmanned aerial vehicle; and

[0008] a first seedling taking module and a second seedling taking module arranged on the load module, the first seedling taking module comprising a first driving source and a first cutter head connected to each other, the first driving source being configured to drive the first cutter head to rotate, the second seedling taking module comprising a second driving source and a second cutter head connected to each other, the second driving source being configured to drive the second cutter head to rotate;

[0009] wherein the rotation direction of the first cutter head and the rotation direction of the second cutter head are opposite to each other to offset the swing torque of the throwing seedling mechanism.

[0010] In an optional embodiment, the number of the first seedling taking modules and the number of the second seedling taking modules are both multiple, and multiple first seedling taking modules are arranged side by side, and multiple second seedling taking modules are arranged side by side.

[0011] In an optional embodiment, the number of the first seedling taking modules and the number of the second seedling taking modules are equal.

[0012] In an optional embodiment, the spacing between adjacent first seedling taking modules is equal, and the spacing between adjacent second seedling taking modules is equal.

[0013] The distance between adjacent first seedling taking modules is a first distance, and the distance between adjacent second seedling taking modules is a second distance, and the first distance is equal to the second distance.

[0014] In an optional embodiment, the first seedling taking module and the second seedling taking module are respectively located on two opposite sides of the loading module.

[0015] In an optional embodiment, the rotation plane of the first cutter head is in the same plane as the rotation plane of the second cutter head.

[0016] In an optional embodiment, the first seedling taking module and the second seedling taking module are located on the same horizontal plane.

[0017] In an optional embodiment, the seedling throwing mechanism further comprises a first seedling feeding module and a second seedling feeding module, and the first seedling feeding module and the second seedling feeding module are both arranged in the loading module.

[0018] The first cutter head is used to take seedlings from the first seedling feeding module, and the second cutter head is used to take seedlings from the second seedling feeding module.

[0019] In an optional embodiment, the first cutter head is used to throw the taken seedlings by centrifugal force or by elastic members, and the second cutter head is used to throw the taken seedlings by centrifugal force or by elastic members.

[0020] In an optional embodiment, the first seedling feeding module and the second seedling feeding module are both arranged in the loading module in a transversely movable manner, and the moving direction of the first seedling feeding module is opposite to the moving direction of the second seedling feeding module.

[0021] In an optional embodiment, the first seedling feeding module and the second seedling feeding module are arranged opposite to each other.

[0022] In an optional embodiment, the first seedling taking module further comprises a first transmission box, the first driving source is connected with the first transmission box and is used to drive the first transmission box to rotate, and at least one first cutter head is arranged on the first transmission box.

[0023] In an optional embodiment, the second seedling taking module further comprises a second transmission box, the second driving source is connected with the second transmission box and is used to drive the second transmission box to rotate, and at least one second cutter head is arranged on the second transmission box.

[0024] In an optional embodiment, the seedling throwing mechanism further comprises driving devices, the driving devices are arranged on the load module, the number of the driving devices is two, and the two driving devices are respectively used for driving the first seedling conveying module and the second seedling conveying module to move transversely.

[0025] In a second aspect, the application provides a unmanned aerial vehicle seedling throwing system, comprising a unmanned aerial vehicle and the seedling throwing mechanism according to any one of the preceding embodiments, and the load module is installed on the unmanned aerial vehicle.

[0026] The seedling throwing mechanism and the unmanned aerial vehicle seedling throwing system provided by the embodiments of the application have the following beneficial effects, for example:

[0027] The application provides a seedling throwing mechanism, which comprises a load module, a first seedling taking module and a second seedling taking module arranged on the load module, the load module is arranged on a unmanned aerial vehicle, the first seedling taking module comprises a first driving source and a first cutter head connected with each other, the first driving source is used for driving the first cutter head to rotate, the second seedling taking module comprises a second driving source and a second cutter head connected with each other, the second driving source is used for driving the second cutter head to rotate, wherein the rotation direction of the first cutter head is opposite to the rotation direction of the second cutter head, so as to offset the swing torque of the seedling throwing mechanism, since the rotation direction of the first cutter head is opposite to the rotation direction of the second cutter head, the swing torque of the seedling throwing mechanism can be offset, the unmanned aerial vehicle is prevented from being turned over and thus flight instability is avoided, and the flight stability of the unmanned aerial vehicle is ensured.

[0028] The application provides a unmanned aerial vehicle seedling throwing system, which comprises a unmanned aerial vehicle and the seedling throwing mechanism, and the load module is installed on the unmanned aerial vehicle, and the unmanned aerial vehicle seedling throwing system has all the functions of the seedling throwing mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be regarded as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0030] Figure 1 FIG. 1 is a schematic diagram of a unmanned aerial vehicle seedling throwing system provided in the embodiments of the application;

[0031] Figure 2 FIG. 2 is a top view of the unmanned aerial vehicle seedling throwing system provided in the embodiments of the application;

[0032] Figure 3 FIG. 3 is a side view of the unmanned aerial vehicle seedling throwing system provided in the embodiments of the application;

[0033] Figure 4A schematic view of the first seedling taking module provided in the embodiments of the present application.

[0034] Icon: 1000-seedling throwing mechanism; 100-load module; 200-first seedling feeding module; 300-second seedling feeding module; 400-first seedling taking module; 410-first driving source; 420-first cutter head; 430-first transmission box; 440-fixed arm; 500-second seedling taking module; 510-second driving source; 520-second cutter head; 530-second transmission box; 600-driving device; 2000-unmanned aerial vehicle; A-center line. DETAILED DESCRIPTION

[0035] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0037] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0038] In the description of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application.

[0039] In addition, if the terms "first", "second" and the like appear, they are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0040] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0041] As described in the background, for the mechanized planting of rice, there are only two solutions of rice transplanter and rice throwing machine on the market, both of which mainly rely on ground traveling agricultural machines. For the rice throwing machine, a seedling tray with independent holes is generally used for planting. The seedling tray has independent holes to separate multiple seedlings. The rice throwing machine throws the relatively independent seedlings in the tray. This method has high requirements for planting and is not widely popularized.

[0042] In the prior art, although some plant protection unmanned aerial vehicles can be used for throwing seedlings, during the throwing seedling operation of the plant protection unmanned aerial vehicle, the high-speed rotation of the seedling throwing mechanism generates a deflection torque that causes the entire unmanned aerial vehicle to tilt backward or forward. Specifically, the seedling throwing mechanism is arranged on one side of the landing gear of the unmanned aerial vehicle. When the seedling needle of the seedling throwing mechanism is inserted into the seedling tray and tears the seedling, a downward force will be generated on one side of the seedling tray, which will cause the aircraft to tilt backward, resulting in unstable flight and easy safety accidents.

[0043] Therefore, the unmanned aerial vehicle throwing seedling system provided in the embodiments of the present application can solve this problem, which will be described in detail as follows. Figures 1-4

[0044] Please refer to Figures 1-3 The present application provides an unmanned aerial vehicle throwing seedling system, which comprises an unmanned aerial vehicle 2000 and a seedling throwing mechanism 1000. The load module 100 (described below) of the seedling throwing mechanism 1000 is installed on the unmanned aerial vehicle 2000.

[0045] The seedling throwing mechanism 1000 can avoid the unmanned aerial vehicle 2000 from tilting backward or forward during flight, i.e., avoid the unmanned aerial vehicle 2000 from tilting forward and backward during flight, and ensure the flight stability of the unmanned aerial vehicle 2000.

[0046] Specifically, the seedling throwing mechanism 1000 comprises a load module 100, a first seedling taking module 400 and a second seedling taking module 500 arranged on the load module 100. The load module 100 is arranged on the unmanned aerial vehicle 2000. The first seedling taking module 400 comprises a first driving source 410 and a first cutter head 420 connected to each other. The first driving source 410 is used to drive the first cutter head 420 to rotate.

[0047] The second seedling taking module 500 comprises a second driving source 510 and a second cutter head 520 connected to each other. The second driving source 510 is used to drive the second cutter head 520 to rotate.

[0048] ​The rotation direction of the first cutter head 420 and the rotation direction of the second cutter head 520 are opposite, so as to offset the swing torque of the seedling throwing mechanism 1000. Since the rotation direction of the first cutter head 420 and the rotation direction of the second cutter head 520 are opposite, the swing torque of the seedling throwing mechanism 1000 can be offset, the unmanned aerial vehicle 2000 is prevented from being overturned to cause unstable flight, and the flight stability of the unmanned aerial vehicle 2000 is ensured.

[0049] Specifically, in order to facilitate the conveying of seedlings, the seedling throwing mechanism 1000 further comprises a first seedling conveying module 200 and a second seedling conveying module 300, both of which are arranged on the load module 100. The first cutter head 420 is used to take seedlings from the first seedling conveying module 200, and the second cutter head 520 is used to take seedlings from the second seedling conveying module 300.

[0050] In this embodiment, the first seedling conveying module 200 and the second seedling conveying module 300 are both used to convey blanket seedlings. Of course, the first seedling conveying module 200 and the second seedling conveying module 300 can also be used to convey pot seedlings.

[0051] The first cutter head 420 is used to throw seedlings taken from blanket seedlings or pot seedlings by centrifugal force or by elastic members, and the second cutter head 520 is used to throw seedlings taken from blanket seedlings or pot seedlings by centrifugal force or by elastic members.

[0052] It is easy to understand that the unmanned aerial vehicle 2000 can carry the seedling throwing mechanism 1000 to perform the seedling throwing operation. The first seedling conveying module 200 and the second seedling conveying module 300 are used to convey blanket seedlings (not shown in the figure) or pot seedlings, and the first seedling taking module 400 and the second seedling taking module are used to separate the blanket seedlings or the pot seedlings, and then throw the seedlings, so as to realize the flying seedling throwing operation of the blanket seedlings or the pot seedlings.

[0053] It should be noted that there are many ways to separate, such as cutting, grabbing, pushing out, and pressing down. The specific separation and seedling taking mode is not limited.

[0054] In this embodiment, the unmanned aerial vehicle 2000 is a rotor unmanned aerial vehicle, specifically a four-rotor unmanned aerial vehicle. Of course, it can also be a single-rotor unmanned aerial vehicle, a double-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, etc.

[0055] The unmanned aerial vehicle 2000 can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator.

[0056] For the convenience of description, the front, rear, left, right, upper, and lower directions are shown in the drawings. The relative positional relationship can be clearly understood by those skilled in the art when the unmanned aerial vehicle 2000 is normally placed or is flying.

[0057] The load module 100 of the seedling throwing mechanism 1000 is detachably mounted on the lower part of the unmanned aerial vehicle 2000, that is, the unmanned aerial vehicle 2000 and the seedling throwing mechanism 1000 adopt an upper and lower split design, and the unmanned aerial vehicle 2000 serves as a mobile platform and is split from the seedling throwing mechanism 1000.

[0058] In other words, the seedling throwing mechanism 1000 in this form is an independent structure that does not depend on the fuselage frame of the unmanned aerial vehicle 2000. Based on this type, the corresponding device can be replaced according to the actual operation requirements in specific operation scenarios.

[0059] For example, after the seedling throwing mechanism 1000 is detached, a sowing device is installed to realize sowing of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 1000 can be detached, and a surveying and mapping device, a spraying device, etc. agricultural operation mechanism is installed.

[0060] It should be noted that in the present embodiment, the load module 100 is a foot stand of the unmanned aerial vehicle 2000.

[0061] In the present embodiment, the first seedling conveying module 200 and the second seedling conveying module 300 are both seedling conveying discs, and are respectively used to convey the blanket seedlings towards the first seedling taking module 400 and the second seedling taking module 500. The first seedling conveying module 200 and the second seedling conveying module 300 are arranged opposite to each other.

[0062] In addition, the first seedling taking module 400 and the second seedling taking module 500 are respectively located on the opposite sides of the load module 100.

[0063] The number of the first seedling conveying modules 200 and the number of the second seedling conveying modules 300 are both multiple, and in the present embodiment, three first seedling conveying modules 200 are arranged side by side, and three second seedling conveying modules 300 are arranged side by side.

[0064] In order to facilitate the throwing of the blanket seedlings on the multiple first seedling conveying modules 200 and the multiple second seedling conveying modules 300, the number of the first seedling taking modules 400 and the number of the second seedling taking modules 500 are also multiple, and the multiple first seedling taking modules 400 are arranged side by side, and the multiple second seedling taking modules 500 are arranged side by side.

[0065] In addition, the number of the first seedling taking modules 400 and the number of the second seedling taking modules 500 are equal, and the number of the first seedling taking modules 400 and the number of the second seedling taking modules 500 are both three.

[0066] That is, the three first seedling taking modules 400 are arranged side by side in front of the load module 100, and the three second seedling taking modules 500 are arranged side by side behind the load module 100.

[0067] In order to improve the flight stability of the unmanned aerial vehicle, the rotation plane of the first cutter head 420 is in the same plane as the rotation plane of the second cutter head 520.

[0068] It is easy to understand that, in the front-rear direction, the first cutter head 420 of the three first seedling taking modules 400 and the second cutter head 520 of the three second seedling taking modules 500 correspond one by one, and the rotation plane of a single first cutter head 420 is in the same plane as the rotation plane of a corresponding single second cutter head 520.

[0069] Of course, in other embodiments, the number of first seedling taking modules 400 and the number of second seedling taking modules 500 can also be unequal, for example, the number of first seedling taking modules 400 is four and the number of second seedling taking modules 500 is three.

[0070] The distance between adjacent first seedling taking modules 400 is equal, and the distance between adjacent second seedling taking modules 500 is equal, wherein the distance between adjacent first seedling taking modules 400 is a first distance, the distance between adjacent second seedling taking modules 500 is a second distance, and the first distance is equal to the second distance.

[0071] In order to maintain the center of gravity of the entire unmanned aerial vehicle seedling throwing system and avoid the unmanned aerial vehicle 2000 from tilting forward or backward, in the present embodiment, the first seedling taking module 400 and the second seedling taking module 500 are located on the same horizontal plane.

[0072] It should be noted that, here, the first seedling taking module 400 and the second seedling taking module 500 are located on the same horizontal plane, which can be understood as the first seedling taking module 400 and the second seedling taking module 500 having the same height relative to the ground, wherein the ground is parallel to the horizontal plane.

[0073] At the same time, the rotation center line of the first cutter head 420 of the first seedling taking module 400 is parallel to the rotation center line of the second cutter head 520 of the second seedling taking module 500, and is symmetric about the center line A.

[0074] The center line A here can be understood as a straight line passing through the center of gravity of the load module 100, and in the present embodiment, the center line A is parallel to the ground. Figure 2 In the present embodiment, the first seedling throwing module 200 and the second seedling throwing module 300 are also symmetrically distributed about the center line A.

[0075] It can be understood that, in the present embodiment, the seedling throwing mechanism 1000 provided in the process of taking seedlings from the blanket seedlings, the cutter head of the seedling taking module will generate a downward tearing force on the blanket seedlings when taking seedlings, thereby exerting a downward bias force on the seedling throwing module. In the present embodiment, the two sides can simultaneously have a downward bias force on the corresponding first seedling throwing module 200 or second seedling throwing module 300, and thus when the first seedling taking module 400 and the second seedling taking module 500 take seedlings, the downward forces on both sides cancel out the rotational torque on the seedling throwing mechanism 1000, thereby maintaining the flight stability of the unmanned aerial vehicle 2000.

[0076] Please refer to Figure 4 and collection Figure 2 In order to facilitate the rotation of the first cutter head 420 and the second cutter head 520 and realize the separation of seedlings, the first seedling taking module 400 further comprises a first transmission box 430, the first driving source 410 is connected with the first transmission box 430 and is used to drive the first transmission box 430 to rotate, and at least one first cutter head 420 is arranged on the first transmission box 430.

[0077] In the embodiment, two first cutter heads 420 are arranged on one first transmission box 430, of course, in other embodiments, only one first cutter head 420 can be arranged, or three, four or more first cutter heads 420 can be arranged.

[0078] When one first transmission box 430 is arranged with two first cutter heads 420, the angles of the two first cutter heads 420 to the center of the first transmission box 430 can be 180 degrees, three first cutter heads 420 can be arranged at intervals of 120 degrees, and four first cutter heads 420 can be arranged at intervals of 90 degrees, in other words, the first cutter heads 420 can be arranged in a uniform distribution manner. Of course, it cannot be excluded that the first cutter heads 420 are arranged in a non-uniform distribution manner in some scenarios.

[0079] Generally, a plurality of gears meshing with each other can be arranged in the first transmission box 430, the first driving source 410 meshes with a certain gear in the first transmission box 430, and the first cutter head 420 meshes with another certain gear, the first transmission box 430 can make the movement track of the first cutter head 420 and the posture of the first cutter head 420 in the movement process meet the requirements, in the embodiment, the rotation of the first cutter head 420 can be realized through the rotation of the first transmission box 430.

[0080] In the embodiment, the first driving source 410 can be selected as a motor, and the first transmission box 430 is directly installed on the output shaft of the first driving source 410.

[0081] In addition, the second seedling taking module 500 further comprises a second transmission box 530, the second driving source 510 is connected with the second transmission box 530 and is used to drive the second transmission box 530 to rotate, and at least one second cutter head 520 is arranged on the second transmission box 530, for example, one, two, three, four or more second cutter heads 520 can be arranged on the second transmission box 530.

[0082] In the embodiment, the structure of the second seedling taking module 500 is the same as that of the first seedling taking module 400, and the difference is that, during the seedling throwing operation, the first cutter head 420 of the first seedling taking module 400 rotates counterclockwise, and the second cutter head 520 of the second seedling taking module 500 rotates clockwise, so as to offset the swing torque of the seedling throwing mechanism 1000, avoid the rearward or forward inclination of the unmanned aerial vehicle 2000, and ensure the flight stability of the unmanned aerial vehicle 2000.

[0083] In addition, the first seedling feeding module 200 and the second seedling feeding module 300 are both transversely movably arranged on the load module 100, wherein the moving direction of the first seedling feeding module 200 is opposite to that of the second seedling feeding module 300, so as to offset the transverse impact on the seedling throwing mechanism 1000 and avoid the left-right swing of the unmanned aerial vehicle 2000.

[0084] In the embodiment, as shown in Figure 2 The first driving source 410 of the first seedling taking module 400 is connected with the load module 100 through the fixing arm 440, the first seedling taking module is fixed on the load module 100, and the second seedling taking module 500 also has the fixing arm 440 structure, so as to realize the fixation of the second seedling taking module 500 and the load module 100.

[0085] The first seedling feeding module 200 and the second seedling feeding module 300 can move transversely left and right relative to the load module 100, and in this way, the first seedling taking module 400 and the second seedling taking module 500 can separate the blanket seedlings and realize the row-by-row and shot-by-shot separation and throwing of the blanket seedlings.

[0086] In order to facilitate the transverse movement of the first seedling feeding module 200 and the second seedling feeding module 300, the seedling throwing mechanism 1000 further comprises a driving device 600, the driving device 600 is arranged on the load module 100, the number of the driving device 600 is two, and the two driving devices 600 are respectively used for driving the transverse movement of the first seedling feeding module 200 and the second seedling feeding module 300.

[0087] The driving device 600 can be selected from a motor cooperating with a gear and rack mechanism to realize the left-right reciprocating movement of the first seedling feeding module 200 and the second seedling feeding module 300, or a motor cooperating with a screw mechanism or a synchronous belt driving scheme. Of course, it is not excluded that the rotor power of the unmanned aerial vehicle 2000 is used to drive the left-right movement of the first seedling feeding module 200 and the second seedling feeding module 300.

[0088] According to the unmanned aerial vehicle seedling throwing system provided in the embodiment, the working principle of the unmanned aerial vehicle seedling throwing system is as follows:

[0089] When the unmanned aerial vehicle 2000 flies, the first driving sources 410 of the three first seedling taking modules 400 drive the first transmission boxes 430 to rotate, and drive the first cutter heads 420 to rotate at high speed counterclockwise, the first cutter heads 420 separate the seedlings from the blanket seedlings on the first seedling feeding modules 200, drive the seedlings to rotate and throw out, and then fall into the field.

[0090] At the same time, the second driving sources 510 of the three second seedling taking modules 500 drive the second transmission boxes 530 to rotate, and drive the second cutter heads 520 to rotate at high speed clockwise, the second cutter heads 520 separate the seedlings from the blanket seedlings on the second seedling feeding modules 300, drive the seedlings to rotate and throw out, and then fall into the field.

[0091] The first seedling feeding modules 200 and the second seedling feeding modules 300 move left and right to drive the blanket seedlings to move left and right, so that the blanket seedlings are separated and thrown out row by row, the first seedling feeding modules 200 and the second seedling feeding modules 300 are inclined, and the blanket seedlings can move downward under the action of gravity, so that the blanket seedlings are separated and thrown out row by row again by the first seedling taking modules 400 and the second seedling taking modules 500 in the process of moving left and right again. By analogy, the process is repeated and circulated until all the blanket seedlings are separated and thrown out.

[0092] In summary, the seedling throwing mechanism 1000 includes the load module 100, the first seedling taking modules 400 and the second seedling taking modules 500 arranged on the load module 100, the load module 100 is arranged on the unmanned aerial vehicle 2000, the first seedling feeding modules 200 and the second seedling feeding modules 300 are arranged on the load module 100, the first seedling taking modules 400 include the first driving sources 410 and the first cutter heads 420 connected with each other, the first driving sources 410 are used to drive the first cutter heads 420 to rotate, the second seedling taking modules 500 include the second driving sources 510 and the second cutter heads 520 connected with each other, and the second driving sources 510 are used to drive the second cutter heads 520 to rotate.

[0093] The rotation direction of the first cutter heads 420 and the rotation direction of the second cutter heads 520 are opposite, so as to offset the swing torque of the seedling throwing mechanism 1000, because the rotation direction of the first cutter heads 420 and the rotation direction of the second cutter heads 520 are opposite, the swing torque of the seedling throwing mechanism 1000 can be offset, the unmanned aerial vehicle 2000 is prevented from turning over to cause unstable flight, and the flight stability of the unmanned aerial vehicle 2000 is ensured.

[0094] The unmanned aerial vehicle seedling throwing system includes the unmanned aerial vehicle 2000 and the seedling throwing mechanism 1000, and the load module 100 is installed on the unmanned aerial vehicle 2000, and the unmanned aerial vehicle seedling throwing system has all the functions of the seedling throwing mechanism 1000.

[0095] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A rice seedling throwing mechanism, characterized in that, include: A load module (100) is provided for installation on a drone (2000); as well as The first seedling picking module (400) and the second seedling picking module (500) are disposed in the load module (100). The first seedling picking module (400) includes a first drive source (410) and a first cutter head (420) connected to each other. The first drive source (410) is used to drive the first cutter head (420) to rotate. The second seedling picking module (500) includes a second drive source (510) and a second cutter head (520) connected to each other. The second drive source (510) is used to drive the second cutter head (520) to rotate. The rotation direction of the first cutter head (420) is opposite to that of the second cutter head (520) so as to cancel out the swing torque on the rice throwing mechanism.

2. The rice-throwing mechanism according to claim 1, characterized in that, There are multiple first seedling picking modules (400) and multiple second seedling picking modules (500), with multiple first seedling picking modules (400) arranged side by side and multiple second seedling picking modules (500) arranged side by side.

3. The rice-throwing mechanism according to claim 2, characterized in that, The number of the first seedling picking module (400) is equal to the number of the second seedling picking module (500).

4. The rice-throwing mechanism according to claim 2, characterized in that, The spacing between adjacent first seedling picking modules (400) is equal, and the spacing between adjacent second seedling picking modules (500) is equal; The distance between adjacent first seedling picking modules (400) is the first distance, and the distance between adjacent second seedling picking modules (500) is the second distance. The first distance is equal to the second distance.

5. The rice-throwing mechanism according to claim 1, characterized in that, The first seedling picking module (400) and the second seedling picking module (500) are located on opposite sides of the load module (100).

6. The rice-throwing mechanism according to claim 1, characterized in that, The rotation plane of the first cutter head (420) and the rotation plane of the second cutter head (520) are located in the same plane.

7. The rice-throwing mechanism according to claim 1, characterized in that, The first seedling picking module (400) and the second seedling picking module (500) are located on the same horizontal plane.

8. The rice-throwing mechanism according to claim 1, characterized in that, The seedling throwing mechanism further includes a first seedling delivery module (200) and a second seedling delivery module (300), both of which are disposed in the load module (100); The first cutter head (420) is used to remove seedlings from the first seedling delivery module (200), and the second cutter head (520) is used to remove seedlings from the second seedling delivery module (300).

9. The rice-throwing mechanism according to claim 8, characterized in that, The first cutter head (420) is used to throw the removed seedlings by centrifugal force or by ejector, and the second cutter head (520) is used to throw the removed seedlings by centrifugal force or by ejector.

10. The rice-throwing mechanism according to claim 8, characterized in that, Both the first seedling delivery module (200) and the second seedling delivery module (300) are laterally movable in the load module (100), and the moving direction of the first seedling delivery module (200) is opposite to that of the second seedling delivery module (300).

11. The rice-throwing mechanism according to claim 8, characterized in that, The first seedling delivery module (200) and the second seedling delivery module (300) are arranged opposite to each other.

12. The rice-throwing mechanism according to claim 8, characterized in that, The first seedling picking module (400) further includes a first transmission box (430), the first drive source (410) is connected to the first transmission box (430) and is used to drive the first transmission box (430) to rotate, and at least one first cutter head (420) is arranged on the first transmission box (430).

13. The rice-throwing mechanism according to claim 12, characterized in that, The second seedling picking module (500) also includes a second transmission box (530), the second drive source (510) is connected to the second transmission box (530) and is used to drive the second transmission box (530) to rotate, and at least one second cutter head (520) is arranged on the second transmission box (530).

14. The rice-throwing mechanism according to claim 8, characterized in that, The seedling throwing mechanism also includes a drive device (600), which is disposed on the load module (100). There are two drive devices (600), which are used to drive the first seedling delivery module (200) and the second seedling delivery module (300) to move laterally, respectively.

15. A drone-based rice transplanting system, characterized in that, Includes a drone (2000) and a rice-throwing mechanism according to any one of claims 1-14, wherein the load module (100) is mounted on the drone (2000).

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